ThrustAllocationSolverInterface.h

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#ifndef CONTROLS_ALLOCATOR_SOLVER_THRUST_ALLOCATION_SOLVER_INTERFACE_H
#define CONTROLS_ALLOCATOR_SOLVER_THRUST_ALLOCATION_SOLVER_INTERFACE_H
 
#include <utils/Types.h>
 
class ThrusterLayout;
 
class ThrustAllocationSolverInterface {
public:
    virtual ~ThrustAllocationSolverInterface() = default;
 
    virtual void build(const ThrusterLayout& layout) = 0;
 
    virtual VectorXd allocate(const Vector6d& tau) = 0;
 
    virtual Vector6d getBodyForce(const VectorXd& thrusterForces) = 0;
 
    virtual void setQ(double val, uint8_t axis) = 0;
 
    virtual void updateLimits(float min_force, float max_force) = 0;
};
 
#endif  // CONTROLS_ALLOCATOR_SOLVER_THRUST_ALLOCATION_SOLVER_INTERFACE_H