Inheritance diagram for TrawlGeometryController:

Collaboration diagram for TrawlGeometryController:

Classes
class	RateLimitedFIR
	A FIR filter fed at a fixed period, whatever the step length. More...

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

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

void	InitialConditionSetup (const double T, const double const currentIC, double const updatedIC, ISimObjectCreator *const creator) override

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

Protected Member Functions
std::array< double, 2 >	MeanWingPosition (const double T, const double *const X) const
	The mean horizontal wing position of all nets.

std::vector< double >	WarpsTooLong (const double T, const double *const X) const
	How much too long each warp is, from the starboard lead of each net along the direction of travel [m].

double	BottomContactError () const
	The bottom contact error of the last accepted step, as an equivalent warp length [m].

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

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

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

Protected Attributes
std::vector< ISignalPort * >	m_inNetPortPos

std::vector< ISignalPort * >	m_inNetStbPos

std::vector< ISignalPort * >	m_inBottomContact

ISignalPort *	m_inWarpLength = nullptr

ISignalPort *	m_inExternalEnable = nullptr

std::unique_ptr< RateLimitedFIR >	m_bottomContactFilter

int	m_numNets

int	m_numWarps

int	m_numBottomContactMeasurements

bool	m_controlBottomContact

double	m_initialWarpLength = 0.0

double	m_minBottomContactGoal

double	m_sinkTimeConstant

double	m_controllerMaxSpeedDepth

double	m_controllerMaxSpeedGeometry

double	m_controllerConstant

double	m_controllerDamping

int	m_indexStateWarpLength

bool	m_hasLastStep = false

double	m_lastTime = 0.0

double	m_minBottomContact = 0.0

double	m_lastBottomContactError = 0.0

double	m_bottomContactErrorRate = 0.0
	Between the last two filter updates [m/s].

double	m_lastBottomContactUpdate = 0.0

bool	m_hasBottomContactUpdate = false

std::vector< double >	m_lastWarpTooLong

bool	m_hasTravelReference = false

std::array< double, 2 >	m_travelReference = {0.0, 0.0}
	The mean wing position the travel is measured from.

std::array< double, 2 >	m_travelDirection = {0.0, 0.0}
	Unit vector, or zero before the first 1 m of travel.

double	m_outNetWidth = 0.0

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

Classes

Public Member Functions