uuv_thrusters.thruster_manager.ThrusterManager Class Reference

Public Member Functions
def	__init__ (self)
def	command_thrusters (self)
def	compute_thruster_forces (self, gen_forces)
def	parse_urdf (self, urdf_str)
def	publish_thrust_forces (self, control_forces, control_torques, frame_id=None)
def	update_tam (self, recalculate=False)

Public Attributes
	axes
	base_link_ned_to_enu
	config
	configuration_matrix
	inverse_configuration_matrix
	n_thrusters
	namespace
	output_dir
	ready
	thrust
	thrusters
	use_robot_descr

Static Public Attributes
int	MAX_THRUSTERS = 16

Private Attributes
	_ready

Detailed Description

The thruster manager generates the thruster allocation matrix using the
TF information and publishes the thruster forces assuming the the thruster
topics are named in the following pattern

<thruster_topic_prefix>/<index>/<thruster_topic_suffix>

Thruster frames should also be named as follows

<thruster_frame_base>_<index>

Definition at line 31 of file thruster_manager.py.

Constructor & Destructor Documentation

def uuv_thrusters.thruster_manager.ThrusterManager.__init__

(

self

)

Class constructor.

Definition at line 46 of file thruster_manager.py.

Member Function Documentation

def uuv_thrusters.thruster_manager.ThrusterManager.command_thrusters

(

self

)

Publish the thruster input into their specific topic.

Definition at line 327 of file thruster_manager.py.

def uuv_thrusters.thruster_manager.ThrusterManager.compute_thruster_forces	(		self,
			gen_forces
	)

Compute desired thruster forces using the inverse configuration
matrix.

Definition at line 359 of file thruster_manager.py.

def uuv_thrusters.thruster_manager.ThrusterManager.parse_urdf	(		self,
			urdf_str
	)

Definition at line 190 of file thruster_manager.py.

def uuv_thrusters.thruster_manager.ThrusterManager.publish_thrust_forces	(		self,
			control_forces,
			control_torques,
			frame_id = None
	)

Definition at line 335 of file thruster_manager.py.

def uuv_thrusters.thruster_manager.ThrusterManager.update_tam	(		self,
			recalculate = False
	)

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

Definition at line 205 of file thruster_manager.py.

Member Data Documentation

uuv_thrusters.thruster_manager.ThrusterManager._ready

private

Definition at line 50 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.axes

Definition at line 70 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.base_link_ned_to_enu

Definition at line 78 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.config

Definition at line 66 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.configuration_matrix

Definition at line 132 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.inverse_configuration_matrix

Definition at line 173 of file thruster_manager.py.

int uuv_thrusters.thruster_manager.ThrusterManager.MAX_THRUSTERS = 16

static

Definition at line 44 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.n_thrusters

Definition at line 123 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.namespace

Definition at line 53 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.output_dir

Definition at line 114 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.ready

Definition at line 187 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.thrust

Definition at line 129 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.thrusters

Definition at line 126 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.use_robot_descr

Definition at line 69 of file thruster_manager.py.

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

• thruster_manager.py