gazebo::Dynamics Class Reference

Abstract base class for thruster dynamics. More...

#include <Dynamics.hh>

Inheritance diagram for gazebo::Dynamics:

Public Member Functions
virtual std::string	GetType ()=0
	Return (derived) type of thruster dynamics. More...
virtual void	Reset ()
virtual double	update (double _cmd, double _t)=0
	Update the dynamic model. More...
virtual	~Dynamics ()
	Destructor. More...

Protected Member Functions
	Dynamics ()
	Protected constructor: Use the factory for object creation. More...

Protected Attributes
double	prevTime
	Time of last state update. More...
double	state
	Latest state. More...

Detailed Description

Abstract base class for thruster dynamics.

Definition at line 30 of file Dynamics.hh.

Constructor & Destructor Documentation

gazebo::Dynamics::Dynamics ( )

inlineprotected

Protected constructor: Use the factory for object creation.

Definition at line 33 of file Dynamics.hh.

virtual gazebo::Dynamics::~Dynamics ( )

inlinevirtual

Destructor.

Definition at line 36 of file Dynamics.hh.

Member Function Documentation

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

pure virtual

Return (derived) type of thruster dynamics.

Implemented in gazebo::ThrusterDynamicsBessa, gazebo::ThrusterDynamicsYoerger, gazebo::DynamicsFirstOrder, and gazebo::DynamicsZeroOrder.

void gazebo::Dynamics::Reset ( )

virtual

Definition at line 23 of file Dynamics.cc.

virtual double gazebo::Dynamics::update ( double  _cmd, double  _t  )

pure virtual

Update the dynamic model.

Parameters

[in]	_cmd	The commanded value.
[in]	_t	Time stamp of command.

Implemented in gazebo::ThrusterDynamicsBessa, gazebo::ThrusterDynamicsYoerger, gazebo::DynamicsFirstOrder, and gazebo::DynamicsZeroOrder.

Member Data Documentation

double gazebo::Dynamics::prevTime

protected

Time of last state update.

Definition at line 50 of file Dynamics.hh.

double gazebo::Dynamics::state

protected

Latest state.

Definition at line 53 of file Dynamics.hh.

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

• Dynamics.hh
• Dynamics.cc