DUNE: Uniform Navigational Environment  2019.02.1
DUNE::Control::AUVModel Class Reference

Public Member Functions

 AUVModel (const ModelParameters &param)
 
 ~AUVModel ()
 
Math::Matrix step (const Math::Matrix &nu_dot, const Math::Matrix &nu, const Math::Matrix &eta)
 
Math::Matrix stepInv (const Math::Matrix &tau, const Math::Matrix &nu, const Math::Matrix &eta)
 
Math::Matrix stepInv (const Math::Matrix &xyz, const Math::Matrix &deflections, const Math::Matrix &nu, const Math::Matrix &eta)
 
Math::Matrix stepInv (double thruster_act, const Math::Matrix &servo_pos, const Math::Matrix &nu, const Math::Matrix &eta)
 
double getRollFinLift (void)
 
double getPitchFinLift (void)
 
double getYawFinLift (void)
 

Constructor & Destructor Documentation

DUNE::Control::AUVModel::AUVModel ( const ModelParameters param)

Constructor.

DUNE::Control::AUVModel::~AUVModel ( void  )

Destructor.

Member Function Documentation

double DUNE::Control::AUVModel::getPitchFinLift ( void  )
inline

Get the pitch fin lift coefficient.

double DUNE::Control::AUVModel::getRollFinLift ( void  )
inline

Get the roll fin lift coefficient.

double DUNE::Control::AUVModel::getYawFinLift ( void  )
inline

Get the yaw fin lift coefficient.

Matrix DUNE::Control::AUVModel::step ( const Math::Matrix nu_dot,
const Math::Matrix nu,
const Math::Matrix eta 
)

Routine to compute the next step.

Matrix DUNE::Control::AUVModel::stepInv ( const Math::Matrix tau,
const Math::Matrix nu,
const Math::Matrix eta 
)

Routine to compute the next step, yet compute the acceleration instead of forces.

References DUNE::Math::inverse().

Referenced by stepInv().

Matrix DUNE::Control::AUVModel::stepInv ( const Math::Matrix xyz,
const Math::Matrix deflections,
const Math::Matrix nu,
const Math::Matrix eta 
)

Routine to compute the next step, yet compute the acceleration instead of forces this time using fin deflections and xyz forces.

References stepInv().

Matrix DUNE::Control::AUVModel::stepInv ( double  thruster_act,
const Math::Matrix servo_pos,
const Math::Matrix nu,
const Math::Matrix eta 
)

Routine to compute the next step, yet compute the acceleration instead of forces this time using the thruster actuation and servo positions.

References DUNE::Math::Matrix::get(), DUNE::Math::Matrix::horzCat(), DUNE::Math::skew(), stepInv(), and DUNE::Math::Matrix::vertCat().

Collaboration diagram for DUNE::Control::AUVModel:
Collaboration graph