uuv_auv_actuator_interface.actuator_manager.ActuatorManager Class Reference

Inheritance diagram for uuv_auv_actuator_interface.actuator_manager.ActuatorManager:

Public Member Functions
def	__init__ (self)
def	compute_control_force (self, thrust, delta, u)
def	find_actuators (self)
def	publish_commands (self, command)

Public Attributes
	base_link
	base_link_ned_to_enu
	fin_config
	fin_lower_limit
	fin_upper_limit
	fins
	listener
	n_fins
	namespace
	ready
	tf_buffer
	thruster
	thruster_config
	thruster_topic

Static Public Attributes
int	MAX_FINS = 4

Detailed Description

Definition at line 29 of file actuator_manager.py.

Constructor & Destructor Documentation

def uuv_auv_actuator_interface.actuator_manager.ActuatorManager.__init__

(

self

)

Definition at line 33 of file actuator_manager.py.

Member Function Documentation

def uuv_auv_actuator_interface.actuator_manager.ActuatorManager.compute_control_force	(		self,
			thrust,
			delta,
			u
	)

Definition at line 190 of file actuator_manager.py.

def uuv_auv_actuator_interface.actuator_manager.ActuatorManager.find_actuators

(

self

)

Calculate the control allocation matrix, if one is not given.

Definition at line 120 of file actuator_manager.py.

def uuv_auv_actuator_interface.actuator_manager.ActuatorManager.publish_commands	(		self,
			command
	)

Definition at line 204 of file actuator_manager.py.

Member Data Documentation

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.base_link

Definition at line 63 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.base_link_ned_to_enu

Definition at line 52 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.fin_config

Definition at line 91 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.fin_lower_limit

Definition at line 102 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.fin_upper_limit

Definition at line 106 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.fins

Definition at line 113 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.listener

Definition at line 39 of file actuator_manager.py.

int uuv_auv_actuator_interface.actuator_manager.ActuatorManager.MAX_FINS = 4

static

Definition at line 30 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.n_fins

Definition at line 115 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.namespace

Definition at line 35 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.ready

Definition at line 123 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.tf_buffer

Definition at line 38 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.thruster

Definition at line 84 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.thruster_config

Definition at line 70 of file actuator_manager.py.

uuv_auv_actuator_interface.actuator_manager.ActuatorManager.thruster_topic

Definition at line 81 of file actuator_manager.py.

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

• actuator_manager.py