Remove circular dependency if ControlAllocation and ActuatorEffectiveness #24195
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
... and actuator effectiveness
sfuhrer
approved these changes
Jan 10, 2025
This was referenced Jan 10, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
... and actuator effectiveness
Solved Problem
ControlAllocationlib depends onActuatorEffectivensslib. However, the base class ofActuatorEffectivenesswas using an enum defined inControlAllocationSolution
Remove circular dependency
Changelog Entry
For release notes:
Alternatives
We could also just look the other way. To make life more interesting, maybe we can chain multiple libraries to then form a longer circular dependency. This would be harder to spot.
Test coverage
SITL builds.