gazebo::ThrusterDynamicsBessa Class Reference

Bessa's dynamic thruster model. More...

#include <Dynamics.hh>

Inheritance diagram for gazebo::ThrusterDynamicsBessa:

Public Member Functions
virtual std::string	GetType ()
	Return (derived) type of dynamic system. More...
virtual double	update (double _cmd, double _t)
	Update dynamical model given input value and time. More...
Public Member Functions inherited from gazebo::Dynamics
virtual void	Reset ()
virtual	~Dynamics ()
	Destructor. More...

Static Public Member Functions
static Dynamics *	create (sdf::ElementPtr _sdf)
	Create thruster model of this type with parameter values from sdf. More...

Private Member Functions
	REGISTER_DYNAMICS (ThrusterDynamicsBessa)
	Register this model with the factory. More...
	ThrusterDynamicsBessa (double _Jmsp, double _Kv1, double _kv2, double _Kt, double _Rm)
	Constructor. More...

Private Attributes
double	Jmsp
	Motor-shaft-propeller inertia. More...
double	Kt
	Motor torque constant. More...
double	Kv1
	Empirically-determined model parameter. More...
double	Kv2
	Empirically-determined model parameter. More...
double	Rm
	Winding resistance. More...

Static Private Attributes
static const std::string	IDENTIFIER = "Bessa"
	Unique identifier for this dynamical model. More...

Additional Inherited Members
Protected Member Functions inherited from gazebo::Dynamics
	Dynamics ()
	Protected constructor: Use the factory for object creation. More...
Protected Attributes inherited from gazebo::Dynamics
double	prevTime
	Time of last state update. More...
double	state
	Latest state. More...

Detailed Description

Bessa's dynamic thruster model.

This is "Model 2" described in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.

Definition at line 176 of file Dynamics.hh.

Constructor & Destructor Documentation

gazebo::ThrusterDynamicsBessa::ThrusterDynamicsBessa ( double  _Jmsp, double  _Kv1, double  _kv2, double  _Kt, double  _Rm  )

private

Constructor.

Definition at line 249 of file Dynamics.cc.

Member Function Documentation

static Dynamics* gazebo::ThrusterDynamicsBessa::create ( sdf::ElementPtr  _sdf )

static

Create thruster model of this type with parameter values from sdf.

virtual std::string gazebo::ThrusterDynamicsBessa::GetType ( )

inlinevirtual

Return (derived) type of dynamic system.

Implements gazebo::Dynamics.

Definition at line 182 of file Dynamics.hh.

gazebo::ThrusterDynamicsBessa::REGISTER_DYNAMICS ( ThrusterDynamicsBessa  )

private

Register this model with the factory.

double gazebo::ThrusterDynamicsBessa::update ( double  _cmd, double  _t  )

virtual

Update dynamical model given input value and time.

Implements gazebo::Dynamics.

Definition at line 232 of file Dynamics.cc.

Member Data Documentation

const std::string gazebo::ThrusterDynamicsBessa::IDENTIFIER = "Bessa"

staticprivate

Unique identifier for this dynamical model.

Definition at line 191 of file Dynamics.hh.

double gazebo::ThrusterDynamicsBessa::Jmsp

private

Motor-shaft-propeller inertia.

Definition at line 198 of file Dynamics.hh.

double gazebo::ThrusterDynamicsBessa::Kt

private

Motor torque constant.

Definition at line 207 of file Dynamics.hh.

double gazebo::ThrusterDynamicsBessa::Kv1

private

Empirically-determined model parameter.

Definition at line 201 of file Dynamics.hh.

double gazebo::ThrusterDynamicsBessa::Kv2

private

Empirically-determined model parameter.

Definition at line 204 of file Dynamics.hh.

double gazebo::ThrusterDynamicsBessa::Rm

private

Winding resistance.

Definition at line 210 of file Dynamics.hh.

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

• Dynamics.hh
• Dynamics.cc