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 positiveForceDirection;


     bool isXY_Yaw;


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

              const Vector3d& positiveForceDirection, bool isXY_Yaw, uint8_t idx);


     uint8_t getIdx() const;


     bool getIsXY_Yaw() const;


     Vector3d getOriginalPosition() const;


     Vector3d getPosition() const;


     Vector3d getPositiveForceDirection() const;


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

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

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

Thruster::isXY_Yaw
bool isXY_Yaw
True if this thruster participates in the XY-Yaw QP allocation group; false if it belongs to the Z-Ro...
Definition: Thruster.h:40

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

Thruster::setOffset
void setOffset(const Vector3d &offset)
Updates the positional offset for this thruster.
Definition: Thruster.cpp:33

Thruster::getOriginalPosition
Vector3d getOriginalPosition() const
Returns the nominal position without the CG offset applied.
Definition: Thruster.cpp:25

Thruster::getPositiveForceDirection
Vector3d getPositiveForceDirection() const
Returns the unit vector of positive thrust direction.
Definition: Thruster.cpp:29

Thruster::getIdx
uint8_t getIdx() const
Returns the unique thruster index.
Definition: Thruster.cpp:13

Thruster::getPosition
Vector3d getPosition() const
Returns the effective position with the CG offset applied.
Definition: Thruster.cpp:21

Thruster::getIsXY_Yaw
bool getIsXY_Yaw() const
Returns true if this thruster belongs to the XY-Yaw allocation group.
Definition: Thruster.cpp:17

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

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