sc_pulsewidth_lp.h

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/*
 * sc_math.h 
 *
 * Programmers: Stephanie Thomas, Michael Paluszek
 *
 * Copyright 2000-2006, Princeton Satellite Systems. All rights reserved.
 *
 * Math functions.
 */
 
 
#ifndef __SC_PULSEWIDTHLP__
#define __SC_PULSEWIDTHLP__
 
#include <math.h>
#ifdef AS_OS_WINDOWS
#include "matrixlib.h"
#else
#include <MatrixLib/MatrixLib.h>
#endif
#include "sc_constants.h"
 
 
class PulseWidthLP
{
    
private:
    ml_matrix thruster_positions;
    ml_matrix thruster_directions;
    ml_matrix thruster_coefficients;
    double slack_scale;
    double slack_weight;
    double tank_pressure;
    ml_matrix force_demand;
    ml_matrix torque_demand;
    ml_matrix force_matrix;
    ml_matrix torque_matrix;
    ml_matrix slack_matrix;
    ml_matrix center_of_mass;
    double force_error_weight;
    double torque_error_weight;
    
public:
    ml_matrix pulsewidth;
    
    int nThrusters;
    
    PulseWidthLP( void );
    
    void        Initialize( void );
    
    void                SetThrusterData( int n, ml_matrix positions, ml_matrix directions, ml_matrix coeffs );
 
    bool        SolveMinPW( void );
 
    bool        SolveMaxForce( void );
    
    void        UpdateForceTorqueMatrix( void );
    
    void                SetForceDemand( ml_matrix force );
    
    void                SetTorqueDemand( ml_matrix torque );
    
    void                SetThrusterPositions( ml_matrix positions );
    
    void                SetThrusterDirections( ml_matrix directions );
    
    void                SetThrusterCoefficients( ml_matrix coeffs );
    
    void                SetErrorWeights( double fW, double tW );
 
    void        SetSlackScale( double scale );
    
    void        SetSlackWeight( double weight );
    
    void        SetCenterOfMass( ml_matrix cm );
    
    void                SetTankPressure( double pressure );
        
    ml_matrix   GetForce( void );
    
    ml_matrix   GetTorque( void );
    
    ml_matrix   GetForceDemand( void );
    
    ml_matrix   GetTorqueDemand( void );
    
    ml_matrix   GetForceMatrix( void );
    
    ml_matrix   GetTorqueMatrix( void );
    
};
 
 
#endif