#include <kinematic_model.h>

Public Types
enum	{ x = 0, y, z }
enum	{ phi = 0, theta, psi }
enum	{ u = 0, v, w, p, q, r }
Public Member Functions
void	init (double depth=0)
	KinematicModel ()
	Default constructor for common use without configuration.
const vector3 &	orientation ()
const vector3 &	position () const
void	reset ()
void	setPosition (const vector3 &pos, const vector3 &rpy)
void	setPosition (const vector3 &pos, const quaternion &quat)
void	setTs (double Ts)
	Set the sampling time in seconds.
void	step (const vector &nu)
Protected Attributes
vector3	current
	The external current disturbance in world coordinates.
double	dT
	The model sampling step.
vector3	pos
	Position and orientation state.
vector3	pos0
	The initial position vector.
quaternion	quat
	The orientation quaternion.
quaternion	quat0
	The initial quaternion vector.
vector3	rpy
	The internal rpy representation.

Detailed Description

This class implements the kinematics of a 6DOF rigid-body. This model is based on the equations of motion derived in chapter 2 of Guidance and control of Ocean Vehicles by Fossen (1994).

Definition at line 51 of file kinematic_model.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

x
y
z

Definition at line 54 of file kinematic_model.h.

anonymous enum

Enumerator:

phi
theta
psi

Definition at line 55 of file kinematic_model.h.

anonymous enum

Enumerator:

u
v
w
p
q
r

Definition at line 56 of file kinematic_model.h.

Constructor & Destructor Documentation

KinematicModel::KinematicModel ( )

Default constructor for common use without configuration.

Definition at line 42 of file kinematic_model.cpp.

Member Function Documentation

void labust::simulation::KinematicModel::init ( double depth = 0 ) [inline]

Initialize the model.

Parameters:

depth Defaults to zero but can be used to set a neutral depth.

Definition at line 111 of file kinematic_model.h.

const vector3& labust::simulation::KinematicModel::orientation ( ) [inline]

Method to get the current model states. This vector returns the model orientation in Euler ZYX in world coordinates.

Returns:: Constant reference to the model states.

Definition at line 79 of file kinematic_model.h.

const vector3& labust::simulation::KinematicModel::position ( ) const [inline]

Method to get the current position. This vector returns the model position in world coordinates.

Returns:: Constant reference to the model states.

Definition at line 72 of file kinematic_model.h.

void labust::simulation::KinematicModel::reset ( ) [inline]

The method restarts the model to initial parameters.

Definition at line 120 of file kinematic_model.h.

void labust::simulation::KinematicModel::setPosition	(	const vector3 &	pos,
		const vector3 &	rpy
	)		`[inline]`

The method sets the initial states of the model.

Parameters:

pos	Position in the earth-fixed coordinate frame.
rpy	Euler ZYX orientation in the earth-fixed coordinate frame.

Definition at line 90 of file kinematic_model.h.

void labust::simulation::KinematicModel::setPosition	(	const vector3 &	pos,
		const quaternion &	quat
	)		`[inline]`

The method sets the initial states of the model.

Parameters:

pos	Position in the earth-fixed coordinate frame.
quat	Quaternion orientation in the earth-fixed coordinate frame.

Definition at line 101 of file kinematic_model.h.

void labust::simulation::KinematicModel::setTs ( double Ts ) [inline]

Set the sampling time in seconds.

Definition at line 126 of file kinematic_model.h.

void KinematicModel::step ( const vector & nu )

The method performs one simulation step. The model is propagated in time for one sampling period. To access states after the propagation use the accessor methods.

Parameters: