actuator_plugin.cpp
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/****************************************************************************
*
* Copyright (c) 2020 Auterion AG. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @brief JSBSim Actuator Plugin
*
* This is a class for the JSBSim actuator plugin
*
* @author Jaeyoung Lim <jaeyoung@auterion.com>
* @author Roman Bapst <roman@auterion.com>
*/
#include "actuator_plugin.h"
ActuatorPlugin::ActuatorPlugin(JSBSim::FGFDMExec *jsbsim) : _sim_ptr(jsbsim), _last_sim_time(0.0) {}
ActuatorPlugin::~ActuatorPlugin() {}
bool ActuatorPlugin::SetActuatorCommands(const Eigen::VectorXd &actuator_commands) {
for (size_t i = 0; i < _actuator_configs.size(); i++) {
size_t index = _actuator_configs[i].index;
std::string property = _actuator_configs[i].property;
double scale = _actuator_configs[i].scale;
SetCommandToProperty(scale * actuator_commands[index], property);
}
return true;
}
bool ActuatorPlugin::SetCommandToProperty(float value, std::string property) {
_sim_ptr->SetPropertyValue(property, value);
return true;
}
bool ActuatorPlugin::SetActuatorConfigs(const TiXmlHandle &config) {
TiXmlElement *actuators = config.FirstChild("actuators").Element();
if (!actuators) return false;
for (TiXmlElement *e = actuators->FirstChildElement("channel"); e != NULL; e = e->NextSiblingElement("channel")) {
ActuatorMap actuator_mapping;
actuator_mapping.index = std::stoi(e->FirstChildElement("index")->GetText());
actuator_mapping.scale = std::stoi(e->FirstChildElement("scale")->GetText());
actuator_mapping.property = e->FirstChildElement("property")->GetText();
_actuator_configs.push_back(actuator_mapping);
}
return true;
}