Public Member Functions | Public Attributes | Static Public Attributes
dynamics.Dynamics Class Reference

List of all members.

Public Member Functions

def __init__
def computeTf
def coriolisMatrix
def dumpingMatrix
def generalizedForce
def getConfig
def gravity
def integral
def inverseDynamic
def iterate
def kinematics
def pubPose
def s
def thrustersDynamics
def updateCollision
def updateThrusters

Public Attributes

 actuators_gain
 actuators_maxsat
 actuators_minsat
 actuators_tau
 am
 collisionForce
 ctb
 ctf
 current_max
 current_mean
 current_min
 current_sigma
 damping
 density
 dh
 dv
 dzv
 frame_id
 g
 gravity_center
 input_topic
 mass
 namespace
 num_actuators
 output_topic
 p
 p_0
 p_dot
 period
 quadratic_damping
 radius
 tensor
 u
 uwsim_period
 v
 v_0
 v_dot
 vehicle_name
 y_1

Static Public Attributes

list Ixx = self.tensor[0]
list Ixy = self.tensor[1]
list Ixz = self.tensor[2]
list Iyx = self.tensor[3]
list Iyy = self.tensor[4]
list Iyz = self.tensor[5]
list Izx = self.tensor[6]
list Izy = self.tensor[7]
list Izz = self.tensor[8]
 m = self.mass
tuple Ma = rospy.get_param(self.vehicle_name + "/dynamics" + "/Ma")
tuple Mrb = rospy.get_param(self.vehicle_name + "/dynamics" + "/Mrb")
list xg = self.gravity_center[0]
list yg = self.gravity_center[1]
list zg = self.gravity_center[2]

Detailed Description

Definition at line 20 of file dynamics.py.


Constructor & Destructor Documentation

Simulates the dynamics of an AUV 

Definition at line 244 of file dynamics.py.


Member Function Documentation

def dynamics.Dynamics.computeTf (   self,
  tf 
)

Definition at line 238 of file dynamics.py.

Definition at line 86 of file dynamics.py.

Definition at line 95 of file dynamics.py.

def dynamics.Dynamics.generalizedForce (   self,
  du 
)
Computes the generalized force as B*u, being B the allocation matrix and u the control input 

Definition at line 68 of file dynamics.py.

Load parameters from the rosparam server 

Definition at line 23 of file dynamics.py.

def dynamics.Dynamics.gravity (   self)
Computes the gravity and buoyancy forces. Assumes a sphere model for now 

Definition at line 120 of file dynamics.py.

def dynamics.Dynamics.integral (   self,
  x_dot,
  x,
  t 
)
Computes the integral o x dt 

Definition at line 167 of file dynamics.py.

Given the setpoint for each thruster, the previous velocity and the 
    previous position computes the v_dot 

Definition at line 152 of file dynamics.py.

def dynamics.Dynamics.iterate (   self)

Definition at line 312 of file dynamics.py.

Given the current velocity and the previous position computes the p_dot 

Definition at line 172 of file dynamics.py.

def dynamics.Dynamics.pubPose (   self,
  event 
)

Definition at line 218 of file dynamics.py.

def dynamics.Dynamics.s (   self,
  x 
)
Given a 3D vector computes the 3x3 antisymetric matrix 

Definition at line 61 of file dynamics.py.

def dynamics.Dynamics.thrustersDynamics (   self,
  u 
)

Definition at line 207 of file dynamics.py.

def dynamics.Dynamics.updateCollision (   self,
  force 
)

Definition at line 215 of file dynamics.py.

def dynamics.Dynamics.updateThrusters (   self,
  thrusters 
)
Receives the control input, saturates each component to maxsat or minsat, and multiplies each component by the actuator gain

Definition at line 193 of file dynamics.py.


Member Data Documentation

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 215 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 244 of file dynamics.py.

list dynamics.Dynamics::Ixx = self.tensor[0] [static]

Definition at line 272 of file dynamics.py.

list dynamics.Dynamics::Ixy = self.tensor[1] [static]

Definition at line 273 of file dynamics.py.

list dynamics.Dynamics::Ixz = self.tensor[2] [static]

Definition at line 274 of file dynamics.py.

list dynamics.Dynamics::Iyx = self.tensor[3] [static]

Definition at line 275 of file dynamics.py.

list dynamics.Dynamics::Iyy = self.tensor[4] [static]

Definition at line 276 of file dynamics.py.

list dynamics.Dynamics::Iyz = self.tensor[5] [static]

Definition at line 277 of file dynamics.py.

list dynamics.Dynamics::Izx = self.tensor[6] [static]

Definition at line 278 of file dynamics.py.

list dynamics.Dynamics::Izy = self.tensor[7] [static]

Definition at line 279 of file dynamics.py.

list dynamics.Dynamics::Izz = self.tensor[8] [static]

Definition at line 280 of file dynamics.py.

dynamics.Dynamics::m = self.mass [static]

Definition at line 281 of file dynamics.py.

tuple dynamics.Dynamics::Ma = rospy.get_param(self.vehicle_name + "/dynamics" + "/Ma") [static]

Definition at line 291 of file dynamics.py.

Definition at line 23 of file dynamics.py.

tuple dynamics.Dynamics::Mrb = rospy.get_param(self.vehicle_name + "/dynamics" + "/Mrb") [static]

Definition at line 286 of file dynamics.py.

Definition at line 244 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 244 of file dynamics.py.

Definition at line 312 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 312 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 193 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 312 of file dynamics.py.

Definition at line 23 of file dynamics.py.

Definition at line 312 of file dynamics.py.

Definition at line 244 of file dynamics.py.

list dynamics.Dynamics::xg = self.gravity_center[0] [static]

Definition at line 282 of file dynamics.py.

Definition at line 207 of file dynamics.py.

list dynamics.Dynamics::yg = self.gravity_center[1] [static]

Definition at line 283 of file dynamics.py.

list dynamics.Dynamics::zg = self.gravity_center[2] [static]

Definition at line 284 of file dynamics.py.


The documentation for this class was generated from the following file:


underwater_vehicle_dynamics
Author(s): Arnau Carrera, Narcis Palomeras, Mario Prats
autogenerated on Mon Oct 6 2014 08:24:31