gazebo::ConversionFunctionBasic Class Reference

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...

#include <ThrusterConversionFcn.hh>

Inheritance diagram for gazebo::ConversionFunctionBasic:

Public Member Functions
virtual double	convert (double _cmd)
	Convert thruster state (e.g. angular velocity) to thrust force. More...
virtual bool	GetParam (std::string _tag, double &_output)
	Return paramater in scalar form for the given tag. More...
virtual std::string	GetType ()
	Return (derived) type of conversion function. More...
Public Member Functions inherited from gazebo::ConversionFunction
virtual std::map< double, double >	GetTable ()
	Return input and output vectors of the lookup table. More...
virtual	~ConversionFunction ()
	Destructor. More...

Static Public Member Functions
static ConversionFunction *	create (sdf::ElementPtr _sdf)
	Create a ConversionFunction object according to its sdf Description. More...

Private Member Functions
	ConversionFunctionBasic (double _rotorConstant)
	Constructor. More...
	REGISTER_CONVERSIONFUNCTION (ConversionFunctionBasic)
	Register this conversion function with the factory. More...

Private Attributes
double	rotorConstant

Static Private Attributes
static const std::string	IDENTIFIER = "Basic"
	The unique identifier of this conversion function. More...

Additional Inherited Members
Protected Member Functions inherited from gazebo::ConversionFunction
	ConversionFunction ()
	Protected constructor: Use the factory instead. More...

Detailed Description

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.

Definition at line 92 of file ThrusterConversionFcn.hh.

Constructor & Destructor Documentation

gazebo::ConversionFunctionBasic::ConversionFunctionBasic ( double  _rotorConstant )

private

Constructor.

Definition at line 107 of file ThrusterConversionFcn.cc.

Member Function Documentation

double gazebo::ConversionFunctionBasic::convert ( double  _cmd )

virtual

Convert thruster state (e.g. angular velocity) to thrust force.

Implements gazebo::ConversionFunction.

Definition at line 87 of file ThrusterConversionFcn.cc.

static ConversionFunction* gazebo::ConversionFunctionBasic::create ( sdf::ElementPtr  _sdf )

static

Create a ConversionFunction object according to its sdf Description.

bool gazebo::ConversionFunctionBasic::GetParam ( std::string  _tag, double &  _output  )

virtual

Return paramater in scalar form for the given tag.

Implements gazebo::ConversionFunction.

Definition at line 93 of file ThrusterConversionFcn.cc.

virtual std::string gazebo::ConversionFunctionBasic::GetType ( )

inlinevirtual

Return (derived) type of conversion function.

Implements gazebo::ConversionFunction.

Definition at line 98 of file ThrusterConversionFcn.hh.

gazebo::ConversionFunctionBasic::REGISTER_CONVERSIONFUNCTION ( ConversionFunctionBasic  )

private

Register this conversion function with the factory.

Member Data Documentation

const std::string gazebo::ConversionFunctionBasic::IDENTIFIER = "Basic"

staticprivate

The unique identifier of this conversion function.

Definition at line 110 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBasic::rotorConstant

private

Definition at line 114 of file ThrusterConversionFcn.hh.

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

• ThrusterConversionFcn.hh
• ThrusterConversionFcn.cc