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	publish_command (self, thrust)
def	tam_column (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.

Definition at line 23 of file thruster.py.

Constructor & Destructor Documentation

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

Thruster class constructor.

Parameters
----------
index: int
    Thruster's index.
topic: str
    Name of the thruster's command topic.
pos: numpy.array
    3D position of the thruster with relation to the reference frame.
orientation: numpy.array
    Quaternion with the orientation of the thruster with relation to
    the reference frame.

Definition at line 30 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 96 of file thruster.py.

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

private

Definition at line 101 of file thruster.py.

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

static

Definition at line 71 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 77 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 86 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 82 of file thruster.py.

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

Definition at line 105 of file thruster.py.

def uuv_thrusters.models.thruster.Thruster.tam_column

(

self

)

Definition at line 67 of file thruster.py.

Member Data Documentation

uuv_thrusters.models.thruster.Thruster._command

private

Definition at line 59 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._command_pub

private

Definition at line 61 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._force_dist

private

Definition at line 49 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._index

private

Definition at line 45 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._orientation

private

Definition at line 48 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._pos

private

Definition at line 47 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._thrust

private

Definition at line 60 of file thruster.py.

uuv_thrusters.models.thruster.Thruster._topic

private

Definition at line 46 of file thruster.py.

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

static

Definition at line 28 of file thruster.py.

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

static

Definition at line 27 of file thruster.py.

---

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

• thruster.py