ThrusterModels.hpp

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#ifndef THRUSTERMODELS_HPP_
#define THRUSTERMODELS_HPP_

#include <cmath>

namespace labust
{
        namespace vehicles
        {
                struct AffineThruster
                {
                        inline static int getRevs(double thrust, double Tnn = 1, double _Tnn = 1)
                        {
                                return (thrust >= 0) ? std::ceil(std::sqrt(thrust/Tnn)) : -std::ceil(std::sqrt(-thrust/_Tnn));
                        }
                        
                        inline static double getRevsD(double thrust, double Tnn = 1, double _Tnn = 1)
                        {
                                return (thrust >= 0) ? std::sqrt(thrust/Tnn) : -std::sqrt(-thrust/_Tnn);
                        }
                };
        }
}

/* THRUSTERMODELS_HPP_*/
#endif