labust::allocation::ThrustAllocation Class Reference

#include <ThrustAllocation.hpp>

List of all members.

Public Member Functions
void	configure (ros::NodeHandle &nh)
	Load and configure allocation parameters from the parameter server.
	ThrustAllocation ()
	Main constructor initializes the values to a normalized differential surface robot configuration.
Public Attributes
Eigen::MatrixXd	B
	The allocation matrix.
Eigen::MatrixXd	Binv
	Ideal inverse allocation matrix.
Eigen::VectorXi	dofs
	Used Degrees of Freedom (surge = 0, sway, heave, roll, pitch, yaw).
int	pwmscaler
	The pwm scaler.
Eigen::VectorXd	tmax
	Maximum thrust available per thruster.
Eigen::VectorXd	tmin
	Minimum thrust available per thruster.
Eigen::MatrixXd	W
	Weight matrix.

---

Detailed Description

Contains the variables and the basic scaling allocation which is needed.

Definition at line 52 of file ThrustAllocation.hpp.

---

Constructor & Destructor Documentation

ThrustAllocation::ThrustAllocation

(

)

Main constructor initializes the values to a normalized differential surface robot configuration.

Definition at line 45 of file ThrustAllocation.cpp.

---

Member Function Documentation

void ThrustAllocation::configure

(

ros::NodeHandle &

nh

)

Load and configure allocation parameters from the parameter server.

Definition at line 60 of file ThrustAllocation.cpp.

---

Member Data Documentation

Eigen::MatrixXd labust::allocation::ThrustAllocation::B

The allocation matrix.

Definition at line 62 of file ThrustAllocation.hpp.

Eigen::MatrixXd labust::allocation::ThrustAllocation::Binv

Ideal inverse allocation matrix.

Definition at line 64 of file ThrustAllocation.hpp.

Eigen::VectorXi labust::allocation::ThrustAllocation::dofs

Used Degrees of Freedom (surge = 0, sway, heave, roll, pitch, yaw).

Definition at line 68 of file ThrustAllocation.hpp.

int labust::allocation::ThrustAllocation::pwmscaler

The pwm scaler.

Definition at line 74 of file ThrustAllocation.hpp.

Eigen::VectorXd labust::allocation::ThrustAllocation::tmax

Maximum thrust available per thruster.

Definition at line 70 of file ThrustAllocation.hpp.

Eigen::VectorXd labust::allocation::ThrustAllocation::tmin

Minimum thrust available per thruster.

Definition at line 72 of file ThrustAllocation.hpp.

Eigen::MatrixXd labust::allocation::ThrustAllocation::W

Weight matrix.

Definition at line 66 of file ThrustAllocation.hpp.

---

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

• ThrustAllocation.hpp
• ThrustAllocation.cpp