uuv_thrusters.models.thruster.Thruster Class Reference

Inheritance diagram for uuv_thrusters.models.thruster.Thruster:

Public Member Functions
def	__init__ (self, index, topic, pos, orientation, axis=DEFAULT_AXIS)
def	get_command_value (self, thrust)
def	get_curve (self, min_value, max_value, n_points)
def	get_thrust_value (self, command)
def	index (self)
def	publish_command (self, thrust)
def	tam_column (self)
def	topic (self)

Static Public Member Functions
def	create_thruster (model_name, args, kwargs)

Static Public Attributes
	DEFAULT_AXIS = numpy.array([1, 0, 0, 0])
string	LABEL = ''

Private Member Functions
def	_calc_command (self)
def	_update (self, thrust)

Private Attributes
	_command
	_command_pub
	_force_dist
	_index
	_orientation
	_pos
	_thrust
	_topic

Detailed Description

Abstract function to all the thruster models avaialble. 
The instance of a thruster model must use the factory method.

> *Input arguments*

* `index` (*type:* `int`): Thruster's ID.
* `topic` (*type:* `str`): Thruster's command topic.
* `pos` (*type:* `numpy.array` or `list`): Position vector 
of the thruster with respect to the vehicle's frame.
* `orientation` (*type:* `numpy.array` or `list`): Quaternion 
with the orientation of the thruster with respect to the vehicle's
frame as `(qx, qy, qz, qw)`.
* `axis` (*type:* `numpy.array`): Axis of rotation of the thruster.

Definition at line 22 of file thruster.py.

Constructor & Destructor Documentation

def uuv_thrusters.models.thruster.Thruster.__init__	(		self,
			index,
			topic,
			pos,
			orientation,
			axis = DEFAULT_AXIS
	)

Definition at line 40 of file thruster.py.

Member Function Documentation

def uuv_thrusters.models.thruster.Thruster._calc_command (   self )

private

Convert the desired thrust force into angular velocity 
command according using a gain.

Definition at line 112 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster._update (   self,   thrust  )

private

Definition at line 117 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.create_thruster (   model_name,   args,   kwargs  )

static

Factory method for the thruster models.

> *Input arguments*

* `model_name` (*type:* `str`): Name identifier of
the thruster model.

> *Returns*

Thruster model instance.

Definition at line 76 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.get_command_value	(		self,
			thrust
	)

Convert desired thrust force to input command according to this
function. Overwrite this method to implement custom models.

Definition at line 93 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.get_curve	(		self,
			min_value,
			max_value,
			n_points
	)

Sample the conversion curve and return the values.

Definition at line 102 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.get_thrust_value	(		self,
			command
	)

Computes the thrust force for the given command.

Definition at line 98 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.index

(

self

)

Definition at line 64 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.publish_command	(		self,
			thrust
	)

Publish the thrust force command set-point
to a thruster unit.

> *Input arguments*

* `thrust` (*type:* `float`): Thrust force set-point
in N.

Definition at line 121 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.tam_column

(

self

)

Definition at line 72 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.topic

(

self

)

Definition at line 68 of file thruster.py.

Member Data Documentation

uuv_thrusters.models.thruster.Thruster._command

private

Definition at line 55 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._command_pub

private

Definition at line 57 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._force_dist

private

Definition at line 45 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._index

private

Definition at line 41 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._orientation

private

Definition at line 44 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._pos

private

Definition at line 43 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._thrust

private

Definition at line 56 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._topic

private

Definition at line 42 of file thruster.py.

uuv_thrusters.models.thruster.Thruster.DEFAULT_AXIS = numpy.array([1, 0, 0, 0])

static

Definition at line 38 of file thruster.py.

string uuv_thrusters.models.thruster.Thruster.LABEL = ''

static

Definition at line 37 of file thruster.py.

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

• thruster.py