execution.usv.control

Class ControlCoefficients

java.lang.Object

execution.usv.control.ControlCoefficients

public class ControlCoefficients
extends Object

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	kEtaSteering
protected double	kPhiSteering
protected double	kPsi
protected double	kR
protected double	kRSliding
protected double	kSigmaPsi
protected double	kSigmaR
protected double	kSlideSteering
protected double	kV

Constructor Summary

Constructors

Constructor and Description
ControlCoefficients(UsvExecution execution) Creates a new instance of ControlCoefficients

Method Summary

Modifier and Type	Method and Description
void	loadCoefficients(ExecutionDynamicsConfiguration config) Sets control coefficient values based on xml configuration file

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

kSigmaR

protected double kSigmaR

kSigmaPsi

protected double kSigmaPsi

kEtaSteering

protected double kEtaSteering

kPhiSteering

protected double kPhiSteering

kRSliding

protected double kRSliding

kSlideSteering

protected double kSlideSteering

kPsi

protected double kPsi

kR

protected double kR

kV

protected double kV

Constructor Detail

ControlCoefficients

public ControlCoefficients(UsvExecution execution)

Creates a new instance of ControlCoefficients

Parameters:

execution - UsvExecution reference to the main class of the usv to which controlCoefficients apply

Method Detail

loadCoefficients

public void loadCoefficients(ExecutionDynamicsConfiguration config)

Sets control coefficient values based on xml configuration file

Parameters:

config - JAXB object containing all configuration info