Simulators::VSIM::Vehicle Class Reference

Detailed Description

Vehicle general properties.

Public Member Functions
	Vehicle (void)
virtual	~Vehicle (void)
void	addForce (Force *force)
void	addEngine (Engine *engine)
void	applyControlForces (void)
void	applyForces (void)
void	updateact (unsigned int id, double act)
void	updateEngine (unsigned int id, double act)
virtual void	setAddedMassCoef (double coefs[6])
virtual void	setBodyLiftCoef (double coefs[8])
Public Member Functions inherited from Simulators::VSIM::Object
	Object (void)
virtual	~Object (void)
void	setMassProp (double m, double inertia[6])
void	setLinearDragCoef (double coefs[10])
void	setQuadraticDragCoef (double coefs[10])
void	setIntegrationMethod (bool method)
virtual void	insertInWorld (void)
virtual void	setPosition (double x, double y, double z)
virtual void	setOrientation (double roll, double pitch, double yaw)
double *	getPosition (void)
double *	getOrientation (void)
double *	getLinearVelocity (void)
double *	getAngularVelocity (void)
void	applyDragForces (void)
void	addForces (double X, double Y, double Z, double P, double Q, double R)
void	resetForces (void)
void	update (double timestep)

Public Attributes
std::list< Force * >	m_vehicle_forces

Additional Inherited Members
Public Types inherited from Simulators::VSIM::Object
enum	Type {   OBJECT, VEHICLE, UUV, UAV,   USV, UGV }
Protected Attributes inherited from Simulators::VSIM::Object
double	m_mass
double	m_inertia [6]
double	m_position [3]
double	m_orientation [3]
double	m_linear_velocity [3]
double	m_angular_velocity [3]

Constructor & Destructor Documentation

Simulators::VSIM::Vehicle::Vehicle

(

void

)

Constructor.

Simulators::VSIM::Vehicle::~Vehicle ( void  )

virtual

Destructor.

References m_vehicle_forces.

Member Function Documentation

void Simulators::VSIM::Vehicle::addEngine

(

Engine *

engine

)

Add Engine.

Parameters

[in]

engine

new engine.

References addForce().

void Simulators::VSIM::Vehicle::addForce

(

Force *

force

)

Add a force.

Parameters

[in]

force

new force.

References m_vehicle_forces.

Referenced by addEngine(), Simulators::VSIM::UUV::addFin(), and Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Vehicle::applyControlForces

(

void

)

Applies vehicle commands forces.

References Simulators::VSIM::Object::addForces(), Simulators::VSIM::Object::m_linear_velocity, Simulators::VSIM::Object::m_position, and m_vehicle_forces.

Referenced by applyForces(), and Simulators::VSIM::UUV::applyForces().

void Simulators::VSIM::Vehicle::applyForces ( void  )

virtual

Applies all vehicle's forces.

Reimplemented from Simulators::VSIM::Object.

References applyControlForces(), and Simulators::VSIM::Object::applyDragForces().

void Simulators::VSIM::Vehicle::setAddedMassCoef ( double  coefs[6] )

virtual

Set added mass coefficient (for UUVs).

Parameters

[in]

coefs

added mass matrix coefficients.

Reimplemented in Simulators::VSIM::UUV.

Referenced by Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Vehicle::setBodyLiftCoef ( double  coefs[8] )

virtual

Set body lift matrix (for UUVs).

Parameters

[in]

coefs

body lift matrix coefficients.

Reimplemented in Simulators::VSIM::UUV.

Referenced by Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Vehicle::updateact	(	unsigned int	id,
		double	act
	)

Updates actuation.

Parameters

[in]	id	actuation id.
[in]	act	new actuation value.

References m_vehicle_forces.

Referenced by updateEngine(), and Simulators::VSIM::UUV::updateFin().

void Simulators::VSIM::Vehicle::updateEngine	(	unsigned int	id,
		double	act
	)

Updates a engine's actuation.

Parameters

[in]	id	engine id.
[in]	act	new engine actuation value.

References Simulators::VSIM::Engine::encodeId(), and updateact().

Referenced by Simulators::VSIM::Task::consume().

Member Data Documentation

std::list<Force*> Simulators::VSIM::Vehicle::m_vehicle_forces

Engines/Fins vector.

Referenced by addForce(), applyControlForces(), updateact(), Simulators::VSIM::ASV::updateActuation(), and ~Vehicle().

Collaboration diagram for Simulators::VSIM::Vehicle: