Inheritance diagram for TrawlDoorControlledLift:

Collaboration diagram for TrawlDoorControlledLift:

Classes
struct	Loads
	The forces and controller errors at one time and state. More...

Public Member Functions
	TrawlDoorControlledLift (const std::string &simObjectName, ISimObjectCreator *creator)

void	OdeFcn (const double T, const double const X, double const XDot) const override

void	FinalSetup (const double T, const double const X, ISimObjectCreator const creator) override

void	AcceptedStep (const double T, const double *const X) override

Protected Member Functions
Loads	ComputeLoads (const double T, const double *const X) const
	The loads at (`T`, `X`).

const double *	OutPos (const double T, const double *const X, const int index)

const double *	OutVel (const double T, const double *const X, const int index)

const double *	OutLift (const double T, const double *const X)

const double *	OutDrag (const double T, const double *const X)

const double *	OutWeight (const double T, const double *const X)

const double *	OutBottomContact (const double T, const double *const X)

Protected Attributes
bool	m_isPort
	Is this the port door?

bool	m_useWidthMeasurement
	Is `Distance` a measured width, rather than a reference position?

double	m_mass
	The mass [kg].

double	m_liftDragRatio
	Lift divided by drag.

double	m_size
	The diameter of the contact sphere [m].

environment::SeafloorForcesInterface *	m_seafloorForces = nullptr

environment::EnvironmentProvider *	m_environment = nullptr

std::vector< ISignalPort * >	m_inForces

ISignalPort *	m_inDistanceGoal

ISignalPort *	m_inDistance

ISignalPort *	m_inBottomForceGoal

int	m_IStatePos

int	m_IStateVel

int	m_IStateIntegratedSpreadError

int	m_IStateIntegratedBottomForceError

PidWithExternalState	m_distanceController
	Lift from the spread error.

PidWithExternalState	m_weightController
	Weight from the bottom force error.

double	m_outLift = 0.0

double	m_outDrag = 0.0

double	m_outWeight = 0.0

double	m_outBottomContact = 0.0

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

Classes

Public Member Functions