Detailed Description

Unmanned Underwater Vehicle class.

Public Member Functions
	UUV (void)

	UUV (double position[3], double dimensions[3])

	UUV (const UUV *)

	~UUV (void)

void	addFin (Fin *fin)

void	updateFin (unsigned int id, double act)

void	setBuoyancyPosition (double x, double y, double z)

void	applyForces (void)

virtual void	setAddedMassCoef (double coefs[6])

virtual void	setBodyLiftCoef (double coefs[8])

void	applyCoriolisForce (void)

Public Member Functions inherited from Simulators::VSIM::Vehicle
	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)

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)

Additional Inherited Members
Public Types inherited from Simulators::VSIM::Object
enum	Type { OBJECT, VEHICLE, UUV, UAV, USV, UGV }

Public Attributes inherited from Simulators::VSIM::Vehicle
std::list< Force * >	m_vehicle_forces

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::UUV::UUV ( void )

Default Constructor.

References setBuoyancyPosition().

Simulators::VSIM::UUV::UUV	(	double	position[3],
		double	dimensions[3]
	)

Constructor.

Parameters

[in]	position	buoyancy position.
[in]	dimensions	volume dimensions.

References setBuoyancyPosition().

Simulators::VSIM::UUV::UUV ( const UUV * )

Copy Constructor.

Simulators::VSIM::UUV::~UUV ( void )

Destructor.

Member Function Documentation

void Simulators::VSIM::UUV::addFin ( Fin * fin )

Add a fin to vehicle's configuration.

Parameters

[in] fin vehicle new fin.

References Simulators::VSIM::Vehicle::addForce().

void Simulators::VSIM::UUV::applyCoriolisForce ( void )

Apply Coriolis Force (and Body Lift) to the UUV Coriolis Matrices equations from: "Modeling and Simulation of the LAUV Autonomous Underwater Vehicle" Jorge Estrela, Bruno Terra, Ricardo Martins e João Sousa.

References Simulators::VSIM::Object::addForces(), Simulators::VSIM::Object::m_angular_velocity, Simulators::VSIM::Object::m_inertia, Simulators::VSIM::Object::m_linear_velocity, and Simulators::VSIM::Object::m_mass.

Referenced by applyForces().

void Simulators::VSIM::UUV::applyForces ( void )

virtual

Apply all forces for UUV vehicle.

Reimplemented from Simulators::VSIM::Object.

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

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

virtual

Set added mass coefficient (useful for Coriolis matrix.

Parameters

[in] coefs added mass matrix coefficients.