Buoyancy/gravity restoring compensation with optional adaptive bias. More...

#include <BuoyancyController.h>

Inheritance diagram for BuoyancyController:

Public Member Functions
void	reset () override
	Resets the adaptive buoyancy bias to zero. More...

void	set_stationkeeping (bool stationkeeping)
	Sets whether the vehicle is stationkeeping (gates adaptation on/off) More...

Vector6d	get_force (const State &goal, const State &curr, double dt) override
	Computes the buoyancy compensation wrench. More...

	BaseControllerInterface ()=default

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

Public Member Functions inherited from BaseControllerInterface
	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

Additional Inherited Members
Protected Attributes inherited from BaseControllerInterface
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

Buoyancy/gravity restoring compensation with optional adaptive bias.

Heave outputs static G(q) plus an adaptive bias (buoyancy_adaptive_z). Roll/pitch output only an adaptive bias (buoyancy_adaptive_rp); their static G(q) torque is dropped to preserve the passive metacentric righting. X/Y and yaw are uncompensated. The bias is a conditional integrator updated only while stationkeeping. Outputs zero near the surface under gain scheduling.

Member Function Documentation

◆ BaseControllerInterface() [1/2]

BaseControllerInterface::BaseControllerInterface

default

◆ BaseControllerInterface() [2/2]

BaseControllerInterface::BaseControllerInterface

inline

Constructs a controller with the given dynamics model and config.

Parameters

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

◆ get_force()

Vector6d BuoyancyController::get_force	(	const State &	goal,
		const State &	curr,
		double	dt
	)

overridevirtual

Computes the buoyancy compensation wrench.

Parameters

goal	[in] Desired vehicle state
curr	[in] Current vehicle state
dt	[in] Time step in seconds

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

Implements BaseControllerInterface.

◆ reset()

void BuoyancyController::reset ( )

overridevirtual

Resets the adaptive buoyancy bias to zero.

Reimplemented from BaseControllerInterface.

◆ set_stationkeeping()

void BuoyancyController::set_stationkeeping ( bool stationkeeping )

Sets whether the vehicle is stationkeeping (gates adaptation on/off)

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

include/controller/BuoyancyController.h
src/controller/BuoyancyController.cpp

Public Member Functions