controls/AsvSystemDynamics_8h_source.html

 #ifndef CONTROLS_DYNAMICS_ASV_SYSTEM_DYNAMICS_H

 #define CONTROLS_DYNAMICS_ASV_SYSTEM_DYNAMICS_H


 #include <dynamics/SystemDynamicsBase.h>


 class AsvSystemDynamics : public SystemDynamicsBase {

 public:

     AsvSystemDynamics();


     Vector6d getInverseDynamics(const Vector6d& velocity, const Vector6d& acceleration,

                                 const Quaterniond& orientation) const override;

 };


 #endif  // CONTROLS_DYNAMICS_ASV_SYSTEM_DYNAMICS_H

SystemDynamicsBase.h

Vector6d
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Types.h:29

AsvSystemDynamics
3DOF hydrodynamic model for the autonomous surface vehicle
Definition: AsvSystemDynamics.h:14

AsvSystemDynamics::AsvSystemDynamics
AsvSystemDynamics()
Constructs the ASV dynamics model as a 3DOF (XY-Yaw) system.
Definition: AsvSystemDynamics.cpp:3

AsvSystemDynamics::getInverseDynamics
Vector6d getInverseDynamics(const Vector6d &velocity, const Vector6d &acceleration, const Quaterniond &orientation) const override
Computes inverse dynamics and zeros the Z, Roll, and Pitch components.
Definition: AsvSystemDynamics.cpp:10

SystemDynamicsBase
Base class encoding the 6DOF hydrodynamic model of a marine vehicle.
Definition: SystemDynamicsBase.h:20