AuvUndulateDiveControl Class Reference

Inheritance diagram for AuvUndulateDiveControl:

Collaboration diagram for AuvUndulateDiveControl:

Classes
struct	Command
	One evaluation of the undulation law. More...
struct	Limits
	The geometry the undulation law is evaluated against. More...

Public Types
enum	EDir_t { Dir_Down = 0 , Dir_Up }
	Which way the vehicle is currently being flown. More...

Public Member Functions
	AuvUndulateDiveControl (std::string simObjectName, ISimObjectCreator *creator)
	AuvUndulateDiveControl (std::string simObjectName, const Limits &limits, double updatePeriod=1.0)
void	OdeFcn (const double dT, const double *const adX, double *const adXDot) const override
	This SimObject has no states, so it has no derivatives.
void	AcceptedStep (const double dT, const double *const adX) override
void	Update (double depth, double altitude)
const Command &	HeldCommand () const
	The held command.
int	ThinWaterWarningCount () const
	The number of thin-water warnings emitted, which is never more than one.

Static Public Member Functions
static Command	CommandOf (const Limits &limits, double depth, double altitude, EDir_t direction)

Protected Member Functions
const double *	OutPitchRef (const double dT, const double *const adX)
	The commanded pitch angle, rad.
const double *	OutDepthRef (const double dT, const double *const adX)
	The turning depth currently being flown towards, or the held depth in thin water, m.
const double *	OutDirection (const double dT, const double *const adX)
	Plus one while descending, minus one while ascending.

Member Enumeration Documentation

EDir_t

enum AuvUndulateDiveControl::EDir_t

Enumerator
Dir_Down	Descending, that is a negative commanded pitch.
Dir_Up	Ascending, that is a positive commanded pitch.

Constructor & Destructor Documentation

AuvUndulateDiveControl() [1/2]

AuvUndulateDiveControl::AuvUndulateDiveControl	(	std::string	simObjectName,
		ISimObjectCreator *	creator
	)

Constructs the controller from the simulation input file.

Parameters

simObjectName	The name of this object in the simulation.
creator	The creator of this object.

AuvUndulateDiveControl() [2/2]

AuvUndulateDiveControl::AuvUndulateDiveControl	(	std::string	simObjectName,
		const Limits &	limits,
		double	updatePeriod = 1.0
	)

Constructs the controller with its parameters given directly.

No ports are registered, so AcceptedStep does nothing and Update must be called with the measurements instead. This constructor exists so that the switching law and its warning can be unit tested without a host simulation.

Parameters

simObjectName	The name of this object.
limits	The undulation geometry.
updatePeriod	The time between evaluations, s.

Member Function Documentation

AcceptedStep()

void AuvUndulateDiveControl::AcceptedStep ( const double  dT, const double *const  adX  )

override

Evaluates the law when the update period has elapsed.

Parameters

dT	The current simulation time, s.
adX	The state vector.

CommandOf()

static Command AuvUndulateDiveControl::CommandOf ( const Limits &  limits, double  depth, double  altitude, EDir_t  direction  )

static

Evaluates the undulation law.

A pure function of the measurements and the current direction, so the whole switching behaviour can be tested without a simulation.

Parameters

limits	The undulation geometry.
depth	The vehicle depth below the surface, positive down, m.
altitude	The vehicle height above the seabed, m.
direction	The direction currently being flown.

Returns

The command to hold until the next evaluation.

Update()

void AuvUndulateDiveControl::Update	(	double	depth,
		double	altitude
	)

Applies the law to one pair of measurements and holds the result.

Parameters

depth	The vehicle depth below the surface, positive down, m.
altitude	The vehicle height above the seabed, m.

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

• /update_root/webfhsim/reloadrepos/fhsim_fishery/src/auv/AuvUndulateDiveControl.h