Merge branch 'thrust_allocation_ROS2' of github.com:vortexntnu/vortex…

…-asv into thrust_allocation_ROS2
vortexntnu · Nov 5, 2023 · e12497e · e12497e
2 parents 01f0fa5 + 3859208
commit e12497e
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/motion/thruster_allocator/include/thruster_allocator/pseudoinverse_allocator.hpp b/motion/thruster_allocator/include/thruster_allocator/pseudoinverse_allocator.hpp
@@ -1,6 +1,8 @@
 /**
  * @file pseudoinverse_allocator.hpp
- * @brief Contains the PseudoinverseAllocator class, which implements the unweighted pseudoinverse-based allocator described in e.g. Fossen 2011 Handbook of Marine Craft Hydrodynamics and Motion Control (chapter 12.3.2).
+ * @brief Contains the PseudoinverseAllocator class, which implements the
+ * unweighted pseudoinverse-based allocator described in e.g. Fossen 2011
+ * Handbook of Marine Craft Hydrodynamics and Motion Control (chapter 12.3.2).
  */
 
 #ifndef VORTEX_ALLOCATOR_PSEUDOINVERSE_ALLOCATOR_HPP
@@ -9,7 +11,8 @@
 #include <eigen3/Eigen/Eigen>
 
 /**
- * @brief The PseudoinverseAllocator class calculates the allocated thrust given the input torques using the pseudoinverse allocator.
+ * @brief The PseudoinverseAllocator class calculates the allocated thrust given
+ * the input torques using the pseudoinverse allocator.
  */
 class PseudoinverseAllocator {
 public:
@@ -21,7 +24,8 @@ class PseudoinverseAllocator {
   explicit PseudoinverseAllocator(const Eigen::MatrixXd &T_pinv);
 
   /**
-   * @brief Calculates the allocated thrust given the input torques using the pseudoinverse allocator.
+   * @brief Calculates the allocated thrust given the input torques using the
+   * pseudoinverse allocator.
    *
    * @param tau The input torques as a vector.
    * @return The allocated thrust as a vector.

diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -17,7 +17,8 @@ ThrusterAllocator::ThrusterAllocator()
   declare_parameter("propulsion.thrusters.min", -100);
   declare_parameter("propulsion.thrusters.max", 100);
   declare_parameter("propulsion.thrusters.direction", std::vector<int64_t>{0});
-  declare_parameter("propulsion.thrusters.configuration_matrix", std::vector<double>{0});
+  declare_parameter("propulsion.thrusters.configuration_matrix",
+                    std::vector<double>{0});
 
   num_dof_ = get_parameter("propulsion.dofs.num").as_int();
   num_thrusters_ = get_parameter("propulsion.thrusters.num").as_int();