gcop::Uuv< c > Class Template Reference

#include <uuv.h>

Inheritance diagram for gcop::Uuv< c >:

Collaboration diagram for gcop::Uuv< c >:

List of all members.

Public Member Functions
	Uuv ()
virtual	~Uuv ()
double	Step (UuvState &xb, double t, const UuvState &xa, const Vectorcd &u, double h, const VectorXd *p=0, Matrix12d *A=0, Matrix12xcd *B=0, Matrix12Xd *C=0)
double	SympStep (double t, UuvState &xb, const UuvState &xa, const Vectorcd &u, double h, const VectorXd *p=0, Matrix12d *A=0, Matrix12xcd *B=0, Matrix12Xd *C=0)
double	EulerStep (double t, UuvState &xb, const UuvState &xa, const Vectorcd &u, double h, const VectorXd *p=0, Matrix12d *A=0, Matrix12xcd *B=0, Matrix12Xd *C=0)
Static Public Member Functions
static void	Compute (Matrix6d &I, double m, const Vector3d &ds)
Public Attributes
Matrix6d	I
	6x6 inertia matrix
Vector6d	d
	6x1 decoupled quadratic drag terms
Vector3d	b
	center of boyancy
Vector3d	fp
	constant position force in spatial frame (e.g. due to gravity)
Matrix6xcd	B
	control input transformation
bool	symp
	symplectic?
string	name
	Unique name of the body.
Vector3d	ds
	body dimensions (currently used only for visualization)

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Detailed Description

template<int c = 6>
class gcop::Uuv< c >

An underwater/sufrace vehicle system modeled as a single rigid body on SE(3)

Author: Marin Kobilarov marin(at)jhu.edu

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Constructor & Destructor Documentation

template<int c>

gcop::Uuv< c >::Uuv

(

)

References gcop::Uuv< c >::Compute(), gcop::Uuv< c >::ds, and gcop::Uuv< c >::I.

template<int c>

gcop::Uuv< c >::~Uuv

(

)

[virtual]

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Member Function Documentation

template<int c>

void gcop::Uuv< c >::Compute	(	Matrix6d &	I,
		double	m,
		const Vector3d &	ds
	)		[static]

Referenced by gcop::Uuv< c >::Uuv().

template<int c>

double gcop::Uuv< c >::EulerStep	(	double	t,
		UuvState &	xb,
		const UuvState &	xa,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix12d *	A = 0,
		Matrix12xcd *	B = 0,
		Matrix12Xd *	C = 0
	)

template<int c>

double gcop::Uuv< c >::Step	(	UuvState &	xb,
		double	t,
		const UuvState &	xa,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix12d *	A = 0,
		Matrix12xcd *	B = 0,
		Matrix12Xd *	C = 0
	)

template<int c>

double gcop::Uuv< c >::SympStep	(	double	t,
		UuvState &	xb,
		const UuvState &	xa,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix12d *	A = 0,
		Matrix12xcd *	B = 0,
		Matrix12Xd *	C = 0
	)

References gcop::SE3::ad(), gcop::SE3::adt(), gcop::SE3::cay(), gcop::UuvState::g, gcop::SE3::Instance(), gcop::SE3::tln(), and gcop::UuvState::v.

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Member Data Documentation

template<int c = 6>

Vector3d gcop::Uuv< c >::b

center of boyancy

template<int c = 6>

Matrix6xcd gcop::Uuv< c >::B

control input transformation

template<int c = 6>

Vector6d gcop::Uuv< c >::d

6x1 decoupled quadratic drag terms

template<int c = 6>

Vector3d gcop::Uuv< c >::ds

body dimensions (currently used only for visualization)

Referenced by gcop::Uuv< c >::Uuv().

template<int c = 6>

Vector3d gcop::Uuv< c >::fp

constant position force in spatial frame (e.g. due to gravity)

template<int c = 6>

Matrix6d gcop::Uuv< c >::I

6x6 inertia matrix

Referenced by gcop::Uuv< c >::Uuv().

template<int c = 6>

string gcop::Uuv< c >::name

Unique name of the body.

template<int c = 6>

bool gcop::Uuv< c >::symp

symplectic?

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

• lib/systems/uuv.h