ThrusterModel Class Reference

Though far simpler than ActuatorModel, the intent is the same, to encapsulate some of the complexity of the thruster modeling and remove it from the main simulator body. More...

#include <ThrusterModel.h>

Public Member Functions
	ThrusterModel ()
	~ThrusterModel ()
void	initialize (float designSpeed, float designPropEff, float designOmega, float designThrust, float designTorque)
float	currentPropOmega (void)
void	setPrevious (const float previous)
void	project (float propOmega, float u, float dt, float &thrust, float &torque)
	Unlike the actuator model, the thruster model is very simple, with no time delay. More...
void	advance (float propOmega, float u, float dt)
float	thrusterTorque (float omegaP, float u)
float	thrusterForce (float omegaP, float u)

Private Attributes
float	prevThrust_
float	prevTorque_
float	currentPropOmega_
float	kWash_
float	kThrust_
float	kTorque_

Detailed Description

Though far simpler than ActuatorModel, the intent is the same, to encapsulate some of the complexity of the thruster modeling and remove it from the main simulator body.

Unlike the ActuatorModel there is no delay, but it has the same "project" and "advance" functions. If given a dt of 0.0, the project() function will return the previous iteration's values, since the thruster can't change instantaneously.

Constructor & Destructor Documentation

ThrusterModel::ThrusterModel

(

)

ThrusterModel::~ThrusterModel ( )

inline

Member Function Documentation

void ThrusterModel::advance	(	float	propOmega,
		float	u,
		float	dt
	)

References currentPropOmega_, prevThrust_, prevTorque_, thrusterForce(), and thrusterTorque().

Referenced by Simulator::motion().

float ThrusterModel::currentPropOmega ( void  )

inline

References currentPropOmega_.

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

void ThrusterModel::initialize	(	float	designSpeed,
		float	designPropEff,
		float	designOmega,
		float	designThrust,
		float	designTorque
	)

References kThrust_, kTorque_, and kWash_.

Referenced by Simulator::loadParams().

void ThrusterModel::project	(	float	propOmega,
		float	u,
		float	dt,
		float &	thrust,
		float &	torque
	)

Unlike the actuator model, the thruster model is very simple, with no time delay.

Rather, if asked for behavior at dt=0, will give previous results. If asked for results at dt>0 will give new calculations

References prevThrust_, prevTorque_, thrusterForce(), and thrusterTorque().

Referenced by Simulator::calcForce().

void ThrusterModel::setPrevious ( const float  previous )

inline

References currentPropOmega_.

Referenced by Simulator::setPropOmega().

float ThrusterModel::thrusterForce	(	float	omegaP,
		float	u
	)

References kThrust_, and kWash_.

Referenced by advance(), and project().

float ThrusterModel::thrusterTorque	(	float	omegaP,
		float	u
	)

References kTorque_, and kWash_.

Referenced by advance(), and project().

Member Data Documentation

float ThrusterModel::currentPropOmega_

private

Referenced by advance(), currentPropOmega(), and setPrevious().

float ThrusterModel::kThrust_

private

Referenced by initialize(), and thrusterForce().

float ThrusterModel::kTorque_

private

Referenced by initialize(), and thrusterTorque().

float ThrusterModel::kWash_

private

Referenced by initialize(), thrusterForce(), and thrusterTorque().

float ThrusterModel::prevThrust_

private

Referenced by advance(), and project().

float ThrusterModel::prevTorque_

private

Referenced by advance(), and project().

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

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