#include <RBModel.hpp>

Inheritance diagram for labust::simulation::RBModel:

Public Types
enum	{ x = 0, y, z, phi, theta, psi }
enum	{ u = 0, v, w, p, q, r }
enum	{ X = 0, Y, Z, K, M, N }
Public Member Functions
void	alloc_step (const vector &tauIn, vector &tauAch)
const vector &	Eta () const
const vector &	EtaNoisy () const
double	getPressure (double h) const
void	init ()
const vector &	Nu () const
const vector &	NuAcc () const
const vector &	NuNoisy () const
	RBModel ()
void	reset ()
void	setNuAndEta (const vector &nu, const vector &eta)
void	step (const vector &tau)
	~RBModel ()
Public Attributes
double	ae
labust::vehicles::ThrustAllocator	allocator
double	be
double	ce
vector3	current
double	dT
vector	eta0
bool	isCoupled
labust::simulation::NoiseModel	noise
vector	nu0
double	waterLevel
Protected Member Functions
void	calculate_mrb ()
void	coriolis ()
void	restoring_force (const matrix3 &J1)
Protected Attributes
double	B
vector	eta
vector	etaN
vector	g
vector	nu
vector	nuacc
vector	nuN

Detailed Description

This class implements a 6DOF marine vehicle model. This model is based on the equations of motion derived in chapter 2 of Guidance and control of Ocean Vehicles by Fossen (1994).

Todo:: Add allocation type and thruster modeling

Definition at line 56 of file RBModel.hpp.

Member Enumeration Documentation

anonymous enum

Enumerator:

x
y
z
phi
theta
psi

Definition at line 59 of file RBModel.hpp.

anonymous enum

Enumerator:

u
v
w
p
q
r

Definition at line 60 of file RBModel.hpp.

anonymous enum

Enumerator:

X
Y
Z
K
M
N

Definition at line 61 of file RBModel.hpp.

Constructor & Destructor Documentation

RBModel::RBModel ( )

Default constructor for common use without configuration.

Definition at line 42 of file RBModel.cpp.

RBModel::~RBModel ( )

Generic destructor.

Definition at line 56 of file RBModel.cpp.

Member Function Documentation

void labust::simulation::RBModel::alloc_step	(	const vector &	tauIn,
		vector &	tauAch
	)		`[inline]`

The method the additional allocation step and generates a new tau.

Definition at line 82 of file RBModel.hpp.

void RBModel::calculate_mrb ( ) [protected]

The method calculates the rigid-body mass matrix of the model.

Definition at line 58 of file RBModel.cpp.

void RBModel::coriolis ( ) [protected]

The method calculates the Coriolis matrix of the model.

Definition at line 121 of file RBModel.cpp.

const vector& labust::simulation::RBModel::Eta ( ) const [inline]

Method to get the current model states. This vector returns the model position and orientation in world coordinates.

Returns:: Constant reference to the model states.

Definition at line 94 of file RBModel.hpp.

const vector& labust::simulation::RBModel::EtaNoisy ( ) const [inline]

Method to get the current model states. This vector returns the model position and orientation in world coordinates.

Returns:: Constant reference to the model states.

Definition at line 115 of file RBModel.hpp.

double labust::simulation::RBModel::getPressure ( double h ) const [inline]

Returns the pressure based on depth.

Definition at line 138 of file RBModel.hpp.

void labust::simulation::RBModel::init ( ) [inline]

Initialize the model.

Definition at line 143 of file RBModel.hpp.

const vector& labust::simulation::RBModel::Nu ( ) const [inline]

Method to get the current model states. This vector returns the model linear and rotational speeds in the body-fixed coordinate frame.

Returns:: Constant reference to the model states.

Definition at line 101 of file RBModel.hpp.

const vector& labust::simulation::RBModel::NuAcc ( ) const [inline]

Method to get the current model acceleration. This vector returns the model linear and rotational accelerations in the body-fixed coordinate frame.

Returns:: Constant reference to the model states.

Definition at line 108 of file RBModel.hpp.

const vector& labust::simulation::RBModel::NuNoisy ( ) const [inline]

Method to get the current model states. This vector returns the model linear and rotational speeds in the body-fixed coordinate frame.

Returns:: Constant reference to the model states.

Definition at line 122 of file RBModel.hpp.

void labust::simulation::RBModel::reset ( ) [inline]

The method restarts the model to initial parameters.

Definition at line 153 of file RBModel.hpp.

void RBModel::restoring_force ( const matrix3 & J1 ) [protected]

The method calculates the restoring forces.

Definition at line 142 of file RBModel.cpp.

void labust::simulation::RBModel::setNuAndEta	(	const vector &	nu,
		const vector &	eta
	)		`[inline]`

The method sets the initial states of the model.

Parameters:

nu	Linear and rotational velocities in the body-fixed coordinate frame.
eta	Position and orientation in the earth-fixed coordinate frame.

Definition at line 130 of file RBModel.hpp.

void RBModel::step ( const vector & tau )

The method performs one simulation step. The model is propagated in time for one sampling period. To access states after the propagation use the accessor methods.

Parameters: