Manages a collection of Thruster objects and builds the allocation matrix. More...

#include <ThrusterLayout.h>

Public Member Functions
	ThrusterLayout ()
	Constructs an empty layout. More...

void	add_thruster (const Thruster &thruster)
	Adds a thruster to the layout. More...

MatrixXd	build_allocation_matrix () const
	Builds the 6xN force-allocation matrix from the current thruster set. More...

Public Attributes
std::vector< Thruster >	thrusters_
	All thrusters registered in this layout. More...

Detailed Description

Manages a collection of Thruster objects and builds the allocation matrix.

Constructor & Destructor Documentation

◆ ThrusterLayout()

ThrusterLayout::ThrusterLayout ( )

Constructs an empty layout.

Member Function Documentation

◆ add_thruster()

void ThrusterLayout::add_thruster ( const Thruster & thruster )

Adds a thruster to the layout.

Parameters

thruster [in] Thruster to append

◆ build_allocation_matrix()

MatrixXd ThrusterLayout::build_allocation_matrix ( ) const

Builds the 6xN force-allocation matrix from the current thruster set.

Each column i corresponds to the thruster with idx == i. The upper three rows are the normalised thrust direction; the lower three rows are the cross-product moment arm (position × direction).

Returns: 6xN allocation matrix T where T * f_thrusters = τ_body

Member Data Documentation

◆ thrusters_

std::vector<Thruster> ThrusterLayout::thrusters_

All thrusters registered in this layout.

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

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

Public Member Functions

Public Attributes