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control_allocator: inline one-line setters & getters

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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
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src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
-55
View File
@@ -41,30 +41,6 @@
#include "ControlAllocation.hpp" #include "ControlAllocation.hpp"
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
ControlAllocation::getActuatorSetpoint() const
{
return _actuator_sp;
}
void
ControlAllocation::setControlSetpoint(const matrix::Vector<float, ControlAllocation::NUM_AXES> &control)
{
_control_sp = control;
}
const matrix::Vector<float, ControlAllocation::NUM_AXES> &
ControlAllocation::getControlSetpoint() const
{
return _control_sp;
}
const matrix::Vector<float, ControlAllocation::NUM_AXES> &
ControlAllocation::getAllocatedControl() const
{
return _control_allocated;
}
void void
ControlAllocation::setEffectivenessMatrix( ControlAllocation::setEffectivenessMatrix(
const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness, const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
@@ -75,38 +51,7 @@ ControlAllocation::setEffectivenessMatrix(
clipActuatorSetpoint(_actuator_trim); clipActuatorSetpoint(_actuator_trim);
_control_trim = _effectiveness * _actuator_trim; _control_trim = _effectiveness * _actuator_trim;
_num_actuators = num_actuators; _num_actuators = num_actuators;
}
const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &
ControlAllocation::getEffectivenessMatrix() const
{
return _effectiveness;
}
void
ControlAllocation::setActuatorMin(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
&actuator_min)
{
_actuator_min = actuator_min;
}
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
ControlAllocation::getActuatorMin() const
{
return _actuator_min;
}
void
ControlAllocation::setActuatorMax(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
&actuator_max)
{
_actuator_max = actuator_max;
}
const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
ControlAllocation::getActuatorMax() const
{
return _actuator_max;
} }
void void
src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+9 -9
View File
@@ -112,63 +112,63 @@ public:
* *
* @return Actuator vector * @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 * Set the desired control vector
* *
* @param 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 * Set the desired control vector
* *
* @param 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 * Get the allocated control vector
* *
* @return 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 * Get the control effectiveness matrix
* *
* @return 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 * Set the minimum actuator values
* *
* @param actuator_min 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 * Get the minimum actuator values
* *
* @return 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 * Set the maximum actuator values
* *
* @param actuator_max 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 * Get the maximum actuator values
* *
* @return 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. * Set the current actuator setpoint.