ThrustAllocationSolverInterface Class Reference

Abstract interface for quadratic-programming thrust allocation solvers. More...

#include <ThrustAllocationSolverInterface.h>

Inheritance diagram for ThrustAllocationSolverInterface:

Public Member Functions
virtual	~ThrustAllocationSolverInterface ()=default
virtual void	build (const ThrusterLayout &layout)=0
	Builds or rebuilds all internal QP matrices from a thruster layout. More...
virtual VectorXd	allocate (const Vector6d &tau)=0
	Solves the QP and returns per-thruster force magnitudes. More...
virtual Vector6d	getBodyForce (const VectorXd &thrusterForces)=0
	Reconstructs the achieved body force from per-thruster forces. More...
virtual void	setQ (double val, uint8_t axis)=0
	Sets the slack-variable penalty weight for a given body axis. More...
virtual void	updateLimits (float min_force, float max_force)=0
	Updates the per-thruster force bounds used in the QP inequality constraints. More...

Detailed Description

Abstract interface for quadratic-programming thrust allocation solvers.

Concrete solvers implement force allocation for a specific DOF subset (3DOF or 6DOF) by solving a QP that minimises thruster effort while satisfying the desired body force equality constraints subject to per-thruster force bounds.

Constructor & Destructor Documentation

~ThrustAllocationSolverInterface()

virtual ThrustAllocationSolverInterface::~ThrustAllocationSolverInterface ( )

virtualdefault

Member Function Documentation

allocate()

virtual VectorXd ThrustAllocationSolverInterface::allocate ( const Vector6d &  tau )

pure virtual

Solves the QP and returns per-thruster force magnitudes.

Parameters

tau	[in] Desired 6DOF body force/torque vector in N and Nm

Returns

Nx1 vector of per-thruster forces in Newtons, indexed by thruster idx

Implemented in ThrustAllocation6DOFQPSolver, and ThrustAllocation3DOFQPSolver.

build()

virtual void ThrustAllocationSolverInterface::build ( const ThrusterLayout &  layout )

pure virtual

Builds or rebuilds all internal QP matrices from a thruster layout.

Must be called before allocate() whenever the thruster configuration changes.

Parameters

layout

[in] Thruster layout describing positions and force directions

Implemented in ThrustAllocation6DOFQPSolver, and ThrustAllocation3DOFQPSolver.

getBodyForce()

virtual Vector6d ThrustAllocationSolverInterface::getBodyForce ( const VectorXd &  thrusterForces )

pure virtual

Reconstructs the achieved body force from per-thruster forces.

Parameters

thrusterForces

[in] Nx1 vector of per-thruster forces in Newtons

Returns

6-element achieved body force/torque vector in N and Nm

Implemented in ThrustAllocation6DOFQPSolver, and ThrustAllocation3DOFQPSolver.

setQ()

virtual void ThrustAllocationSolverInterface::setQ ( double  val, uint8_t  axis  )

pure virtual

Sets the slack-variable penalty weight for a given body axis.

The diagonal QP weight entry is set to 10^val, so larger values penalise force deficit on that axis more heavily.

Parameters

val	[in] Exponent for the weight (weight = 10^val)
axis	[in] Body axis index: 0=X, 1=Y, 2=Z, 3=Roll, 4=Pitch, 5=Yaw

Implemented in ThrustAllocation6DOFQPSolver, and ThrustAllocation3DOFQPSolver.

updateLimits()

virtual void ThrustAllocationSolverInterface::updateLimits ( float  min_force, float  max_force  )

pure virtual

Updates the per-thruster force bounds used in the QP inequality constraints.

Parameters

min_force	[in] Minimum (most negative) thruster force in Newtons
max_force	[in] Maximum thruster force in Newtons

Implemented in ThrustAllocation6DOFQPSolver, and ThrustAllocation3DOFQPSolver.

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The documentation for this class was generated from the following file:

• include/allocator/solver/ThrustAllocationSolverInterface.h