gazebo::ThrusterDynamicsYoerger Class Reference

Yoerger's dynamic thruster model. More...

#include <Dynamics.hh>

Inheritance diagram for gazebo::ThrusterDynamicsYoerger:

Public Member Functions
virtual std::string	GetType ()
	Return (derived) type of dynamic system. More...
virtual double	update (double _cmd, double _t)
	Update dynamical model given input value and time. More...
Public Member Functions inherited from gazebo::Dynamics
virtual void	Reset ()
virtual	~Dynamics ()
	Destructor. More...

Static Public Member Functions
static Dynamics *	create (sdf::ElementPtr _sdf)
	Create thruster model of this type with parameter values from sdf. More...

Private Member Functions
	REGISTER_DYNAMICS (ThrusterDynamicsYoerger)
	Register this model with the factory. More...
	ThrusterDynamicsYoerger (double alpha, double beta)
	Constructor. More...

Private Attributes
double	alpha
	Lumped model parameter with no direct physical meaning. More...
double	beta
	Lumped model parameter with no direct physical meaning. More...

Static Private Attributes
static const std::string	IDENTIFIER = "Yoerger"
	Unique identifier for this dynamical model. More...

Additional Inherited Members
Protected Member Functions inherited from gazebo::Dynamics
	Dynamics ()
	Protected constructor: Use the factory for object creation. More...
Protected Attributes inherited from gazebo::Dynamics
double	prevTime
	Time of last state update. More...
double	state
	Latest state. More...

Detailed Description

Yoerger's dynamic thruster model.

This is the lumped-parameter model of Yoerger et al.: The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design. (1990)

Definition at line 143 of file Dynamics.hh.

Constructor & Destructor Documentation

gazebo::ThrusterDynamicsYoerger::ThrusterDynamicsYoerger ( double  alpha, double  beta  )

private

Constructor.

Definition at line 176 of file Dynamics.cc.

Member Function Documentation

static Dynamics* gazebo::ThrusterDynamicsYoerger::create ( sdf::ElementPtr  _sdf )

static

Create thruster model of this type with parameter values from sdf.

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

inlinevirtual

Return (derived) type of dynamic system.

Implements gazebo::Dynamics.

Definition at line 149 of file Dynamics.hh.

gazebo::ThrusterDynamicsYoerger::REGISTER_DYNAMICS ( ThrusterDynamicsYoerger  )

private

Register this model with the factory.

double gazebo::ThrusterDynamicsYoerger::update ( double  _cmd, double  _t  )

virtual

Update dynamical model given input value and time.

Implements gazebo::Dynamics.

Definition at line 160 of file Dynamics.cc.

Member Data Documentation

double gazebo::ThrusterDynamicsYoerger::alpha

private

Lumped model parameter with no direct physical meaning.

Definition at line 164 of file Dynamics.hh.

double gazebo::ThrusterDynamicsYoerger::beta

private

Lumped model parameter with no direct physical meaning.

Definition at line 167 of file Dynamics.hh.

const std::string gazebo::ThrusterDynamicsYoerger::IDENTIFIER = "Yoerger"

staticprivate

Unique identifier for this dynamical model.

Definition at line 158 of file Dynamics.hh.

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

• Dynamics.hh
• Dynamics.cc