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 332 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 364 of file thruster_manager.py.

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

Definition at line 194 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 340 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 209 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 71 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.base_link_ned_to_enu

Definition at line 79 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.config

Definition at line 67 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.configuration_matrix

Definition at line 136 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.inverse_configuration_matrix

Definition at line 177 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 127 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 118 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.ready

Definition at line 191 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.thrust

Definition at line 133 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.thrusters

Definition at line 130 of file thruster_manager.py.

uuv_thrusters.thruster_manager.ThrusterManager.use_robot_descr

Definition at line 70 of file thruster_manager.py.

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

• thruster_manager.py