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

Asymmetric conversion function with dead-zone nonlinearity. This corresponds to what is called Model 2 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation. More...

#include <ThrusterConversionFcn.hh>

Inheritance diagram for gazebo::ConversionFunctionBessa:
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

 ConversionFunctionBessa (double _rotorConstantL, double _rotorConstantR, double _deltaL, double _deltaR)
 Constructor. More...
 
 REGISTER_CONVERSIONFUNCTION (ConversionFunctionBessa)
 Register this conversion function with the factory. More...
 

Private Attributes

double deltaL
 Dead-zone for omega < 0. More...
 
double deltaR
 Dead-zone for omega > 0. More...
 
double rotorConstantL
 Rotor constant for omega < 0. More...
 
double rotorConstantR
 Rotor constant for omega > 0. More...
 

Static Private Attributes

static const std::string IDENTIFIER = "Bessa"
 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

Asymmetric conversion function with dead-zone nonlinearity. This corresponds to what is called Model 2 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.

Definition at line 121 of file ThrusterConversionFcn.hh.

Constructor & Destructor Documentation

gazebo::ConversionFunctionBessa::ConversionFunctionBessa ( double  _rotorConstantL,
double  _rotorConstantR,
double  _deltaL,
double  _deltaR 
)
private

Constructor.

Definition at line 178 of file ThrusterConversionFcn.cc.

Member Function Documentation

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

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

Implements gazebo::ConversionFunction.

Definition at line 159 of file ThrusterConversionFcn.cc.

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

Create a ConversionFunction object according to its sdf Description.

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

Return paramater in scalar form for the given tag.

Implements gazebo::ConversionFunction.

Definition at line 204 of file ThrusterConversionFcn.cc.

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

Return (derived) type of conversion function.

Implements gazebo::ConversionFunction.

Definition at line 127 of file ThrusterConversionFcn.hh.

gazebo::ConversionFunctionBessa::REGISTER_CONVERSIONFUNCTION ( ConversionFunctionBessa  )
private

Register this conversion function with the factory.

Member Data Documentation

double gazebo::ConversionFunctionBessa::deltaL
private

Dead-zone for omega < 0.

Definition at line 153 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBessa::deltaR
private

Dead-zone for omega > 0.

Definition at line 156 of file ThrusterConversionFcn.hh.

const std::string gazebo::ConversionFunctionBessa::IDENTIFIER = "Bessa"
staticprivate

The unique identifier of this conversion function.

Definition at line 139 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBessa::rotorConstantL
private

Rotor constant for omega < 0.

Definition at line 147 of file ThrusterConversionFcn.hh.

double gazebo::ConversionFunctionBessa::rotorConstantR
private

Rotor constant for omega > 0.

Definition at line 150 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