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 &positiveForceDirection, bool isXY_Yaw, uint8_t idx)
	Constructs a thruster with all positional and directional parameters. More...

uint8_t	getIdx () const
	Returns the unique thruster index. More...

bool	getIsXY_Yaw () const
	Returns true if this thruster belongs to the XY-Yaw allocation group. More...

Vector3d	getOriginalPosition () const
	Returns the nominal position without the CG offset applied. More...

Vector3d	getPosition () const
	Returns the effective position with the CG offset applied. More...

Vector3d	getPositiveForceDirection () const
	Returns the unit vector of positive thrust direction. More...

void	setOffset (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	positiveForceDirection
	Unit vector in the direction of positive thrust in the body frame. More...

bool	isXY_Yaw
	True if this thruster participates in the XY-Yaw QP allocation group; false if it belongs to the Z-Roll-Pitch group. 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 &	positiveForceDirection,
		bool	isXY_Yaw,
		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)
positiveForceDirection	[in] Unit vector of positive thrust direction
isXY_Yaw	[in] True if this thruster is in the XY-Yaw allocation group
idx	[in] Unique zero-based thruster index

Member Function Documentation

◆ getIdx()

uint8_t Thruster::getIdx ( void ) const

Returns the unique thruster index.

Returns: Zero-based thruster index

◆ getIsXY_Yaw()

bool Thruster::getIsXY_Yaw ( void ) const

Returns true if this thruster belongs to the XY-Yaw allocation group.

Returns: True for XY-Yaw group, false for Z-Roll-Pitch group

◆ getOriginalPosition()

Vector3d Thruster::getOriginalPosition ( void ) const

Returns the nominal position without the CG offset applied.

Returns: Position vector in the body frame (m)

◆ getPosition()

Vector3d Thruster::getPosition ( void ) const

Returns the effective position with the CG offset applied.

Returns: position + offset in the body frame (m)

◆ getPositiveForceDirection()

Vector3d Thruster::getPositiveForceDirection ( void ) const

Returns the unit vector of positive thrust direction.

Returns: Positive force direction in the body frame

◆ setOffset()

void Thruster::setOffset ( 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.

◆ isXY_Yaw

bool Thruster::isXY_Yaw

True if this thruster participates in the XY-Yaw QP allocation group; false if it belongs to the Z-Roll-Pitch group.

◆ 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.

◆ positiveForceDirection

Vector3d Thruster::positiveForceDirection

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.

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

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

Public Member Functions

Public Attributes