ThrustAllocator Class Reference

Converts a 6DOF body force vector to per-thruster PWM commands. More...

#include <ThrustAllocator.h>

Public Member Functions
	ThrustAllocator (std::unique_ptr< ThrusterLookupInterface > thruster_lookup, std::unique_ptr< ThrustAllocationSolverInterface > solver, const std::string &yaml_config_filename)
	Constructs the allocator, loads YAML config, and initialises the QP solver. More...
std::tuple< bb_controls_msgs::msg::Thrusters, bb_controls_msgs::msg::ThrusterForces, Vector6d >	allocate (const Vector6d &force, float battery_voltage)
	Allocates a body force to per-thruster commands at the given battery voltage. More...
void	update_cg_offset (const Vector3d &updated_cg_offset)
	Updates the centre-of-gravity offset applied to all thruster positions. More...

Detailed Description

Converts a 6DOF body force vector to per-thruster PWM commands.

Loads thruster geometry from a YAML configuration file, delegates force allocation to a pluggable QP solver, and converts resulting thruster force magnitudes to integer commands via a ThrusterLookupInterface. The centre- of-gravity offset can be updated at runtime and will trigger an automatic re-initialisation on the next allocate() call.

Constructor & Destructor Documentation

ThrustAllocator()

ThrustAllocator::ThrustAllocator	(	std::unique_ptr< ThrusterLookupInterface >	thruster_lookup,
		std::unique_ptr< ThrustAllocationSolverInterface >	solver,
		const std::string &	yaml_config_filename
	)

Constructs the allocator, loads YAML config, and initialises the QP solver.

Parameters

thruster_lookup	[in] Voltage-dependent thrust lookup table implementation
solver	[in] QP thrust allocation solver implementation
yaml_config_filename	[in] Path to the YAML file describing the thruster layout

Exceptions

std::runtime_error

if the YAML file cannot be parsed

Member Function Documentation

allocate()

std::tuple< bb_controls_msgs::msg::Thrusters, bb_controls_msgs::msg::ThrusterForces, Vector6d > ThrustAllocator::allocate	(	const Vector6d &	force,
		float	battery_voltage
	)

Allocates a body force to per-thruster commands at the given battery voltage.

Re-initialises the solver if the CG offset has changed since the last call.

Parameters

force	[in] Desired 6DOF body force/torque vector in N and Nm
battery_voltage	[in] Battery voltage in volts (used to look up force limits)

Returns

Tuple of (PWM command message, per-thruster force message, achieved body force)

update_cg_offset()

void ThrustAllocator::update_cg_offset

(

const Vector3d &

updated_cg_offset

)

Updates the centre-of-gravity offset applied to all thruster positions.

The solver is lazily re-initialised on the next allocate() call.

Parameters

updated_cg_offset

[in] New CG offset in the body frame (m)

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

• include/allocator/ThrustAllocator.h
• src/allocator/ThrustAllocator.cpp