mrs_lib
Various reusable classes, functions and utilities for use in MRS projects
quadratic_throttle_model.h
1 #ifndef QUADRATIC_THRUST_MODEL_H
2 #define QUADRATIC_THRUST_MODEL_H
3 
4 #include <cmath>
5 
6 namespace mrs_lib
7 {
8 
9 namespace quadratic_throttle_model
10 {
11 
12 typedef struct
13 {
14  double A;
15  double B;
16  int n_motors;
17 } MotorParams_t;
18 
19 double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
20 
21  return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
22 }
23 
24 double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
25 
26  return sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
27 }
28 
29 } // namespace quadratic_throttle_model
30 
31 } // namespace mrs_lib
32 
33 #endif // QUADRATIC_THRUST_MODEL_H
mrs_lib::quadratic_throttle_model::MotorParams_t
Definition: quadratic_throttle_model.h:12
mrs_lib
All mrs_lib functions, classes, variables and definitions are contained in this namespace.
Definition: attitude_converter.h:29