rov_mb_sm_controller.ROV_MB_SMController Class Reference

Inheritance diagram for rov_mb_sm_controller.ROV_MB_SMController:

Public Member Functions
def	__init__ (self)
def	get_mb_sm_controller_params_callback (self, request)
def	set_mb_sm_controller_params_callback (self, request)
def	update_controller (self)

Private Member Functions
def	_reset_controller (self)

Private Attributes
	_accel_angular_estimate_b
	_accel_estimate_b
	_accel_linear_estimate_b
	_adapt_slope
	_adaptive_bounds
	_c
	_constant_bound
	_ctrl_eq
	_ctrl_lin
	_ctrl_robust
	_drift_prevent
	_error_pose
	_f_eq
	_f_lin
	_f_robust
	_int
	_is_init
	_k
	_lambda
	_prev_t
	_rho_0
	_rho_adapt
	_rho_constant
	_rho_total
	_rotBtoI_dot
	_s_b
	_sliding_int
	_tau

Static Private Attributes
string	_LABEL = 'Model-based Sliding Mode Controller'

Detailed Description

Definition at line 23 of file rov_mb_sm_controller.py.

Constructor & Destructor Documentation

def rov_mb_sm_controller.ROV_MB_SMController.__init__

(

self

)

Definition at line 26 of file rov_mb_sm_controller.py.

Member Function Documentation

def rov_mb_sm_controller.ROV_MB_SMController._reset_controller (   self )

private

Definition at line 187 of file rov_mb_sm_controller.py.

def rov_mb_sm_controller.ROV_MB_SMController.get_mb_sm_controller_params_callback	(		self,
			request
	)

Definition at line 213 of file rov_mb_sm_controller.py.

def rov_mb_sm_controller.ROV_MB_SMController.set_mb_sm_controller_params_callback	(		self,
			request
	)

Definition at line 210 of file rov_mb_sm_controller.py.

def rov_mb_sm_controller.ROV_MB_SMController.update_controller

(

self

)

Definition at line 223 of file rov_mb_sm_controller.py.

Member Data Documentation

rov_mb_sm_controller.ROV_MB_SMController._accel_angular_estimate_b

private

Definition at line 159 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._accel_estimate_b

private

Definition at line 161 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._accel_linear_estimate_b

private

Definition at line 157 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._adapt_slope

private

Definition at line 42 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._adaptive_bounds

private

Definition at line 120 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._c

private

Definition at line 37 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._constant_bound

private

Definition at line 127 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._ctrl_eq

private

Definition at line 133 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._ctrl_lin

private

Definition at line 139 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._ctrl_robust

private

Definition at line 145 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._drift_prevent

private

Definition at line 46 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._error_pose

private

Definition at line 151 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._f_eq

private

Definition at line 167 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._f_lin

private

Definition at line 169 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._f_robust

private

Definition at line 171 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._int

private

Definition at line 149 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._is_init

private

Definition at line 184 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._k

private

Definition at line 35 of file rov_mb_sm_controller.py.

string rov_mb_sm_controller.ROV_MB_SMController._LABEL = 'Model-based Sliding Mode Controller'

staticprivate

Definition at line 24 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._lambda

private

Definition at line 31 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._prev_t

private

Definition at line 195 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._rho_0

private

Definition at line 44 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._rho_adapt

private

Definition at line 163 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._rho_constant

private

Definition at line 33 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._rho_total

private

Definition at line 165 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._rotBtoI_dot

private

Definition at line 155 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._s_b

private

Definition at line 153 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._sliding_int

private

Definition at line 113 of file rov_mb_sm_controller.py.

rov_mb_sm_controller.ROV_MB_SMController._tau

private

Definition at line 173 of file rov_mb_sm_controller.py.

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

• rov_mb_sm_controller.py