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ControlMath: rename namespace to file name

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This commit is contained in:
Dennis Mannhart 2017-12-22 09:28:14 +01:00 committed by Beat Küng
parent 10a50dd97e
commit 09bf73945a
4 changed files with 17 additions and 17 deletions
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4
src/modules/mc_pos_control/TranslationControl.cpp
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@ -187,7 +187,7 @@ void TranslationControl::_velocityController(const float &dt)
* It is to note that pure manual and rate control will never enter _velocityController method*/
float tilt_max = PX4_ISFINITE(_constraints.tilt_max) ? _constraints.tilt_max : M_PI_2_F;
tilt_max = math::min(tilt_max, M_PI_2_F);
_thr_sp = PosControl::constrainTilt(_thr_sp, tilt_max);
_thr_sp = ControlMath::constrainTilt(_thr_sp, tilt_max);
/*TODO: Check if it is beneficial to project thrust onto body z axis */
@ -214,7 +214,7 @@ void TranslationControl::_velocityController(const float &dt)
float dot_xy = matrix::Vector2f(&vel_err(0)) * matrix::Vector2f(&_vel_sp(0));
float direction[2] = {dot_xy, -vel_err(2)}; // negative sign because of N-E-D
bool stop_I[2] = {false, false}; // stop integration for xy and z
PosControl::constrainPIDu(_thr_sp, stop_I, _ThrLimit, direction);
ControlMath::constrainPIDu(_thr_sp, stop_I, _ThrLimit, direction);
/* throttle is just thrust length */
_throttle = _thr_sp.length();

2
src/modules/mc_pos_control/Utility/ControlMath.cpp
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@ -43,7 +43,7 @@
#include "ControlMath.hpp"
#include <platforms/px4_defines.h>
namespace PosControl
namespace ControlMath
{
/**

2
src/modules/mc_pos_control/Utility/ControlMath.hpp
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@ -43,7 +43,7 @@
#include <matrix/matrix/math.hpp>
namespace PosControl
namespace ControlMath
{
matrix::Vector3f constrainTilt(const matrix::Vector3f &vec, const float &tilt_max);
void constrainPIDu(matrix::Vector3f &u, bool stop_I[2], const float Ulimits[2], const float d[2]);

26
src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
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@ -30,7 +30,7 @@ bool ControlMathTest::testConstrainTilt()
// reason: tilt exceeds maximum tilt
matrix::Vector3f v(0.5f, 0.5f, 0.1f);
float tilt_max = math::radians(91.0f);
matrix::Vector3f vr = PosControl::constrainTilt(v, tilt_max);
matrix::Vector3f vr = ControlMath::constrainTilt(v, tilt_max);
ut_assert_true((v - vr).length() < EPS);
// expected: return zero vector
@ -38,14 +38,14 @@ bool ControlMathTest::testConstrainTilt()
// defined in negative z (upward).
v = matrix::Vector3f(1.0f, 1.0f, 0.1f);
tilt_max = math::radians(45.0f);
vr = PosControl::constrainTilt(v, tilt_max);
vr = ControlMath::constrainTilt(v, tilt_max);
ut_assert_true((vr).length() < EPS);
// expected: length vr_xy same as vr_z
// reason: it is a 45 cone and v_xy exceeds v_z
v = matrix::Vector3f(1.0f, 1.0f, -0.5f);
tilt_max = math::radians(45.0f);
vr = PosControl::constrainTilt(v, tilt_max);
vr = ControlMath::constrainTilt(v, tilt_max);
float vr_xy = matrix::Vector2f(vr(0), vr(1)).length();
ut_assert_true(fabsf(vr(2)) - vr_xy < EPS);
@ -53,7 +53,7 @@ bool ControlMathTest::testConstrainTilt()
// reason: it is a 30 cone and v_xy exceeds v_z
v = matrix::Vector3f(1.0f, 1.0f, -0.5f);
tilt_max = math::radians(20.0f);
vr = PosControl::constrainTilt(v, tilt_max);
vr = ControlMath::constrainTilt(v, tilt_max);
vr_xy = matrix::Vector2f(vr(0), vr(1)).length();
ut_assert_true(fabsf(vr(2)) - vr_xy > EPS);
@ -61,7 +61,7 @@ bool ControlMathTest::testConstrainTilt()
// reason: it is a 80 cone and v_xy exceeds v_z
v = matrix::Vector3f(10.0f, 10.0f, -0.5f);
tilt_max = math::radians(80.f);
vr = PosControl::constrainTilt(v, tilt_max);
vr = ControlMath::constrainTilt(v, tilt_max);
vr_xy = matrix::Vector2f(vr(0), vr(1)).length();
ut_assert_true(fabsf(vr(2)) - vr_xy < EPS);
@ -69,7 +69,7 @@ bool ControlMathTest::testConstrainTilt()
// reson: vector is within cond
v = matrix::Vector3f(1.0f, 1.0f, -0.5f);
tilt_max = math::radians(89.f);
vr = PosControl::constrainTilt(v, tilt_max);
vr = ControlMath::constrainTilt(v, tilt_max);
ut_assert_true((v - vr).length() < EPS);
return true;
@ -95,7 +95,7 @@ bool ControlMathTest::testConstrainPIDu()
matrix::Vector3f u{0.1f, 0.1f, -0.4f};
matrix::Vector3f u_o = u;
float d[2] = {1.0f, 1.0f};
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
ut_assert_true((u - u_o).length() < EPS);
ut_assert_false(sat[1]);
ut_assert_false(sat[0]);
@ -110,7 +110,7 @@ bool ControlMathTest::testConstrainPIDu()
u_o = u;
d[0] = 1.0f;
d[1] = 1.0f;
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
float u_xy = matrix::Vector2f(u(0), u(1)).length();
float u_o_xy = matrix::Vector2f(u_o(0), u_o(1)).length();
ut_assert_true(u_xy < u_o_xy);
@ -139,7 +139,7 @@ bool ControlMathTest::testConstrainPIDu()
u_o = u;
d[0] = 1.0f;
d[1] = 1.0f;
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
u_xy = matrix::Vector2f(u(0), u(1)).length();
u_o_xy = matrix::Vector2f(u_o(0), u_o(1)).length();
ut_assert_true(u_xy < u_o_xy);
@ -155,7 +155,7 @@ bool ControlMathTest::testConstrainPIDu()
// has higher priority, u_xy will be set to 0. Direction
// change desired for xy
d[0] = -1.0f;
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
u_xy = matrix::Vector2f(u(0), u(1)).length();
u_o_xy = matrix::Vector2f(u_o(0), u_o(1)).length();
ut_assert_true(u_xy < u_o_xy);
@ -174,7 +174,7 @@ bool ControlMathTest::testConstrainPIDu()
u_o = u;
d[0] = 1.0f;
d[1] = 1.0f;
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
ut_assert_true((u - u_o).length() < EPS);
ut_assert_false(sat[1]);
ut_assert_false(sat[0]);
@ -191,7 +191,7 @@ bool ControlMathTest::testConstrainPIDu()
u_o = u;
d[0] = 1.0f;
d[1] = 1.0f;
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
u_xy = matrix::Vector2f(u(0), u(1)).length();
ut_assert_true(u_xy - Ulim[1] < EPS);
ut_assert_true(fabsf(u(2)) < EPS);
@ -203,7 +203,7 @@ bool ControlMathTest::testConstrainPIDu()
// means that Ulim[1] is in xy direction.
// Direction change in z.
d[1] = -1.0f;
PosControl::constrainPIDu(u, sat, Ulim, d);
ControlMath::constrainPIDu(u, sat, Ulim, d);
ut_assert_true(u_xy - Ulim[1] < EPS);
ut_assert_true(fabsf(u(2)) < EPS);
ut_assert_true(sat[1]);