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...

#include <ThrusterConversionFcn.hh>

Inheritance diagram for gazebo::ConversionFunctionBessa:

[legend]

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
	ConversionFunctionBessa (double _rotorConstantL, double _rotorConstantR, double _deltaL, double _deltaR)
	Constructor. More...

	REGISTER_CONVERSIONFUNCTION (ConversionFunctionBessa)
	Register this conversion function with the factory. More...

Private Attributes
double	deltaL
	Dead-zone for omega < 0. More...

double	deltaR
	Dead-zone for omega > 0. More...

double	rotorConstantL
	Rotor constant for omega < 0. More...

double	rotorConstantR
	Rotor constant for omega > 0. More...

Static Private Attributes
static const std::string	IDENTIFIER = "Bessa"
	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

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.

Definition at line 121 of file ThrusterConversionFcn.hh.

Constructor & Destructor Documentation

gazebo::ConversionFunctionBessa::ConversionFunctionBessa	(	double	_rotorConstantL,
		double	_rotorConstantR,
		double	_deltaL,
		double	_deltaR
	)

private

Constructor.

Definition at line 178 of file ThrusterConversionFcn.cc.

Member Function Documentation

double gazebo::ConversionFunctionBessa::convert ( double _cmd )

virtual

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

Implements gazebo::ConversionFunction.

Definition at line 159 of file ThrusterConversionFcn.cc.

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

static

Create a ConversionFunction object according to its sdf Description.

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

virtual

Return paramater in scalar form for the given tag.

Implements gazebo::ConversionFunction.

Definition at line 204 of file ThrusterConversionFcn.cc.

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

inlinevirtual

Return (derived) type of conversion function.

Implements gazebo::ConversionFunction.

Definition at line 127 of file ThrusterConversionFcn.hh.

gazebo::ConversionFunctionBessa::REGISTER_CONVERSIONFUNCTION ( ConversionFunctionBessa )

private

Register this conversion function with the factory.

Member Data Documentation

double gazebo::ConversionFunctionBessa::deltaL

private

Dead-zone for omega < 0.

Definition at line 153 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBessa::deltaR

private

Dead-zone for omega > 0.

Definition at line 156 of file ThrusterConversionFcn.hh.

const std::string gazebo::ConversionFunctionBessa::IDENTIFIER = "Bessa"

staticprivate

The unique identifier of this conversion function.

Definition at line 139 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBessa::rotorConstantL

private

Rotor constant for omega < 0.

Definition at line 147 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBessa::rotorConstantR

private

Rotor constant for omega > 0.

Definition at line 150 of file ThrusterConversionFcn.hh.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation