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83 lines
3.2 KiB
C++
83 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ControlMath.hpp
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*
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* Simple functions for vector manipulation that do not fit into matrix lib.
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* These functions are specific for controls.
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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namespace ControlMath
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{
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/**
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* Converts thrust vector and yaw set-point to a desired attitude.
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* @param thr_sp a 3D vector
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* @param yaw_sp the desired yaw
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* @return vehicle_attitude_setpoints_s structure
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*/
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vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp);
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/**
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* Outputs the sum of two vectors but respecting the limits and priority.
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* The sum of two vectors are constraint such that v0 has priority over v1.
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* This means that if the length of (v0+v1) exceeds max, then it is constraint such
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* that v0 has priority.
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*
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* @param v0 a 2D vector that has priority given the maximum available magnitude.
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* @param v1 a 2D vector that less priority given the maximum available magnitude.
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* @return 2D vector
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*/
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matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max);
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/**
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* This method was used for smoothing the corners along two lines.
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*
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* @param sphere_c
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* @param sphere_r
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* @param line_a
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* @param line_b
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* @param res
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* return boolean
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*
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* Note: this method is not used anywhere and first requires review before usage.
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*/
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bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r, const matrix::Vector3f &line_a,
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const matrix::Vector3f &line_b, matrix::Vector3f &res);
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}
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