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*  Copyright (c) 2010, LABUST, UNIZG-FER
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#ifndef ALLOCATION_HPP_
#define ALLOCATION_HPP_

#include <cmath>

namespace labust
{
	namespace vehicles
	{
		/**
		 * This class helps calculate the thruster allocation.
		 */
		struct AffineThruster
		{
			/**
			 * The method returns the number of revolutions needed to generate the requested thrust.
			 */
			inline static int getRevs(double thrust, double Tnn = 1, double _Tnn = 1)
			{
				return (thrust >= 0) ? std::ceil(std::sqrt(thrust/Tnn)) : -std::ceil(std::sqrt(-thrust/_Tnn));
			}
		};
	}
}

/* ALLOCATION_HPP_ */
#endif
