00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010-2015, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef ALLOCATION_ETHRUSTER_H 00035 #define ALLOCATION_ETHRUSTER_H 00036 #include <cmath> 00037 00038 namespace labust 00039 { 00040 namespace allocation 00041 { 00055 class EThruster 00056 { 00057 public: 00059 EThruster(): 00060 Kp(1), 00061 Kn(1), 00062 pwm_id(-1), 00063 pwm_max(1.0), 00064 pwm_min(-1.0), 00065 pwm_dir(1){}; 00066 00068 EThruster(double Kp, double Kn, int pwm_id, 00069 double pwm_max, double pwm_min, double pwm_dir): 00070 Kp(Kp), 00071 Kn(Kn), 00072 pwm_id(pwm_id), 00073 pwm_max(pwm_max), 00074 pwm_min(pwm_min), 00075 pwm_dir(pwm_dir){}; 00076 00082 inline double F(double p = 1, double Us=1){return (p>=0)?Kp*Us*Us*p*p:-Kn*Us*Us*p*p;} 00089 inline double pwm(double F, double Us=1) 00090 { 00091 if ((Kp == 0) || (Kn == 0) || (Us == 0)) return 0.0; 00092 return (F>=0)?sqrt(F/Kp)/Us:-std::sqrt(-F/Kn)/Us; 00093 } 00094 00096 double Kp; 00098 double Kn; 00100 int pwm_id; 00102 double pwm_max; 00104 double pwm_min; 00106 int pwm_dir; 00107 }; 00108 } 00109 } 00110 00111 /* ALLOCATION_ETHRUSTER_H */ 00112 #endif