quta

Quadratically optimized Thrust Allocation

quta is an open source python package leveraging the optimization technique quadratic programming for allocation of thrust to thrusters fixed on a body in the plane (3DOFs).

Example usage:

from quta.thruster import AzimuthThruster
from quta.allocator import MinimizePowerAllocator

az1 = AzimuthThruster((-20, 5), 10000, 32)
az2 = AzimuthThruster((-20, -5), 10000, 32)

a = MinimizePowerAllocator()

a.add_thruster(az1)
a.add_thruster(az2)

u, res = a.allocate([0, 500, 8000], relax=False)

ToDo

• Update readme
• Documentation/examples

Contributions welcome through pull requests!