FfFbVehicleController Class Reference

Vehicle controller combining feed-forward, PID feedback, and buoyancy compensation. More...

#include <FfFbVehicleController.h>

Inheritance diagram for FfFbVehicleController:

Public Member Functions
	FfFbVehicleController (std::shared_ptr< SystemDynamicsBase > systemProperties, std::shared_ptr< ControllerConfig > controller_config)
	Constructs the combined controller with shared dynamics and config. More...
Vector6d	spinControllerOnce (const State &goal, const State &current, const bool saturatedOnYawXYAxis, const bool saturatedOnDepthRollPitchAxis, double dt) override
	Computes the total 6DOF body force as a weighted sum of all sub-controllers. More...
Vector6d	getBodyPoseError () const override
	Returns the most recently computed body-frame pose error from the feedback controller. More...
void	onTrajectoryStarting () override
	Saves the feedback integral and buoyancy bias before trajectory execution begins. More...
void	onTrajectoryFinished () override
	Restores the saved integral and buoyancy bias after a trajectory finishes naturally. More...
void	onStationkeepEntered () override
	Restores the saved integral and buoyancy bias when stationkeep is entered. More...
void	onTrajectoryProgress (double progress) override
	Ramps the feedback integral from its current value toward the saved snapshot. More...
Public Member Functions inherited from VehicleControllerInterface
	VehicleControllerInterface (std::shared_ptr< SystemDynamicsBase > systemDynamics, std::shared_ptr< ControllerConfig > controller_config)
	Constructs a vehicle controller with shared dynamics and config. More...
virtual	~VehicleControllerInterface ()=default

Additional Inherited Members
Public Attributes inherited from VehicleControllerInterface
std::shared_ptr< SystemDynamicsBase >	systemDynamics
	Vehicle dynamics model used by this controller. More...
std::shared_ptr< ControllerConfig >	controller_config
	Tuning parameters used by this controller. More...

Detailed Description

Vehicle controller combining feed-forward, PID feedback, and buoyancy compensation.

The total force is: ff_gain * FF + fb_gain * FB + buoyancy_gain * B, scaled per-axis by axis_gain. The feedback controller's integral term and the buoyancy controller's adaptive bias are snapshotted at trajectory start and restored on finish or stationkeep entry to prevent corruption across trajectory segments.

Constructor & Destructor Documentation

FfFbVehicleController()

FfFbVehicleController::FfFbVehicleController	(	std::shared_ptr< SystemDynamicsBase >	systemProperties,
		std::shared_ptr< ControllerConfig >	controller_config
	)

Constructs the combined controller with shared dynamics and config.

Parameters

systemProperties	[in] Shared vehicle dynamics model
controller_config	[in] Shared controller tuning parameters

Member Function Documentation

getBodyPoseError()

Vector6d FfFbVehicleController::getBodyPoseError ( ) const

overridevirtual

Returns the most recently computed body-frame pose error from the feedback controller.

Returns

6-element pose error vector

Implements VehicleControllerInterface.

onStationkeepEntered()

void FfFbVehicleController::onStationkeepEntered ( )

overridevirtual

Restores the saved integral and buoyancy bias when stationkeep is entered.

Implements VehicleControllerInterface.

onTrajectoryFinished()

void FfFbVehicleController::onTrajectoryFinished ( )

overridevirtual

Restores the saved integral and buoyancy bias after a trajectory finishes naturally.

Implements VehicleControllerInterface.

onTrajectoryProgress()

void FfFbVehicleController::onTrajectoryProgress ( double  progress )

overridevirtual

Ramps the feedback integral from its current value toward the saved snapshot.

Parameters

progress

[in] Fractional trajectory completion in [0, 1]

Implements VehicleControllerInterface.

onTrajectoryStarting()

void FfFbVehicleController::onTrajectoryStarting ( )

overridevirtual

Saves the feedback integral and buoyancy bias before trajectory execution begins.

Implements VehicleControllerInterface.

spinControllerOnce()

Vector6d FfFbVehicleController::spinControllerOnce ( const State &  goal, const State &  current, const bool  saturatedOnYawXYAxis, const bool  saturatedOnDepthRollPitchAxis, double  dt  )

overridevirtual

Computes the total 6DOF body force as a weighted sum of all sub-controllers.

Parameters

goal	[in] Desired vehicle state
current	[in] Current vehicle state
saturatedOnYawXYAxis	[in] True when X, Y, or Yaw axes are saturated
saturatedOnDepthRollPitchAxis	[in] True when Z, Roll, or Pitch axes are saturated
dt	[in] Time step in seconds

Returns

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

Implements VehicleControllerInterface.

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

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