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

Fin()

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

Constructor.

Parameters

[in]	finid	fin id.
[in]	coef	fin coeficients.
[in]	pos	fin position.

Member Function Documentation

applyForce()

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

virtual

Apply fin's force.

Parameters

[in]	speed	speed reference.
[out]	forces	forces to be applied by the fin.

Reimplemented from Simulators::VSIM::Force.

checkId()

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.

encodeId()

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

inlinestatic

Fin id encoding.

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

updateAct()

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

virtual

Update fin's actuation.

Parameters

[in]

value

fin actuation.

Reimplemented from Simulators::VSIM::Force.

References encodeId(), Simulators::VSIM::Force::m_act_position, Simulators::VSIM::Force::m_max_force, Simulators::VSIM::Force::setForce(), and Simulators::VSIM::Force::setPosition().

Collaboration diagram for Simulators::VSIM::Fin: