auv_control::AccelerationController Class Reference

#include <AccelerationController.hpp>

Inheritance diagram for auv_control::AccelerationController:

Public Member Functions
	AccelerationController (std::string const &name="auv_control::AccelerationController")
	AccelerationController (std::string const &name, RTT::ExecutionEngine *engine)
	~AccelerationController ()
bool	startHook ()
bool	configureHook ()

Protected Member Functions
bool	calcOutput (const LinearAngular6DCommandStatus &merged_command)

Protected Attributes
base::MatrixXd	thrusterMatrix
base::MatrixXd	weightedPseudoInverse
base::VectorXd	inputVector
base::VectorXd	cmdVector
base::VectorXd	expectedEffortVector
boost::shared_ptr< Eigen::JacobiSVD< Eigen::MatrixXd > >	svd
base::commands::Joints	jointCommand
std::vector< base::JointState::MODE >	controlModes
std::vector< std::string >	names
base::JointLimits	limits

Friends
class	AccelerationControllerBase

Constructor & Destructor Documentation

AccelerationController() [1/2]

AccelerationController::AccelerationController

(

std::string const &

name = "auv_control::AccelerationController"

)

TaskContext constructor for AccelerationController

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

AccelerationController() [2/2]

AccelerationController::AccelerationController	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for AccelerationController

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

~AccelerationController()

AccelerationController::~AccelerationController

(

)

Default deconstructor of AccelerationController

Member Function Documentation

calcOutput()

bool AccelerationController::calcOutput ( const LinearAngular6DCommandStatus &  merged_command )

protected

configureHook()

bool AccelerationController::configureHook

(

)

startHook()

bool AccelerationController::startHook

(

)

Friends And Related Function Documentation

AccelerationControllerBase

friend class AccelerationControllerBase

friend

Member Data Documentation

cmdVector

base::VectorXd auv_control::AccelerationController::cmdVector

protected

controlModes

std::vector<base::JointState::MODE> auv_control::AccelerationController::controlModes

protected

expectedEffortVector

base::VectorXd auv_control::AccelerationController::expectedEffortVector

protected

inputVector

base::VectorXd auv_control::AccelerationController::inputVector

protected

jointCommand

base::commands::Joints auv_control::AccelerationController::jointCommand

protected

limits

base::JointLimits auv_control::AccelerationController::limits

protected

names

std::vector<std::string> auv_control::AccelerationController::names

protected

svd

boost::shared_ptr<Eigen::JacobiSVD<Eigen::MatrixXd> > auv_control::AccelerationController::svd

protected

thrusterMatrix

base::MatrixXd auv_control::AccelerationController::thrusterMatrix

protected

weightedPseudoInverse

base::MatrixXd auv_control::AccelerationController::weightedPseudoInverse

protected

---

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

• /build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/AccelerationController.hpp
• /build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/AccelerationController.cpp