Calculates a new firing solution for Rcs thrusters in a new thread. More...

Public Member Functions
	FiringSolutionCalculator (IMS2 *vessel, vector< THRUSTER_HANDLE > rcsthrusters)

void	Apply (VECTOR3 &torque, VECTOR3 &force, double thrust)
	Applies the firing solution to the vessels thrusters to achieve the demanded torque and force levels. More...

void	CalculateTorqueLevels (VECTOR3 &IN_OUT_torque)
	Calculates the thrust levels to achieve the requested torque. More...

bool	IsSolutionReady ()

Private Member Functions
void	calculateFiringSolutions ()

FIRING_SOLUTION	constructFiringSolution (VECTOR3 &desiredForce, VECTOR3 &desiredTorque)

FIRING_SOLUTION	calculateFiringSolution (THGROUP_TYPE group)

FIRING_SOLUTION	completeFiringSolution (FIRING_SOLUTION &sol)

map< FORCETYPE, VECTOR3 >	calculateGeneratedForce (FIRING_SOLUTION &sol, vector< FiringSolutionThruster * > &involvedthrusters)
	Calculates the total force a firing solution can produce with a certain subset of thrusters. More...

void	setMaxForcesForGroup (THGROUP_TYPE group, map< FORCETYPE, VECTOR3 > forces)
	Notes the passed forces as the maximum forces this group can produce. More...

vector< THGROUP_TYPE >	getGroupsFromForceVector (VECTOR3 &force, FORCETYPE type)

Private Attributes
FIRING_SOLUTION	pitchUpSol

FIRING_SOLUTION	pitchDownSol

FIRING_SOLUTION	yawRightSol

FIRING_SOLUTION	yawLeftSol

FIRING_SOLUTION	bankRightSol

FIRING_SOLUTION	bankLeftSol

FIRING_SOLUTION	leftSol

FIRING_SOLUTION	rightSol

FIRING_SOLUTION	upSol

FIRING_SOLUTION	downSol

FIRING_SOLUTION	forwardSol

FIRING_SOLUTION	backSol

FSThrusterCollection *	thrusters = NULL

vector< THRUSTER_HANDLE >	thrusterhandles

IMS2 *	vessel

bool	solutionready = false
	shows true if the solution is calculated

bool	abort = false
	flag that signifies the thread to terminate at the next opportunity.

thread *	calculationthread

map< THGROUP_TYPE, map< FORCETYPE, VECTOR3 > >	maxforces

Detailed Description

Calculates a new firing solution for Rcs thrusters in a new thread.

Instantiating the class immediately starts a new thread in which the new solution is calculated. Use the IsSolutionReady() method to querry if the calculation has finished. The thread can be safely terminated at any point by deleting the instance. The thread is joined in the destructor. The thread is safe under most circumstances, except for when one of the RCS thruster actually get deleted from the vessel. Make sure to kill the thread first, then delete any thrusters.

Author: meson800

Member Function Documentation

void FiringSolutionCalculator::Apply	(	VECTOR3 &	torque,
		VECTOR3 &	force,
		double	thrust
	)

Applies the firing solution to the vessels thrusters to achieve the demanded torque and force levels.

Note: Has no effect if called on an instance that is still calculating its solution.

Parameters

torque	Vector containing the thrust levels for rotation groups in the three axes, between -1.0 and 1.0.
force	Vector containing the thrust levels for translation groups in the three axes, between -1.0 and 1.0.

Note: A level of 1.0 or -1.0 means that the maximum thrust will be applied that still guarantees avoiding artifacts. If both torque and force are requested at the same time, that caution is thrown to the wind.

See also: IsSolutionReady()

map< FORCETYPE, VECTOR3 > FiringSolutionCalculator::calculateGeneratedForce	(	FIRING_SOLUTION &	sol,
		vector< FiringSolutionThruster * > &	involvedthrusters
	)

private

Calculates the total force a firing solution can produce with a certain subset of thrusters.

Parameters

sol	The firing solution you want to know the generated forces for.
involvedthrusters	A list of all thrusters to be used in the solution.

Returns: A map with two vectors keyed to F_LINEAR and F_TORQUE.

void FiringSolutionCalculator::CalculateTorqueLevels ( VECTOR3 & IN_OUT_torque )

Calculates the thrust levels to achieve the requested torque.

Parameters

torque Desired torque around 3 axes, in Nm. Will be converted to values between -1.0 and 1.0, proportional to the maximum maneuverability.

Note: If the torque cannot be produced, hrusters will be set to max level allowed to avoid lateral force.

FIRING_SOLUTION FiringSolutionCalculator::completeFiringSolution ( FIRING_SOLUTION & sol )

private

Returns: A firing solution with the passed coefficients, and all other thrusters initialised to 0

Parameters

sol	A firing solution that contains all thrusters actually contributing to the solution

vector< THGROUP_TYPE > FiringSolutionCalculator::getGroupsFromForceVector	(	VECTOR3 &	force,
		FORCETYPE	type
	)

private

Returns: the thruster groups able to generate a certain force

Parameters

force	The force vector you are looking to generate
type	Whether force represents linear force or torque

bool FiringSolutionCalculator::IsSolutionReady ( )

inline

Returns: true if the solution has been calculated, false if it is still running.

void FiringSolutionCalculator::setMaxForcesForGroup	(	THGROUP_TYPE	group,
		map< FORCETYPE, VECTOR3 >	forces
	)

private

Notes the passed forces as the maximum forces this group can produce.

Parameters

group	The thruster group the forces are for.
forces	a map containing the maximum values for F_TORQUE and F_LINEAR.

Note: Since this saves magnitudes, the forces are always positive. Howver, the sign of the forces you pass to this method do not matter, it will convert them itself.

Member Data Documentation

FIRING_SOLUTION FiringSolutionCalculator::pitchUpSol

private

The current firing solutions for the various actions rcs has to perform

The documentation for this class was generated from the following files:

C:/Orbiter2016/Orbitersdk/IMS2/FiringSolutionCalculator.h
C:/Orbiter2016/Orbitersdk/IMS2/FiringSolutionCalculator.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation