580 task thrust allocator auv

[Q3rkses]

Refactored the thrust allocator module to be easier to build upon. Added more documentation in the readme file and some basic unit testing of the thrust allocator functionality. Added a new solver using CasADi and Fossen's formulation of the QP thrust allocation problem. Whenever i find time again i will add more comprehensible unit testing.

Lastly it would be nice to have simulator testing and perform some analysis on computation time vs accuracy tradeoff for both pseudoinverse and the QP solver but that is outside of the scope of this PR.

[codecov]

Codecov Report

❌ Patch coverage is 62.04239% with 197 lines in your changes missing coverage. Please review.
✅ Project coverage is 36.95%. Comparing base (da8722f) to head (7f10bc5).
⚠️ Report is 33 commits behind head on main.

Files with missing lines	Patch %	Lines
...ust_allocator_auv/tests/thrust_allocator_tests.cpp	60.91%	2 Missing and 118 partials ⚠️
.../thrust_allocator_auv/src/thrust_allocator_ros.cpp	0.00%	58 Missing ⚠️
...lude/thrust_allocator_auv/thrust_allocator_ros.hpp	0.00%	5 Missing ⚠️
...st_allocator_auv/src/solvers/allocator_factory.cpp	50.00%	3 Missing and 1 partial ⚠️
.../thrust_allocator_auv/src/solvers/qp_allocator.cpp	96.03%	2 Missing and 2 partials ⚠️
...de/thrust_allocator_auv/thrust_allocator_utils.hpp	88.88%	0 Missing and 2 partials ⚠️
...ocator_auv/src/solvers/pseudoinverse_allocator.cpp	84.61%	1 Missing and 1 partial ⚠️
...e/thrust_allocator_auv/pseudoinverse_allocator.hpp	0.00%	1 Missing ⚠️
..._auv/include/thrust_allocator_auv/qp_allocator.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #661      +/-   ##
==========================================
+ Coverage   33.47%   36.95%   +3.48%     
==========================================
  Files          68       74       +6     
  Lines        4840     5288     +448     
  Branches     1245     1601     +356     
==========================================
+ Hits         1620     1954     +334     
+ Misses       2925     2913      -12     
- Partials      295      421     +126     

Flag	Coverage Δ
unittests	36.95% <62.04%> (+3.48%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
..._auv/include/thrust_allocator_auv/casadi_utils.hpp	100.00% <100.00%> (ø)
...e/thrust_allocator_auv/pseudoinverse_allocator.hpp	0.00% <0.00%> (ø)
..._auv/include/thrust_allocator_auv/qp_allocator.hpp	0.00% <0.00%> (ø)
...de/thrust_allocator_auv/thrust_allocator_utils.hpp	84.37% <88.88%> (+84.37%)	⬆️
...ocator_auv/src/solvers/pseudoinverse_allocator.cpp	84.61% <84.61%> (ø)
...st_allocator_auv/src/solvers/allocator_factory.cpp	50.00% <50.00%> (ø)
.../thrust_allocator_auv/src/solvers/qp_allocator.cpp	96.03% <96.03%> (ø)
...lude/thrust_allocator_auv/thrust_allocator_ros.hpp	0.00% <0.00%> (ø)
.../thrust_allocator_auv/src/thrust_allocator_ros.cpp	0.94% <0.00%> (+0.94%)	⬆️
...ust_allocator_auv/tests/thrust_allocator_tests.cpp	60.91% <60.91%> (ø)

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[jorgenfj]

Maybe move the "solvers" directory to src as that follows the standard ros package structure and maybe divide the headers into subfolders

[jorgenfj]

Maybe rename this class to ThrustAllocatorNode to make it more explicit that this is the ros class

[jorgenfj]

Maybe make solver type a launch arg instead of yaml param

[jorgenfj]

LGTM!

Maybe add simulator tests for both solvers. This way it is easier to pinpoint if one specific solver is the cause of potential failures.