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

Detailed Description

ASV Autonomous Surface Vehicle simulator.

Public Member Functions

 ASV (void)
 
 ASV (double[3])
 
 ASV (const ASV *)
 
 ~ASV (void)
 
void applyForces (void)
 
void applyAsvActuation (void)
 
void updateActuation (int id)
 
- 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)
 
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)
 

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::ASV::ASV ( void  )

Default Constructor.

Simulators::VSIM::ASV::ASV ( double  dimensions[3])

Constructor.

Parameters
[in]dimensionsof the vehicle.
Simulators::VSIM::ASV::ASV ( const ASV )

Copy Constructor.

Simulators::VSIM::ASV::~ASV ( void  )

Destructor.

Member Function Documentation

void Simulators::VSIM::ASV::applyAsvActuation ( void  )

Apply ASV specific actuation.

References Simulators::VSIM::Object::addForces(), and updateActuation().

Referenced by applyForces().

void Simulators::VSIM::ASV::applyForces ( void  )
virtual
void Simulators::VSIM::ASV::updateActuation ( int  id)

Update ASV actiation.

Parameters
[in]idvehicle id.

References Simulators::VSIM::Vehicle::m_vehicle_forces.

Referenced by applyAsvActuation().

Collaboration diagram for Simulators::VSIM::ASV:
Collaboration graph