ControlMath.hpp File Reference

Simple functions for vector manipulation that do not fit into matrix lib. More...

#include <matrix/matrix/math.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>

Go to the source code of this file.

Functions
vehicle_attitude_setpoint_s	ControlMath::thrustToAttitude (const matrix::Vector3f &thr_sp, const float yaw_sp)
	Converts thrust vector and yaw set-point to a desired attitude. More...
matrix::Vector2f	ControlMath::constrainXY (const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max)
	Outputs the sum of two vectors but respecting the limits and priority. More...
bool	ControlMath::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)
	This method was used for smoothing the corners along two lines. More...

Detailed Description

Simple functions for vector manipulation that do not fit into matrix lib.

These functions are specific for controls.

Function Documentation

constrainXY()

matrix::Vector2f ControlMath::constrainXY	(	const matrix::Vector2f &	v0,
		const matrix::Vector2f &	v1,
		const float &	max
	)

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.

Parameters

v0	a 2D vector that has priority given the maximum available magnitude.
v1	a 2D vector that less priority given the maximum available magnitude.

Returns

2D vector

cross_sphere_line()

bool ControlMath::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
	)

This method was used for smoothing the corners along two lines.

Parameters

sphere_c
sphere_r
line_a
line_b
res	return boolean

Note: this method is not used anywhere and first requires review before usage.

thrustToAttitude()

vehicle_attitude_setpoint_s ControlMath::thrustToAttitude	(	const matrix::Vector3f &	thr_sp,
		const float	yaw_sp
	)

Converts thrust vector and yaw set-point to a desired attitude.

Parameters

thr_sp	a 3D vector
yaw_sp	the desired yaw

Returns

vehicle_attitude_setpoints_s structure