fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 12:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

control_allocator: inline one-line setters & getters

Browse Source
This commit is contained in:
Beat Küng
2020-08-13 08:20:54 +02:00
committed by Daniel Agar
parent 164511a7b5
commit 3dad79d8f5
2 changed files with 9 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+9 -9
View File
@@ -112,63 +112,63 @@ public:
*
* @return Actuator vector
*/
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorSetpoint() const;
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorSetpoint() const { return _actuator_sp; }
/**
* Set the desired control vector
*
* @param Control vector
*/
void setControlSetpoint(const matrix::Vector<float, NUM_AXES> &control);
void setControlSetpoint(const matrix::Vector<float, NUM_AXES> &control) { _control_sp = control; }
/**
* Set the desired control vector
*
* @param Control vector
*/
const matrix::Vector<float, NUM_AXES> &getControlSetpoint() const;
const matrix::Vector<float, NUM_AXES> &getControlSetpoint() const { return _control_sp; }
/**
* Get the allocated control vector
*
* @return Control vector
*/
const matrix::Vector<float, NUM_AXES> &getAllocatedControl() const;
const matrix::Vector<float, NUM_AXES> &getAllocatedControl() const { return _control_allocated; }
/**
* Get the control effectiveness matrix
*
* @return Effectiveness matrix
*/
const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &getEffectivenessMatrix() const;
const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &getEffectivenessMatrix() const { return _effectiveness; }
/**
* Set the minimum actuator values
*
* @param actuator_min Minimum actuator values
*/
void setActuatorMin(const matrix::Vector<float, NUM_ACTUATORS> &actuator_min);
void setActuatorMin(const matrix::Vector<float, NUM_ACTUATORS> &actuator_min) { _actuator_min = actuator_min; }
/**
* Get the minimum actuator values
*
* @return Minimum actuator values
*/
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMin() const;
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMin() const { return _actuator_min; }
/**
* Set the maximum actuator values
*
* @param actuator_max Maximum actuator values
*/
void setActuatorMax(const matrix::Vector<float, NUM_ACTUATORS> &actuator_max);
void setActuatorMax(const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) { _actuator_max = actuator_max; }
/**
* Get the maximum actuator values
*
* @return Maximum actuator values
*/
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMax() const;
const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMax() const { return _actuator_max; }
/**
* Set the current actuator setpoint.