controls/Thruster_8h_source.html

 #ifndef CONTROLS_ALLOCATOR_CONFIG_THRUSTER_H

 #define CONTROLS_ALLOCATOR_CONFIG_THRUSTER_H


 #include <utils/Types.h>


 #include <string>


 class Thruster {

 public:

     uint8_t idx_;


     std::string name_;


     Vector3d position_;


     Vector3d offset_;


     Vector3d positive_force_direction_;


     Thruster(const std::string& name, const Vector3d& position, const Vector3d& offset,

              const Vector3d& positive_force_direction, uint8_t idx);


     Vector3d get_position() const;


     Vector3d get_positive_force_direction() const;


     void set_offset(const Vector3d& offset);

 };


 #endif  // CONTROLS_ALLOCATOR_CONFIG_THRUSTER_H

Types.h

Thruster
Represents a single thruster with its physical placement and force direction.
Definition: Thruster.h:11

Thruster::position_
Vector3d position_
Thruster position relative to the vehicle reference point in the body frame (m)
Definition: Thruster.h:24

Thruster::positive_force_direction_
Vector3d positive_force_direction_
Unit vector in the direction of positive thrust in the body frame.
Definition: Thruster.h:34

Thruster::offset_
Vector3d offset_
Positional offset applied on top of position (e.g.
Definition: Thruster.h:27

Thruster::get_position
Vector3d get_position() const
Returns the effective position with the CG offset applied.
Definition: Thruster.cpp:12

Thruster::get_positive_force_direction
Vector3d get_positive_force_direction() const
Returns the unit vector of positive thrust direction.
Definition: Thruster.cpp:16

Thruster::Thruster
Thruster(const std::string &name, const Vector3d &position, const Vector3d &offset, const Vector3d &positive_force_direction, uint8_t idx)
Constructs a thruster with all positional and directional parameters.
Definition: Thruster.cpp:3

Thruster::name_
std::string name_
Human-readable thruster name used in log messages.
Definition: Thruster.h:17

Thruster::set_offset
void set_offset(const Vector3d &offset)
Updates the positional offset for this thruster.
Definition: Thruster.cpp:20

Thruster::idx_
uint8_t idx_
Unique zero-based index identifying this thruster within the layout.
Definition: Thruster.h:14