ThrusterDynamicsBessa
class gazebo::ThrusterDynamicsBessa¶
class gazebo::ThrusterDynamicsBessa : public gazebo::Dynamics
Bessa's dynamic thruster model.
This is "Model 2" described 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 dynamic system. |
public virtual doubleupdate(double _cmd,double _t) |
Update dynamical model given input value and time. |
Members¶
public inline virtual std::stringGetType()¶
Return (derived) type of dynamic system.
public virtual doubleupdate(double _cmd,double _t)¶
Update dynamical model given input value and time.