Public Member Functions
void	allocate (const labust::simulation::vector &tauIn, labust::simulation::vector &tauOut)
const Eigen::VectorXi &	getCoercion ()
const Eigen::VectorXd &	getThrusterForces ()
template<class AllocMatrix , class DOFMatrix , class ThrusterGroups >
void	init (int alloc_type, const AllocMatrix &alloc, const DOFMatrix &use_dofs, const ThrusterGroups &thrust_groups)
void	setThrusterMinMax (double min, double max)
	ThrustAllocator ()
Protected Member Functions
void	scale_alloc ()
void	simple_alloc ()
Protected Attributes
Eigen::MatrixXd	B
Eigen::MatrixXd	Binv
Eigen::VectorXi	coercion
std::vector< int >	dofs
std::vector< double >	group_scales
std::vector< std::vector< int > >	groups
int	num_thrusters
Eigen::VectorXd	tdes
double	tmax
double	tmin
int	type
Private Types
enum	{ NoAlloc = 0, SimpleAlloc = 1, ScaleAlloc = 2 }

Detailed Description

Performs thrust allocation based on configuration. Added support for thruster grouping to support multi-scaling allocation.

Add ability to register an external allocation algorithm when the need arises

Is it better to have a bunch of preprogramed simple allocation types that have static alllocation data ?

Split into a compilable cpp when more than one larger class exists for vehicle support

Remove the ROS_ERROR debug messages and any ROS dependencies

Add the windup indication for groups of scaled allocations

Definition at line 59 of file ThrustAllocation.hpp.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

Definition at line 61 of file ThrustAllocation.hpp.

labust::vehicles::ThrustAllocator::ThrustAllocator ( ) [inline]

Main constructor.

Definition at line 66 of file ThrustAllocation.hpp.

void labust::vehicles::ThrustAllocator::allocate	(	const labust::simulation::vector &	tauIn,
		labust::simulation::vector &	tauOut
	)		`[inline]`

Performs allocation and necessary conversions.

Definition at line 80 of file ThrustAllocation.hpp.

const Eigen::VectorXi& labust::vehicles::ThrustAllocator::getCoercion ( ) [inline]

Definition at line 218 of file ThrustAllocation.hpp.

const Eigen::VectorXd& labust::vehicles::ThrustAllocator::getThrusterForces ( ) [inline]

Definition at line 216 of file ThrustAllocation.hpp.

template<class AllocMatrix , class DOFMatrix , class ThrusterGroups >

void labust::vehicles::ThrustAllocator::init	(	int	alloc_type,
		const AllocMatrix &	alloc,
		const DOFMatrix &	use_dofs,
		const ThrusterGroups &	thrust_groups
	)		`[inline]`