Abstract base class for a single-responsibility force controller. More...

#include <BaseControllerInterface.h>

Inheritance diagram for BaseControllerInterface:

Public Member Functions
	BaseControllerInterface ()=default

	BaseControllerInterface (std::shared_ptr< SystemDynamicsBase > auv, std::shared_ptr< ControllerConfig > config)
	Constructs a controller with the given dynamics model and config. More...

virtual	~BaseControllerInterface ()=default

virtual void	reset ()
	Resets any internal state (e.g., integrator terms) More...

virtual Vector6d	getForce (const State &goal, const State &curr, double dt)=0
	Computes the instantaneous 6DOF body force for the given goal and current state. More...

Protected Attributes
std::shared_ptr< SystemDynamicsBase >	auv_
	Vehicle dynamics model shared with all controllers in a stack. More...

std::shared_ptr< ControllerConfig >	config_
	Tuning parameters shared with all controllers in a stack. More...

Detailed Description

Abstract base class for a single-responsibility force controller.

Concrete subclasses implement one control strategy (feed-forward, feedback, or buoyancy compensation). Higher-level controllers combine instances of these to produce a total body force.

Constructor & Destructor Documentation

◆ BaseControllerInterface() [1/2]

BaseControllerInterface::BaseControllerInterface ( )

default

◆ BaseControllerInterface() [2/2]

BaseControllerInterface::BaseControllerInterface	(	std::shared_ptr< SystemDynamicsBase >	auv,
		std::shared_ptr< ControllerConfig >	config
	)

inline

Constructs a controller with the given dynamics model and config.

Parameters

auv	[in] Shared vehicle dynamics model
config	[in] Shared controller tuning parameters

◆ ~BaseControllerInterface()

virtual BaseControllerInterface::~BaseControllerInterface ( )

virtualdefault

Member Function Documentation

◆ getForce()

virtual Vector6d BaseControllerInterface::getForce	(	const State &	goal,
		const State &	curr,
		double	dt
	)

pure virtual

Computes the instantaneous 6DOF body force for the given goal and current state.

Parameters

goal	[in] Desired vehicle state
curr	[in] Current vehicle state
dt	[in] Time step in seconds since the last call

Returns: 6-element body force/torque vector [Fx, Fy, Fz, Tx, Ty, Tz] in N and Nm

Implemented in FeedforwardController, FeedbackController, and BuoyancyController.

◆ reset()

virtual void BaseControllerInterface::reset ( )

inlinevirtual

Resets any internal state (e.g., integrator terms)

Reimplemented in FeedbackController, and BuoyancyController.

Member Data Documentation

◆ auv_

std::shared_ptr<SystemDynamicsBase> BaseControllerInterface::auv_

protected

Vehicle dynamics model shared with all controllers in a stack.

◆ config_

std::shared_ptr<ControllerConfig> BaseControllerInterface::config_