controller.AccelerationCalculator Class Reference

Public Member Functions
def	__init__ (self, config)
def	accelToNetForce (self, odom, linearAccel, angularAccel)

Public Attributes
	buoyancy
	cob
	com
	density
	gravity
	inertia
	linearDrag
	mass
	quadraticDrag
	volume

Detailed Description

Definition at line 274 of file controller.py.

Constructor & Destructor Documentation

__init__()

def controller.AccelerationCalculator.__init__	(		self,
			config
	)

Definition at line 275 of file controller.py.

Member Function Documentation

accelToNetForce()

def controller.AccelerationCalculator.accelToNetForce	(		self,
			odom,
			linearAccel,
			angularAccel
	)

Converts vehicle acceleration into required net force.
    
Will take the required acceleration and consider mass, buoyancy, drag, and precession to compute the required net force.
    
Parameters:
odom (Odometry): The latest odometry message.
linearAccel (np.array): The linear body-frame acceleration.
angularAccel (np.array): The angular body-frame acceleration.

Returns: 
np.array: 3 dimensional vector representing net body-frame force.
np.array: 3 dimensional vector representing net body-frame torque.

Definition at line 287 of file controller.py.

Member Data Documentation

buoyancy

controller.AccelerationCalculator.buoyancy

Definition at line 285 of file controller.py.

cob

controller.AccelerationCalculator.cob

Definition at line 282 of file controller.py.

com

controller.AccelerationCalculator.com

Definition at line 277 of file controller.py.

density

controller.AccelerationCalculator.density

Definition at line 284 of file controller.py.

gravity

controller.AccelerationCalculator.gravity

Definition at line 283 of file controller.py.

inertia

controller.AccelerationCalculator.inertia

Definition at line 278 of file controller.py.

linearDrag

controller.AccelerationCalculator.linearDrag

Definition at line 279 of file controller.py.

mass

controller.AccelerationCalculator.mass

Definition at line 276 of file controller.py.

quadraticDrag

controller.AccelerationCalculator.quadraticDrag

Definition at line 280 of file controller.py.

volume

controller.AccelerationCalculator.volume

Definition at line 281 of file controller.py.

---

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

• controller.py