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

Bessa's dynamic thruster model. More...

#include <Dynamics.hh>

Inheritance diagram for gazebo::ThrusterDynamicsBessa:
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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 Dynamicscreate (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.


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