ThrusterCommand:

Path: SCPro/ProControl

% Computes forces and torques for a set a thrusters using off-pulsing.
   Off-pulsing is used to produce delta-v and attitude control at the same
   time. 

   Inputs are a torque vector, the desired fraction of the time each
   thruster is on for delta-v, the set of thrusters to be used for
   attitude control and a data structure. If a feasible solution is not
   reached the control is not possible.

   Type

   ThrusterCommand

   for a demo that shows pure attitude control and also off-pulsing for
   delta-v and attitude control.

   Note that some options to simplex are hard coded:

   All thruster costs are the same
   The maximum constraint is not applied

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   -------
   Inputs
   -------
   t           (3,1)     Desired torque vector
   pOn         (1,:)     Fraction of time thruster is on for delta-v
   kACS        (1,n)     Set of ACS thrusters
   d           (1,1)     Data structure
                         .uT     (3,:) Thruster unit force vectors
                         .rT     (3,:) Thruster locations
                         .thrust (1,:) Thrust magnitude

   -------
   Outputs
   -------
   force       (3,1)     Net force vector
   torque      (3,1)     Net torque vector (should = t)
   u           (1,n)     Fraction of time thruster is on
   f           (1,1)     1 means a feasible solution was reached

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Children:

Math: Analysis/Simplex
Math: Linear/Cross

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