ActuatorModel Class Reference

Encapsulates the actuator model. More...

#include <ActuatorModel.h>

Public Member Functions
	ActuatorModel ()
	Construct an model using the given params. More...
	~ActuatorModel ()
	Destructor. More...
void	setCommand (const float command)
float	project (const float dt)
float	advance (const float dt, bool debug=false)
void	setHyst (const float width, const float center)
void	setSpeed (const float speed)
void	setPrevious (const float previous)
	Override the model to set the "current" value. More...
float	getCurrent (void)

Private Member Functions
void	project (const float dt, float &shaft, float &position, bool debug=false)
float	next (const float dt, bool debug=false)
float	hysteresis (const float shaft)

Private Attributes
float	command_
float	prevPosition_
float	prevShaft_
bool	movingToLeft_
bool	movingToRight_
float	hystWidth_
	The width in of the hysteresis. More...
float	hystCenter_
	The center of the hysteresis curve (normally 0) More...
float	speed_
	Speed of the acutator (units/sec) More...

Detailed Description

Encapsulates the actuator model.

The Ody/Altex simulator has a relatively complex actuator model. It models time delays/maximum rates for the Ody motors and includes a small hysteresis (to model slop and backlash?). This class encapsulates those calculations to make the main simulator code just a little more modular.

The code is complicated slightly by the fact the Runge-Kutta integration evaluates at three different time steps (t+0, t+smallDt/2, and t+smallDt) Since they're monotonically increasing we could advance the concept of 'current' each time we, but instead I've written it to take (0, smallDt/2, smallDt) as a parameter, each time just "projecting" into the future without updating its state. Then an "advance" function is called separately to cause it to update its state by smallDt.

May look goofy, but everything here is specified in centiseconds since we're using a 100-depth delay buffer but I want it to span 1 second. It doesn't make any sense to use a 1000-long buffer for this

Constructor & Destructor Documentation

ActuatorModel::ActuatorModel

(

)

Construct an model using the given params.

Initialize this actuator model.

Any sort of actuator-specific params could be passed in here. Right now its just info on the hysteresis/backlash in each actuator.

ActuatorModel::~ActuatorModel ( )

inline

Destructor.

Member Function Documentation

float ActuatorModel::advance	(	const float	dt,
		bool	debug = false
	)

References prevPosition_, prevShaft_, and project().

Referenced by Simulator::motion().

float ActuatorModel::getCurrent ( void  )

inline

References prevPosition_.

Referenced by Simulator::calcForce(), Simulator::publishState(), and Simulator::run().

float ActuatorModel::hysteresis ( const float  shaft )

private

References hystCenter_, hystWidth_, movingToLeft_, movingToRight_, prevPosition_, and prevShaft_.

Referenced by project().

float ActuatorModel::next ( const float  dt, bool  debug = false  )

private

References command_, prevShaft_, and speed_.

Referenced by project().

float ActuatorModel::project

(

const float

dt

)

Referenced by advance(), and Simulator::calcForce().

void ActuatorModel::project ( const float  dt, float &  shaft, float &  position, bool  debug = false  )

private

References hysteresis(), and next().

void ActuatorModel::setCommand

(

const float

command

)

References command_.

Referenced by Simulator::run().

void ActuatorModel::setHyst ( const float  width, const float  center  )

inline

Parameters

width	The width of the hysteresis
center	The center of the hysteresis curve (normally 0)

References hystCenter_, and hystWidth_.

Referenced by Simulator::loadParams().

void ActuatorModel::setPrevious

(

const float

previous

)

Override the model to set the "current" value.

References prevPosition_, and prevShaft_.

Referenced by Simulator::loadParams(), Simulator::setBuoyancyPosition(), Simulator::setElevatorAngle(), Simulator::setMassPosition(), and Simulator::setRudderAngle().

void ActuatorModel::setSpeed ( const float  speed )

inline

References speed_.

Referenced by Simulator::loadParams().

Member Data Documentation

float ActuatorModel::command_

private

Referenced by next(), and setCommand().

float ActuatorModel::hystCenter_

private

The center of the hysteresis curve (normally 0)

Referenced by hysteresis(), and setHyst().

float ActuatorModel::hystWidth_

private

The width in of the hysteresis.

Referenced by hysteresis(), and setHyst().

bool ActuatorModel::movingToLeft_

private

Referenced by hysteresis().

bool ActuatorModel::movingToRight_

private

Referenced by hysteresis().

float ActuatorModel::prevPosition_

private

Referenced by advance(), getCurrent(), hysteresis(), and setPrevious().

float ActuatorModel::prevShaft_

private

Referenced by advance(), hysteresis(), next(), and setPrevious().

float ActuatorModel::speed_

private

Speed of the acutator (units/sec)

Referenced by next(), and setSpeed().

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

• /Volumes/ubuntu_share/lrauv-application/Source/simulatorModule/ActuatorModel.h
• /Volumes/ubuntu_share/lrauv-application/Source/simulatorModule/ActuatorModel.cpp