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uuv_control_interfaces

uuv_control_interfaces¶

uuv_control_interfaces.dp_controller_base¶

DPControllerBase¶

DPControllerBase(self, is_model_based=False, list_odometry_callbacks=[], planner_full_dof=False)

General abstract class for DP controllers for underwater vehicles. This is an abstract class, must be inherited by a controller module that overrides the update_controller method. If the controller is set to be model based (is_model_based=True), than the vehicle parameters are going to be read from the ROS parameter server.

error_orientation_rpy¶

Return orientation error in Euler angles.

error_pose_euler¶

Pose error with orientation represented in Euler angles.

get_controller¶

DPControllerBase.get_controller(name, *args)

Create instance of a specific DP controller.

get_list_of_controllers¶

DPControllerBase.get_list_of_controllers()

Return list of DP controllers using this interface.

uuv_control_interfaces.dp_controller_local_planner¶

DPControllerLocalPlanner¶

DPControllerLocalPlanner(self, full_dof=False, stamped_pose_only=False, thrusters_only=True)

Local planner for the dynamic positioning controllers to interpolate trajectories and generate trajectories from interpolated waypoint paths.

set_station_keeping¶

DPControllerLocalPlanner.set_station_keeping(self, is_on=True)

Set station keeping mode flag.

set_automatic_mode¶

DPControllerLocalPlanner.set_automatic_mode(self, is_on=True)

Set automatic mode flag.

set_trajectory_running¶

DPControllerLocalPlanner.set_trajectory_running(self, is_on=True)

Set trajectory tracking flag.

has_started¶

DPControllerLocalPlanner.has_started(self)

Return if the trajectory interpolator has started generating reference points.

hold_vehicle¶

DPControllerLocalPlanner.hold_vehicle(self, request)

Service callback function to hold the vehicle's current position.

start_waypoint_list¶

DPControllerLocalPlanner.start_waypoint_list(self, request)

Service callback function to follow a set of waypoints Args: request (InitWaypointSet)

go_to_incremental¶

DPControllerLocalPlanner.go_to_incremental(self, request)

Service callback to set the command to the vehicle to move to a relative position in the world.

interpolate¶

DPControllerLocalPlanner.interpolate(self, t)

Function interface to the controller. Calls the interpolator to calculate the current trajectory sample or returns a fixed position based on the past odometry measurements for station keeping.

uuv_control_interfaces.dp_pid_controller_base¶

DPPIDControllerBase¶

DPPIDControllerBase(self, *args)

This is an abstract class for PID-based controllers. The base class method update_controller must be overridden in other for a controller to work.

uuv_control_interfaces.sym_vehicle¶

uuv_control_interfaces.vehicle¶

cross_product_operator¶

cross_product_operator(x)

Return a cross product operator for the given vector.

Vehicle¶

Vehicle(self, inertial_frame_id='world')

Vehicle interface to be used by model-based controllers. It receives the parameters necessary to compute the vehicle's motion according to Fossen's.

acc¶

Return linear and angular acceleration vector.

depth¶

Return depth of the vehicle.

euler¶

Return orientation in Euler angles as described in Fossen, 2011.

euler_dot¶

Return time derivative of the Euler angles.

heading¶

Return the heading of the vehicle.

namespace¶

Return robot namespace.

pos¶

Return the position of the vehicle.

pose_euler¶

Return pose as a vector, orientation in Euler angles.

pose_quat¶

Return pose as a vector, orientation as quaternion.

quat¶

Return orientation quaternion.

quat_dot¶

Return the time derivative of the quaternion vector.

restoring_forces¶

Return the restoring force vector.

rotBtoI¶

Return rotation from BODY to INERTIAL frame using the zyx convention to retrieve Euler angles from the quaternion vector (Fossen, 2011).

rotItoB¶

Return rotation from INERTIAL to BODY frame

TBtoIquat¶

Return matrix for transformation of BODY-fixed angular velocities in the BODY frame in relation to the INERTIAL frame into quaternion rate.

vel¶

Return linear and angular velocity vector.

print_info¶

Vehicle.print_info(self)

Print the vehicle's parameters.

set_added_mass¶

Vehicle.set_added_mass(self, Ma)

Set added-mass matrix coefficients.

set_damping_coef¶

Vehicle.set_damping_coef(self, linear_damping, quad_damping)

Set linear and quadratic damping coefficients.

compute_force¶

Vehicle.compute_force(self, acc=None, vel=None, with_restoring=True, use_sname=True)

Return the sum of forces acting on the vehicle.

Given acceleration and velocity vectors, this function returns the sum of forces given the rigid-body and hydrodynamic models for the marine vessel.

compute_acc¶

Vehicle.compute_acc(self, gen_forces=None, use_sname=True)

Calculate inverse dynamics to obtain the acceleration vector.

get_jacobian¶

Vehicle.get_jacobian(self)

Return the Jacobian for the current orientation using transformations from BODY to INERTIAL frame.

update_odometry¶

Vehicle.update_odometry(self, msg)

Odometry topic subscriber callback function.