Make control allocation and actuator effectiveness a non-module-specific library

[Jaeyoung-Lim]

Solved Problem

When trying to implement a separate metric control allocation module, it seems that sharing the control allocation library seems like a sensible solution.

Solution

• Make ControlAllocation and ActuatorEffectiveness a library that can be shared across multiple modules
• Keep Vehicle Specific ActuatorEffectiveness implementation as part of control_allocator module and only keep the ActuatorEffectiveness base class in the library.

Changelog Entry

For release notes:

Feature: Control allocation as a standalone library

Test coverage

Tested in SITL

Context

• Cleanup done for this PR:Remove circular dependency of ControlAllocation and ActuatorEffectiveness #24195 Take 2: Cleanup circular dependencies ActuatorEffectiveness #24197

[sfuhrer]

Make ControlAllocation and ActuatorEffectiveness a library

I would consider having it grouped in one folder, as one cannot live without the other one.

Otherwise I agree with libraries as much as makes sense, and it should incentivize us to make certain functions more generic while going very specific for others.

[Jaeyoung-Lim]

@sfuhrer Great, I have grouped the libraries to a directory as requested

[Pedro-Roque]

LGTM!

[dagar]

This might be nitpicky, but allocation seems potentially ambiguous (memory allocation, etc).

[sfuhrer]

Agree with Daniel. I think there is no hurt in calling the folder "control_allocation" to be as precise as possible.

[Jaeyoung-Lim]

@dagar @sfuhrer Fixed directoy name as suggested :)

[sfuhrer]

Looks clean, thanks for the initiative!