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GNC: write common library for 3D thruster mapping #187

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kev-the-dev opened this issue Feb 8, 2019 · 0 comments

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kev-the-dev commented Feb 8, 2019

Write a generic interface for thruster mapping in 3D (body wrench to individual thrust efforts). Some ideal features

Option to parse URDF file to find thrusters (joints identified for a prefix THRUSTER_)
Inheritance based for other minimization functions (minimize energy, faster processing, etc)
Function to disable/enable on the fly (when thrusters are broken, etc)

kev-the-dev added the ready label

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