Thruster Class Reference

Represents a single thruster with its physical placement and force direction. More...

#include <Thruster.h>

Public Member Functions
	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. More...
Vector3d	get_position () const
	Returns the effective position with the CG offset applied. More...
Vector3d	get_positive_force_direction () const
	Returns the unit vector of positive thrust direction. More...
void	set_offset (const Vector3d &offset)
	Updates the positional offset for this thruster. More...

Public Attributes
uint8_t	idx_
	Unique zero-based index identifying this thruster within the layout. More...
std::string	name_
	Human-readable thruster name used in log messages. More...
Vector3d	position_
	Thruster position relative to the vehicle reference point in the body frame (m) More...
Vector3d	offset_
	Positional offset applied on top of position (e.g. More...
Vector3d	positive_force_direction_
	Unit vector in the direction of positive thrust in the body frame. More...

Detailed Description

Represents a single thruster with its physical placement and force direction.

Constructor & Destructor Documentation

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.

Parameters

name	[in] Human-readable identifier
position	[in] Position relative to vehicle reference point (m)
offset	[in] Additional positional offset (m)
positive_force_direction	[in] Unit vector of positive thrust direction
idx	[in] Unique zero-based thruster index

Member Function Documentation

get_position()

Vector3d Thruster::get_position

(

void

)

const

Returns the effective position with the CG offset applied.

Returns

position + offset in the body frame (m)

get_positive_force_direction()

Vector3d Thruster::get_positive_force_direction

(

void

)

const

Returns the unit vector of positive thrust direction.

Returns

Positive force direction in the body frame

set_offset()

void Thruster::set_offset

(

const Vector3d &

offset

)

Updates the positional offset for this thruster.

Parameters

offset

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

Member Data Documentation

idx_

uint8_t Thruster::idx_

Unique zero-based index identifying this thruster within the layout.

name_

std::string Thruster::name_

Human-readable thruster name used in log messages.

offset_

Vector3d Thruster::offset_

Positional offset applied on top of position (e.g.

CG offset correction)

position_

Vector3d Thruster::position_

Thruster position relative to the vehicle reference point in the body frame (m)

The reference point is typically the centre of mass or buoyancy.

positive_force_direction_

Vector3d Thruster::positive_force_direction_

Unit vector in the direction of positive thrust in the body frame.

For example, (1, 0, 0) means the thruster pushes in the +X direction.

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

• include/allocator/config/Thruster.h
• src/allocator/config/Thruster.cpp