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control_allocation: Consistently replace with ActuatorVector alias for readability

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This commit is contained in:
Matthias Grob
2025-04-25 17:41:12 +02:00
parent 6a3a0d136b
commit 53efcbd2c2
23 changed files with 56 additions and 77 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+4 -4
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@@ -145,7 +145,7 @@ ControlAllocator::update_allocation_method(bool force)
if (_allocation_method_id != configured_method || force) {
matrix::Vector<float, NUM_ACTUATORS> actuator_sp[ActuatorEffectiveness::MAX_NUM_MATRICES];
ActuatorVector actuator_sp[ActuatorEffectiveness::MAX_NUM_MATRICES];
// Cleanup first
for (int i = 0; i < ActuatorEffectiveness::MAX_NUM_MATRICES; ++i) {
@@ -626,9 +626,9 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
control_allocator_status.unallocated_thrust[2]).norm_squared() < 1e-6f);
// Actuator saturation
const matrix::Vector<float, NUM_ACTUATORS> &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint();
const matrix::Vector<float, NUM_ACTUATORS> &actuator_min = _control_allocation[matrix_index]->getActuatorMin();
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max = _control_allocation[matrix_index]->getActuatorMax();
const ActuatorVector &actuator_sp = _control_allocation[matrix_index]->getActuatorSetpoint();
const ActuatorVector &actuator_min = _control_allocation[matrix_index]->getActuatorMin();
const ActuatorVector &actuator_max = _control_allocation[matrix_index]->getActuatorMax();
for (int i = 0; i < NUM_ACTUATORS; i++) {
if (actuator_sp(i) > (actuator_max(i) - FLT_EPSILON)) {
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
+2 -3
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@@ -59,9 +59,8 @@ ActuatorEffectivenessCustom::getEffectivenessMatrix(Configuration &configuration
return (motors_added_successfully && torque_added_successfully);
}
void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
void ActuatorEffectivenessCustom::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
+2 -3
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@@ -45,9 +45,8 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "Custom"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
+2 -3
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@@ -61,9 +61,8 @@ ActuatorEffectivenessFixedWing::getEffectivenessMatrix(Configuration &configurat
return (rotors_added_successfully && surfaces_added_successfully);
}
void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
void ActuatorEffectivenessFixedWing::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
+2 -3
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@@ -51,9 +51,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
private:
ActuatorEffectivenessRotors _rotors;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+1 -2
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@@ -144,8 +144,7 @@ bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &conf
}
void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
_saturation_flags = {};
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+2 -3
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@@ -81,9 +81,8 @@ public:
const Geometry &geometry() const { return _geometry; }
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
+1 -2
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@@ -102,8 +102,7 @@ bool ActuatorEffectivenessHelicopterCoaxial::getEffectivenessMatrix(Configuratio
}
void ActuatorEffectivenessHelicopterCoaxial::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
_saturation_flags = {};
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
+2 -3
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@@ -69,9 +69,8 @@ public:
const Geometry &geometry() const { return _geometry; }
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
+2 -3
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@@ -76,9 +76,8 @@ ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration
return (rotors_added_successfully && tilts_added_successfully);
}
void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
actuator_sp += _tilt_offsets;
// TODO: dynamic matrix update
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
+2 -3
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@@ -55,9 +55,8 @@ public:
normalize[0] = true;
}
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "MC Tilt"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
+1 -2
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@@ -50,8 +50,7 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi
}
void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
+2 -3
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@@ -43,9 +43,8 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "Rover (Ackermann)"; }
private:
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+1 -2
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@@ -84,8 +84,7 @@ void ActuatorEffectivenessStandardVTOL::allocateAuxilaryControls(const float dt,
}
void ActuatorEffectivenessStandardVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+2 -3
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@@ -75,9 +75,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
+1 -2
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@@ -89,8 +89,7 @@ void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float d
}
void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
+2 -3
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@@ -72,9 +72,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override;
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+1 -2
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@@ -125,8 +125,7 @@ void ActuatorEffectivenessTiltrotorVTOL::allocateAuxilaryControls(const float dt
}
void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
int matrix_index, ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
// apply tilt
if (matrix_index == 0) {
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+2 -3
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@@ -80,9 +80,8 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "VTOL Tiltrotor"; }
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
+2 -3
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@@ -55,9 +55,8 @@ bool ActuatorEffectivenessUUV::getEffectivenessMatrix(Configuration &configurati
return rotors_added_successfully;
}
void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
void ActuatorEffectivenessUUV::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const ActuatorVector &actuator_min, const ActuatorVector &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
+2 -3
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@@ -54,9 +54,8 @@ public:
normalize[0] = true;
}
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index, ActuatorVector &actuator_sp,
const ActuatorVector &actuator_min, const ActuatorVector &actuator_max) override;
const char *name() const override { return "UUV"; }