Public Member Functions | |
def | __init__ (self, args, kwargs) |
def | get_command_value (self, thrust) |
def | get_thrust_value (self, command) |
Static Public Attributes | |
string | LABEL = 'custom' |
Private Attributes | |
_input | |
_output | |
Class describing a custom conversion curve between the command input, usually the angular velocity, and the correspondent output thrust force. Here the inverse of the conversion function can be computed so that the command for the desired thrust force is retrieved. The input vector corresponds to sampled values for the command input, and the output vector corresponds to the sampled values for the correspondent thrust forces. This information is usually available in the datasheet of the thruster's manufacturer. > *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. * `input` (*type:* `list` or `numpy.array`): Vector samples of angular velocities to be interpolated with the vector samples of thrust force output. * `output` (*type:* `list` or `numpy.array`): Vector samples of thrust force output.
Definition at line 20 of file thruster_custom.py.
def uuv_thrusters.models.thruster_custom.ThrusterCustom.__init__ | ( | self, | |
args, | |||
kwargs | |||
) |
Class constructor.
Definition at line 49 of file thruster_custom.py.
def uuv_thrusters.models.thruster_custom.ThrusterCustom.get_command_value | ( | self, | |
thrust | |||
) |
Compute the angular velocity necessary for the desired thrust force. > *Input arguments* * `thrust` (*type:* `float`): Thrust force magnitude in N > *Returns* `float`: Angular velocity set-point for the thruster in rad/s
Definition at line 60 of file thruster_custom.py.
def uuv_thrusters.models.thruster_custom.ThrusterCustom.get_thrust_value | ( | self, | |
command | |||
) |
Computes the thrust force for the given angular velocity set-point. > *Input arguments* * `command` (*type:* `float`): Angular velocity set-point for the thruster in rad/s > *Returns* `thrust` (*type:* `float`): Thrust force magnitude in N
Definition at line 74 of file thruster_custom.py.
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private |
Definition at line 56 of file thruster_custom.py.
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private |
Definition at line 58 of file thruster_custom.py.
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static |
Definition at line 47 of file thruster_custom.py.