Public Member Functions
def	__init__
def	computeTf
def	coriolisMatrix
def	dumpingMatrix
def	generalizedForce
def	getConfig
def	gravity
def	integral
def	inverseDynamic
def	iterate
def	kinematics
def	pubPose
def	reset
def	s
def	thrustersDynamics
def	updateCollision
def	updateThrusters
Public Attributes
	actuators_gain
	actuators_maxsat
	actuators_minsat
	actuators_tau
	am
	collisionForce
	ctb
	ctf
	current_max
	current_mean
	current_min
	current_sigma
	damping
	density
	dh
	dv
	dzv
	external_force_topic
	frame_id
	g
	gravity_center
	input_topic
	mass
	namespace
	num_actuators
	output_topic
	p
	p_0
	p_dot
	period
	quadratic_damping
	radius
	tensor
	u
	uwsim_period
	v
	v_0
	v_dot
	vehicle_name
	y_1
Static Public Attributes
list	Ixx = self.tensor[0]
list	Ixy = self.tensor[1]
list	Ixz = self.tensor[2]
list	Iyx = self.tensor[3]
list	Iyy = self.tensor[4]
list	Iyz = self.tensor[5]
list	Izx = self.tensor[6]
list	Izy = self.tensor[7]
list	Izz = self.tensor[8]
	m = self.mass
tuple	Ma = rospy.get_param(self.vehicle_name + "/dynamics" + "/Ma")
tuple	Mrb = rospy.get_param(self.vehicle_name + "/dynamics" + "/Mrb")
tuple	s = rospy.Service('/dynamics/reset',Empty, self.reset)
list	xg = self.gravity_center[0]
list	yg = self.gravity_center[1]
list	zg = self.gravity_center[2]

Detailed Description

Definition at line 23 of file dynamics.py.

Constructor & Destructor Documentation

def dynamics.Dynamics.__init__ ( self )

Simulates the dynamics of an AUV

Definition at line 254 of file dynamics.py.

Member Function Documentation

def dynamics.Dynamics.computeTf	(	self,
		tf
	)

Definition at line 243 of file dynamics.py.

def dynamics.Dynamics.coriolisMatrix ( self )

Definition at line 90 of file dynamics.py.

def dynamics.Dynamics.dumpingMatrix ( self )

Definition at line 99 of file dynamics.py.

def dynamics.Dynamics.generalizedForce	(	self,
		du
	)

Computes the generalized force as B*u, being B the allocation matrix and u the control input

Definition at line 72 of file dynamics.py.

def dynamics.Dynamics.getConfig ( self )

Load parameters from the rosparam server

Definition at line 26 of file dynamics.py.

def dynamics.Dynamics.gravity ( self )

Computes the gravity and buoyancy forces. Assumes a sphere model for now

Definition at line 124 of file dynamics.py.

def dynamics.Dynamics.integral	(	self,
		x_dot,
		x,
		t
	)

Computes the integral o x dt

Definition at line 172 of file dynamics.py.

def dynamics.Dynamics.inverseDynamic ( self )

Given the setpoint for each thruster, the previous velocity and the 
    previous position computes the v_dot

Definition at line 156 of file dynamics.py.

def dynamics.Dynamics.iterate ( self )

Definition at line 325 of file dynamics.py.

def dynamics.Dynamics.kinematics ( self )

Given the current velocity and the previous position computes the p_dot

Definition at line 177 of file dynamics.py.

def dynamics.Dynamics.pubPose	(	self,
		event
	)

Definition at line 223 of file dynamics.py.

def dynamics.Dynamics.reset	(	self,
		req
	)

Definition at line 249 of file dynamics.py.

def dynamics.Dynamics.s	(	self,
		x
	)

Given a 3D vector computes the 3x3 antisymetric matrix

Definition at line 65 of file dynamics.py.

def dynamics.Dynamics.thrustersDynamics	(	self,
		u
	)

Definition at line 212 of file dynamics.py.

def dynamics.Dynamics.updateCollision	(	self,
		force
	)

Definition at line 220 of file dynamics.py.

def dynamics.Dynamics.updateThrusters	(	self,
		thrusters
	)

Receives the control input, saturates each component to maxsat or minsat, and multiplies each component by the actuator gain

Definition at line 198 of file dynamics.py.

Member Data Documentation

dynamics.Dynamics::actuators_gain

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::actuators_maxsat

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::actuators_minsat

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::actuators_tau

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::am

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::collisionForce

Definition at line 157 of file dynamics.py.

dynamics.Dynamics::ctb

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::ctf

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::current_max

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::current_mean

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::current_min

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::current_sigma

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::damping

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::density

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::dh

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::dv

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::dzv

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::external_force_topic

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::frame_id

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::g

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::gravity_center

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::input_topic

Definition at line 254 of file dynamics.py.

list dynamics.Dynamics::Ixx = self.tensor[0] [static]

Definition at line 282 of file dynamics.py.

list dynamics.Dynamics::Ixy = self.tensor[1] [static]

Definition at line 283 of file dynamics.py.

list dynamics.Dynamics::Ixz = self.tensor[2] [static]

Definition at line 284 of file dynamics.py.

list dynamics.Dynamics::Iyx = self.tensor[3] [static]

Definition at line 285 of file dynamics.py.

list dynamics.Dynamics::Iyy = self.tensor[4] [static]

Definition at line 286 of file dynamics.py.

list dynamics.Dynamics::Iyz = self.tensor[5] [static]

Definition at line 287 of file dynamics.py.

list dynamics.Dynamics::Izx = self.tensor[6] [static]

Definition at line 288 of file dynamics.py.

list dynamics.Dynamics::Izy = self.tensor[7] [static]

Definition at line 289 of file dynamics.py.

list dynamics.Dynamics::Izz = self.tensor[8] [static]

Definition at line 290 of file dynamics.py.

dynamics.Dynamics::m = self.mass [static]

Definition at line 291 of file dynamics.py.

tuple dynamics.Dynamics::Ma = rospy.get_param(self.vehicle_name + "/dynamics" + "/Ma") [static]

Definition at line 301 of file dynamics.py.

dynamics.Dynamics::mass

Definition at line 26 of file dynamics.py.

tuple dynamics.Dynamics::Mrb = rospy.get_param(self.vehicle_name + "/dynamics" + "/Mrb") [static]

Definition at line 296 of file dynamics.py.

dynamics.Dynamics::namespace

Definition at line 254 of file dynamics.py.

dynamics.Dynamics::num_actuators

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::output_topic

Definition at line 254 of file dynamics.py.

dynamics.Dynamics::p

Definition at line 249 of file dynamics.py.

dynamics.Dynamics::p_0

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::p_dot

Definition at line 325 of file dynamics.py.

dynamics.Dynamics::period

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::quadratic_damping

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::radius

Definition at line 26 of file dynamics.py.

tuple dynamics.Dynamics::s = rospy.Service('/dynamics/reset',Empty, self.reset) [static]

Definition at line 323 of file dynamics.py.

dynamics.Dynamics::tensor

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::u

Definition at line 198 of file dynamics.py.

dynamics.Dynamics::uwsim_period

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::v

Definition at line 249 of file dynamics.py.

dynamics.Dynamics::v_0

Definition at line 26 of file dynamics.py.

dynamics.Dynamics::v_dot

Definition at line 325 of file dynamics.py.

dynamics.Dynamics::vehicle_name

Definition at line 254 of file dynamics.py.

list dynamics.Dynamics::xg = self.gravity_center[0] [static]

Definition at line 292 of file dynamics.py.

dynamics.Dynamics::y_1

Definition at line 212 of file dynamics.py.

list dynamics.Dynamics::yg = self.gravity_center[1] [static]

Definition at line 293 of file dynamics.py.

list dynamics.Dynamics::zg = self.gravity_center[2] [static]

Definition at line 294 of file dynamics.py.

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

dynamics.py

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation