mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-29 16:04:08 +08:00
110 lines
4.4 KiB
C++
110 lines
4.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2018 - 2019 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file ControlMath.hpp
|
|
*
|
|
* Simple functions for vector manipulation that do not fit into matrix lib.
|
|
* These functions are specific for controls.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <matrix/matrix/math.hpp>
|
|
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
|
|
|
namespace ControlMath
|
|
{
|
|
/**
|
|
* Converts thrust vector and yaw set-point to a desired attitude.
|
|
* @param thr_sp desired 3D thrust vector
|
|
* @param yaw_sp the desired yaw
|
|
* @param att_sp attitude setpoint to fill
|
|
*/
|
|
void thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp, vehicle_attitude_setpoint_s &att_sp);
|
|
/**
|
|
* Converts a body z vector and yaw set-point to a desired attitude.
|
|
* @param body_z a world frame 3D vector in direction of the desired body z axis
|
|
* @param yaw_sp the desired yaw setpoint
|
|
* @param att_sp attitude setpoint to fill
|
|
*/
|
|
void bodyzToAttitude(matrix::Vector3f body_z, const float yaw_sp, vehicle_attitude_setpoint_s &att_sp);
|
|
|
|
/**
|
|
* Outputs the sum of two vectors but respecting the limits and priority.
|
|
* The sum of two vectors are constraint such that v0 has priority over v1.
|
|
* This means that if the length of (v0+v1) exceeds max, then it is constraint such
|
|
* that v0 has priority.
|
|
*
|
|
* @param v0 a 2D vector that has priority given the maximum available magnitude.
|
|
* @param v1 a 2D vector that less priority given the maximum available magnitude.
|
|
* @return 2D vector
|
|
*/
|
|
matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max);
|
|
|
|
/**
|
|
* This method was used for smoothing the corners along two lines.
|
|
*
|
|
* @param sphere_c
|
|
* @param sphere_r
|
|
* @param line_a
|
|
* @param line_b
|
|
* @param res
|
|
* return boolean
|
|
*
|
|
* Note: this method is not used anywhere and first requires review before usage.
|
|
*/
|
|
bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r, const matrix::Vector3f &line_a,
|
|
const matrix::Vector3f &line_b, matrix::Vector3f &res);
|
|
|
|
/**
|
|
* Adds e.g. feed-forward to the setpoint making sure existing or added NANs have no influence on control.
|
|
* This function is udeful to support all the different setpoint combinations of position, velocity, acceleration with NAN representing an uncommited value.
|
|
* @param setpoint existing possibly NAN setpoint to add to
|
|
* @param addition value/NAN to add to the setpoint
|
|
*/
|
|
void addIfNotNan(float &setpoint, const float addition);
|
|
|
|
/**
|
|
* _addIfNotNan for Vector3f treating each element individually
|
|
* @see _addIfNotNan
|
|
*/
|
|
void addIfNotNanVector3f(matrix::Vector3f &setpoint, const matrix::Vector3f &addition);
|
|
|
|
/**
|
|
* Overwrites elements of a Vector3f which are NaN with zero
|
|
* @param vector possibly containing NAN elements
|
|
*/
|
|
void setZeroIfNanVector3f(matrix::Vector3f &vector);
|
|
}
|