PulseWidthLP Class Reference

Multi-Thruster Pulsewidth Solution using Linear Program Formulation. More...

List of all members.

Public Member Functions
	PulseWidthLP (void)
	Constructor.
void	Initialize (void)
	Initialize.
void	SetThrusterData (int n, ml_matrix positions, ml_matrix directions, ml_matrix coeffs)
	Set the thruster data.
bool	SolveMinPW (void)
	Solve for the minimum pulsewidths that achieve force and torque demands.
bool	SolveMaxForce (void)
	Solve for the pulsewidths that meets torque demand and maximizes force magnitude in desired direction.
void	UpdateForceTorqueMatrix (void)
	Update the force matrix and torque matrix.
void	SetForceDemand (ml_matrix force)
	Set the force demand.
void	SetTorqueDemand (ml_matrix torque)
	Set the torque demand.
void	SetThrusterPositions (ml_matrix positions)
	Set the thruster positions.
void	SetThrusterDirections (ml_matrix directions)
	Set the thruster directions.
void	SetThrusterCoefficients (ml_matrix coeffs)
	Set the thruster coefficients.
void	SetErrorWeights (double fW, double tW)
	Set the error weights for force and torque.
void	SetSlackScale (double scale)
	Set the slack variable scale.
void	SetSlackWeight (double weight)
	Set the slack variable weight.
void	SetCenterOfMass (ml_matrix cm)
	Set the center of mass.
void	SetTankPressure (double pressure)
	Set the tank pressure.
ml_matrix	GetForce (void)
	Get the achieved force.
ml_matrix	GetTorque (void)
	Get the achieved torque.
ml_matrix	GetForceDemand (void)
	Get the force demand.
ml_matrix	GetTorqueDemand (void)
	Get the torque demand.
ml_matrix	GetForceMatrix (void)
	Get the force matrix.
ml_matrix	GetTorqueMatrix (void)
	Get the torque matrix.
Public Attributes
ml_matrix	pulsewidth
	Pulsewidth solution.
int	nThrusters
	Number of thrusters.

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Detailed Description

description...

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Member Function Documentation

void PulseWidthLP::Initialize

(

void

)

Initialize the object.

References nThrusters.

ml_matrix PulseWidthLP::GetForceDemand

(

void

)

Get the demanded force.

ml_matrix PulseWidthLP::GetTorqueDemand

(

void

)

Get the demanded torque.