Line data    Source code

       1             : #ifndef CONTROLS_DYNAMICS_ASV_SYSTEM_DYNAMICS_H
       2             : #define CONTROLS_DYNAMICS_ASV_SYSTEM_DYNAMICS_H
       3             : 
       4             : #include <dynamics/SystemDynamicsBase.h>
       5             : 
       6             : /**
       7             :  * @brief 3DOF hydrodynamic model for the autonomous surface vehicle
       8             :  *
       9             :  * Inherits the dynamics from SystemDynamicsBase with isSystem3DOF = true and
      10             :  * overrides getInverseDynamics() to zero the Z, Roll, and Pitch force components,
      11             :  * constraining the vehicle to the XY-Yaw plane.
      12             :  * Parameters are loaded at runtime via ROS parameters in ControlsROS2Wrapper.
      13             :  */
      14           1 : class AsvSystemDynamics : public SystemDynamicsBase {
      15             : public:
      16             :     /**
      17             :      * @brief Constructs the ASV dynamics model as a 3DOF (XY-Yaw) system
      18             :      */
      19           1 :     AsvSystemDynamics();
      20             : 
      21             :     /**
      22             :      * @brief Computes inverse dynamics and zeros the Z, Roll, and Pitch components
      23             :      *
      24             :      * @param velocity     [in] 6DOF body-frame velocity
      25             :      * @param acceleration [in] 6DOF body-frame acceleration
      26             :      * @param orientation  [in] Vehicle orientation as a unit quaternion
      27             :      *
      28             :      * @return 6-element force vector with Z, Roll, and Pitch entries set to zero
      29             :      */
      30           1 :     Vector6d getInverseDynamics(const Vector6d& velocity, const Vector6d& acceleration,
      31             :                                 const Quaterniond& orientation) const override;
      32             : };
      33             : 
      34             : #endif  // CONTROLS_DYNAMICS_ASV_SYSTEM_DYNAMICS_H