Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
gazebo::ConversionFunctionBasic Class Reference

The most basic conversion function: Thrust = const.*w*abs(w) This corresponds to what is attrributed to Yoerger et al. and called Model 1 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation. More...

#include <ThrusterConversionFcn.hh>

Inheritance diagram for gazebo::ConversionFunctionBasic:
Inheritance graph
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Public Member Functions

virtual double convert (double _cmd)
 Convert thruster state (e.g. angular velocity) to thrust force. More...
 
virtual bool GetParam (std::string _tag, double &_output)
 Return paramater in scalar form for the given tag. More...
 
virtual std::string GetType ()
 Return (derived) type of conversion function. More...
 
- Public Member Functions inherited from gazebo::ConversionFunction
virtual std::map< double, double > GetTable ()
 Return input and output vectors of the lookup table. More...
 
virtual ~ConversionFunction ()
 Destructor. More...
 

Static Public Member Functions

static ConversionFunctioncreate (sdf::ElementPtr _sdf)
 Create a ConversionFunction object according to its sdf Description. More...
 

Private Member Functions

 ConversionFunctionBasic (double _rotorConstant)
 Constructor. More...
 
 REGISTER_CONVERSIONFUNCTION (ConversionFunctionBasic)
 Register this conversion function with the factory. More...
 

Private Attributes

double rotorConstant
 

Static Private Attributes

static const std::string IDENTIFIER = "Basic"
 The unique identifier of this conversion function. More...
 

Additional Inherited Members

- Protected Member Functions inherited from gazebo::ConversionFunction
 ConversionFunction ()
 Protected constructor: Use the factory instead. More...
 

Detailed Description

The most basic conversion function: Thrust = const.*w*abs(w) This corresponds to what is attrributed to Yoerger et al. and called Model 1 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.

Definition at line 92 of file ThrusterConversionFcn.hh.

Constructor & Destructor Documentation

gazebo::ConversionFunctionBasic::ConversionFunctionBasic ( double  _rotorConstant)
private

Constructor.

Definition at line 107 of file ThrusterConversionFcn.cc.

Member Function Documentation

double gazebo::ConversionFunctionBasic::convert ( double  _cmd)
virtual

Convert thruster state (e.g. angular velocity) to thrust force.

Implements gazebo::ConversionFunction.

Definition at line 87 of file ThrusterConversionFcn.cc.

static ConversionFunction* gazebo::ConversionFunctionBasic::create ( sdf::ElementPtr  _sdf)
static

Create a ConversionFunction object according to its sdf Description.

bool gazebo::ConversionFunctionBasic::GetParam ( std::string  _tag,
double &  _output 
)
virtual

Return paramater in scalar form for the given tag.

Implements gazebo::ConversionFunction.

Definition at line 93 of file ThrusterConversionFcn.cc.

virtual std::string gazebo::ConversionFunctionBasic::GetType ( )
inlinevirtual

Return (derived) type of conversion function.

Implements gazebo::ConversionFunction.

Definition at line 98 of file ThrusterConversionFcn.hh.

gazebo::ConversionFunctionBasic::REGISTER_CONVERSIONFUNCTION ( ConversionFunctionBasic  )
private

Register this conversion function with the factory.

Member Data Documentation

const std::string gazebo::ConversionFunctionBasic::IDENTIFIER = "Basic"
staticprivate

The unique identifier of this conversion function.

Definition at line 110 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBasic::rotorConstant
private

Definition at line 114 of file ThrusterConversionFcn.hh.


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


uuv_gazebo_plugins
Author(s): Musa Morena Marcusso Manhaes , Sebastian Scherer , Luiz Ricardo Douat
autogenerated on Mon Jul 1 2019 19:39:12