uuv_thrusters.models.thruster_proportional.ThrusterProportional Class Reference

Inheritance diagram for uuv_thrusters.models.thruster_proportional.ThrusterProportional:

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 = 'proportional'

Private Attributes
	_gain

Detailed Description

This model corresponds to the linear relation between a function
abs(command)*command of the command input (usually the command angular
velocity) to the thrust force. A constant gain has to be provided.


> *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.
* `gain` (*type:* `float`): Constant gain.

Definition at line 20 of file thruster_proportional.py.

Constructor & Destructor Documentation

def uuv_thrusters.models.thruster_proportional.ThrusterProportional.__init__	(		self,
			args,
			kwargs
	)

Definition at line 40 of file thruster_proportional.py.

Member Function Documentation

def uuv_thrusters.models.thruster_proportional.ThrusterProportional.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 49 of file thruster_proportional.py.

def uuv_thrusters.models.thruster_proportional.ThrusterProportional.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 64 of file thruster_proportional.py.

Member Data Documentation

uuv_thrusters.models.thruster_proportional.ThrusterProportional._gain

private

Definition at line 45 of file thruster_proportional.py.

string uuv_thrusters.models.thruster_proportional.ThrusterProportional.LABEL = 'proportional'

static

Definition at line 38 of file thruster_proportional.py.

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

• thruster_proportional.py