FeedforwardController Class Reference

Controller that computes open-loop forces via inverse dynamics. More...

#include <FeedforwardController.h>

Inheritance diagram for FeedforwardController:

Public Member Functions
Vector6d	getForce (const State &goal, const State &curr, double dt) override
	Computes the feed-forward force from the goal state's acceleration and velocity. 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
virtual void	reset ()
	Resets any internal state (e.g., integrator terms) More...

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

Controller that computes open-loop forces via inverse dynamics.

Uses the vehicle dynamics model to evaluate M·a + C(v)·v + D(v)·v, producing a force that cancels inertial, Coriolis, and damping effects for the desired trajectory state. Returns zero near the surface when surface gain scheduling is enabled.

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

getForce()

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

overridevirtual

Computes the feed-forward force from the goal state's acceleration and velocity.

Parameters

goal	[in] Desired vehicle state (acceleration and twist are used)
curr	[in] Current vehicle state (used only for surface-depth check)
dt	[in] Time step in seconds (unused by this controller)

Returns

6-element inverse-dynamics force vector, or zero if the result explodes

Implements BaseControllerInterface.

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

• include/controller/FeedforwardController.h
• src/controller/FeedforwardController.cpp