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ConversionFunctionBessa

class gazebo::ConversionFunctionBessa

class gazebo::ConversionFunctionBessa
  : public gazebo::ConversionFunction

Asymmetric conversion function with dead-zone nonlinearity. This corresponds to what is called Model 2 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.

Summary

Members	Descriptions
public inline virtual std::stringGetType()	Return (derived) type of conversion function.
public virtual boolGetParam(std::string _tag,double & _output)	Return paramater in scalar form for the given tag.
public virtual doubleconvert(double _cmd)	Convert thruster state (e.g. angular velocity) to thrust force.

Members

public inline virtual std::stringGetType()

Return (derived) type of conversion function.

public virtual boolGetParam(std::string _tag,double & _output)

Return paramater in scalar form for the given tag.

public virtual doubleconvert(double _cmd)

Convert thruster state (e.g. angular velocity) to thrust force.