DUNE: Uniform Navigational Environment  2016.09.0
Simulators::VSIM::Fin Class Reference

Detailed Description

Fin control surfaces class.

Public Member Functions

 Fin (unsigned int finid, double[3]=0, double[3]=0)
 
void updateAct (double value)
 
void applyForce (double speed, double forces[6])
 
bool checkId (unsigned int testid)
 
- Public Member Functions inherited from Simulators::VSIM::Force
 Force (void)
 
virtual ~Force (void)
 
void setForce (double, double, double, bool, bool)
 
void setPosition (double, double, double, bool)
 
bool isInertial (void)
 
bool isTorque (void)
 
bool isPosInertial (void)
 
virtual double getActuation (void)
 

Static Public Member Functions

static int encodeId (int id)
 

Additional Inherited Members

- Protected Attributes inherited from Simulators::VSIM::Force
double m_max_force [3]
 
double m_act_position [3]
 

Constructor & Destructor Documentation

Simulators::VSIM::Fin::Fin ( unsigned int  finid,
double  coef[3] = 0,
double  pos[3] = 0 
)

Constructor.

Parameters
[in]finidfin id.
[in]coeffin coeficients.
[in]posfin position.

Member Function Documentation

void Simulators::VSIM::Fin::applyForce ( double  speed,
double  forces[6] 
)
virtual

Apply fin's force.

Parameters
[in]speedspeed reference.
[out]forcesforces to be applied by the fin.

Reimplemented from Simulators::VSIM::Force.

bool Simulators::VSIM::Fin::checkId ( unsigned int  testid)
virtual

Check fin's id.

Returns
true if id matches, false otherwise.

Reimplemented from Simulators::VSIM::Force.

static int Simulators::VSIM::Fin::encodeId ( int  id)
inlinestatic

Fin id encoding.

Referenced by Simulators::VSIM::UUV::updateFin().

void Simulators::VSIM::Fin::updateAct ( double  value)
virtual

Update fin's actuation.

Parameters
[in]valuefin actuation.

Reimplemented from Simulators::VSIM::Force.

Collaboration diagram for Simulators::VSIM::Fin:
Collaboration graph