gazebo::Dynamics
Abstract base class for thruster dynamics.
#include <Dynamics.hh>
Inherited by gazebo::DynamicsFirstOrder, gazebo::DynamicsZeroOrder, gazebo::ThrusterDynamicsBessa, gazebo::ThrusterDynamicsYoerger
Public Functions
| Name | |
|---|---|
| virtual | ~Dynamics() Destructor. |
| virtual std::string | GetType() =0 Return (derived) type of thruster dynamics. |
| virtual double | update(double _cmd, double _t) =0 Update the dynamic model. |
| virtual void | Reset() |
Protected Functions
| Name | |
|---|---|
| Dynamics() Protected constructor: Use the factory for object creation. |
Protected Attributes
| Name | |
|---|---|
| double | prevTime Time of last state update. |
| double | state Latest state. |
Public Functions Documentation
function ~Dynamics
inline virtual ~Dynamics()
Destructor.
function GetType
virtual std::string GetType() =0
Return (derived) type of thruster dynamics.
Reimplemented by: gazebo::DynamicsZeroOrder::GetType, gazebo::DynamicsFirstOrder::GetType, gazebo::ThrusterDynamicsYoerger::GetType, gazebo::ThrusterDynamicsBessa::GetType
function update
virtual double update(
double _cmd,
double _t
) =0
Update the dynamic model.
Parameters:
- _cmd The commanded value.
- _t Time stamp of command.
Reimplemented by: gazebo::DynamicsZeroOrder::update, gazebo::DynamicsFirstOrder::update, gazebo::ThrusterDynamicsYoerger::update, gazebo::ThrusterDynamicsBessa::update
function Reset
virtual void Reset()
Protected Functions Documentation
function Dynamics
inline Dynamics()
Protected constructor: Use the factory for object creation.
Protected Attributes Documentation
variable prevTime
double prevTime;
Time of last state update.
variable state
double state;
Latest state.
Updated on 2022-06-01 at 12:36:59 +0000