DUNE::Control::AUVModel Class Reference

Public Member Functions
	AUVModel (const ModelParameters &param)
	~AUVModel ()
Math::Matrix	step (const Math::Matrix &nu_dot, const Math::Matrix &nu, const Math::Matrix &eta)
Math::Matrix	stepInv (const Math::Matrix &tau, const Math::Matrix &nu, const Math::Matrix &eta)
Math::Matrix	stepInv (const Math::Matrix &xyz, const Math::Matrix &deflections, const Math::Matrix &nu, const Math::Matrix &eta)
Math::Matrix	stepInv (double thruster_act, const Math::Matrix &servo_pos, const Math::Matrix &nu, const Math::Matrix &eta)
double	getRollFinLift (void)
double	getPitchFinLift (void)
double	getYawFinLift (void)

Constructor & Destructor Documentation

DUNE::Control::AUVModel::AUVModel

(

const ModelParameters &

param

)

Constructor.

DUNE::Control::AUVModel::~AUVModel

(

void

)

Destructor.

Member Function Documentation

double DUNE::Control::AUVModel::getPitchFinLift ( void  )

inline

Get the pitch fin lift coefficient.

double DUNE::Control::AUVModel::getRollFinLift ( void  )

inline

Get the roll fin lift coefficient.

double DUNE::Control::AUVModel::getYawFinLift ( void  )

inline

Get the yaw fin lift coefficient.

Matrix DUNE::Control::AUVModel::step	(	const Math::Matrix &	nu_dot,
		const Math::Matrix &	nu,
		const Math::Matrix &	eta
	)

Routine to compute the next step.

Matrix DUNE::Control::AUVModel::stepInv	(	const Math::Matrix &	tau,
		const Math::Matrix &	nu,
		const Math::Matrix &	eta
	)

Routine to compute the next step, yet compute the acceleration instead of forces.

References DUNE::Math::inverse().

Referenced by stepInv().

Matrix DUNE::Control::AUVModel::stepInv	(	const Math::Matrix &	xyz,
		const Math::Matrix &	deflections,
		const Math::Matrix &	nu,
		const Math::Matrix &	eta
	)

Routine to compute the next step, yet compute the acceleration instead of forces this time using fin deflections and xyz forces.

References stepInv().

Matrix DUNE::Control::AUVModel::stepInv	(	double	thruster_act,
		const Math::Matrix &	servo_pos,
		const Math::Matrix &	nu,
		const Math::Matrix &	eta
	)

Routine to compute the next step, yet compute the acceleration instead of forces this time using the thruster actuation and servo positions.

References DUNE::Math::Matrix::get(), DUNE::Math::Matrix::horzCat(), DUNE::Math::skew(), stepInv(), and DUNE::Math::Matrix::vertCat().

Collaboration diagram for DUNE::Control::AUVModel: