Description of the conversion function fo a thruster. More...
#include <map>#include <string>#include <vector>#include <sdf/sdf.hh>
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Classes | |
| class | gazebo::ConversionFunction |
| Abstact base class for a thruster conversion function. More... | |
| class | gazebo::ConversionFunctionBasic |
| The most basic conversion function: Thrust = const.*w*abs(w) This corresponds to what is attrributed to Yoerger et al. and called Model 1 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation. More... | |
| class | gazebo::ConversionFunctionBessa |
| Asymmetric conversion function with dead-zone nonlinearity. This corresponds to what is called Model 2 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation. More... | |
| class | gazebo::ConversionFunctionFactory |
| Factory singleton class that creates a ConversionFunction from sdf. More... | |
| class | gazebo::ConversionFunctionLinearInterp |
| Conversion using linear interpolation between given data points. More... | |
Namespaces | |
| gazebo | |
Macros | |
| #define | REGISTER_CONVERSIONFUNCTION(type) static const bool registeredWithFactory |
| Use the following macro within a ThrusterDynamics declaration: More... | |
| #define | REGISTER_CONVERSIONFUNCTION_CREATOR(type, creator) |
| Use the following macro before a ThrusterDynamics's definition: More... | |
Typedefs | |
| typedef ConversionFunction *(* | gazebo::ConversionFunctionCreator) (sdf::ElementPtr) |
| Function pointer to create a certain conversion function. More... | |
Detailed Description
Description of the conversion function fo a thruster.
Definition in file ThrusterConversionFcn.hh.
Macro Definition Documentation
| #define REGISTER_CONVERSIONFUNCTION | ( | type | ) | static const bool registeredWithFactory |
Use the following macro within a ThrusterDynamics declaration:
Definition at line 78 of file ThrusterConversionFcn.hh.
| #define REGISTER_CONVERSIONFUNCTION_CREATOR | ( | type, | |
| creator | |||
| ) |
Value:
const bool type::registeredWithFactory = \
ConversionFunctionFactory::GetInstance().RegisterCreator( \
type::IDENTIFIER, creator);
Use the following macro before a ThrusterDynamics's definition:
Definition at line 82 of file ThrusterConversionFcn.hh.