ControlCoefficients (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.uuv.control.ControlCoefficients

public class ControlCoefficients
extends Object

Author:: dtdavis

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`kEtaDive`
`protected double`	`kEtaSteering`
`protected double`	`kP`
`protected double`	`kPhiDive`
`protected double`	`kPhiSteering`
`protected double`	`kPropellerCurrent`
`protected double`	`kPropellerHover`
`protected double`	`kPsi`
`protected double`	`kPsiLQR`
`protected double`	`kQ`
`protected double`	`kQLQR`
`protected double`	`kQSliding`
`protected double`	`kR`
`protected double`	`kRLQR`
`protected double`	`kRSliding`
`protected double`	`kSigmaPsi`
`protected double`	`kSigmaQ`
`protected double`	`kSigmaR`
`protected double`	`kSigmaTheta`
`protected double`	`kSigmaZ`
`protected double`	`kSlideDive`
`protected double`	`kSlideSteering`
`protected double`	`kSurgeHover`
`protected double`	`kSwayHover`
`protected double`	`kTheta`
`protected double`	`kThetaLQR`
`protected double`	`kThetaSliding`
`protected double`	`kThrusterCurrent`
`protected double`	`kThrusterHover`
`protected double`	`kThrusterLateral`
`protected double`	`kThrusterPsi`
`protected double`	`kThrusterQ`
`protected double`	`kThrusterR`
`protected double`	`kThrusterRotate`
`protected double`	`kThrusterTheta`
`protected double`	`kThrusterV`
`protected double`	`kThrusterW`
`protected double`	`kThrusterZ`
`protected double`	`kU`
`protected double`	`kUDot`
`protected double`	`kUIntegral`
`protected double`	`kV`
`protected double`	`kVLQR`
`protected double`	`kW`
`protected double`	`kWLQR`
`protected double`	`kZ`
`protected double`	`kZIntegral`
`protected double`	`kZLQR`

Constructor Summary

Constructors
Constructor and Description

ControlCoefficients(UuvExecution execution)
Creates a new instance of ControlCoefficients

Constructors
Constructor and Description
`ControlCoefficients(UuvExecution execution)` Creates a new instance of ControlCoefficients

Method Summary

All Methods Instance Methods Concrete Methods
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
```

kSigmaQ
```
protected double kSigmaQ
```

kSigmaTheta
```
protected double kSigmaTheta
```

kSigmaZ
```
protected double kSigmaZ
```

kEtaDive
```
protected double kEtaDive
```

kPhiDive
```
protected double kPhiDive
```

kSlideDive
```
protected double kSlideDive
```

kQSliding
```
protected double kQSliding
```

kThetaSliding
```
protected double kThetaSliding
```

kTheta
```
protected double kTheta
```

kThrusterTheta
```
protected double kThrusterTheta
```

kPsi
```
protected double kPsi
```

kThrusterPsi
```
protected double kThrusterPsi
```

kP
```
protected double kP
```

kQ
```
protected double kQ
```

kThrusterQ
```
protected double kThrusterQ
```

kR
```
protected double kR
```

kThrusterR
```
protected double kThrusterR
```

kV
```
protected double kV
```

kThrusterV
```
protected double kThrusterV
```

kW
```
protected double kW
```

kThrusterW
```
protected double kThrusterW
```

kU
```
protected double kU
```

kUDot
```
protected double kUDot
```

kUIntegral
```
protected double kUIntegral
```

kPropellerHover
```
protected double kPropellerHover
```

kSurgeHover
```
protected double kSurgeHover
```

kThrusterHover
```
protected double kThrusterHover
```

kSwayHover
```
protected double kSwayHover
```

kThrusterLateral
```
protected double kThrusterLateral
```

kThrusterRotate
```
protected double kThrusterRotate
```

kZ
```
protected double kZ
```

kThrusterZ
```
protected double kThrusterZ
```

kZIntegral
```
protected double kZIntegral
```

kPropellerCurrent
```
protected double kPropellerCurrent
```

kThrusterCurrent
```
protected double kThrusterCurrent
```

kZLQR
```
protected double kZLQR
```

kThetaLQR
```
protected double kThetaLQR
```

kQLQR
```
protected double kQLQR
```

kWLQR
```
protected double kWLQR
```

kPsiLQR
```
protected double kPsiLQR
```

kRLQR
```
protected double kRLQR
```

kVLQR
```
protected double kVLQR
```

Constructor Detail
- ControlCoefficients
```
public ControlCoefficients(UuvExecution execution)
```
  Creates a new instance of ControlCoefficients
  
  Parameters:
  
  execution - UuvExecution reference to the main class of the auv 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

Class ControlCoefficients

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

kSigmaR

kSigmaPsi

kEtaSteering

kPhiSteering

kRSliding

kSlideSteering

kSigmaQ

kSigmaTheta

kSigmaZ

kEtaDive

kPhiDive

kSlideDive

kQSliding

kThetaSliding

kTheta

kThrusterTheta

kPsi

kThrusterPsi

kP

kQ

kThrusterQ

kR

kThrusterR

kV

kThrusterV

kW

kThrusterW

kU

kUDot

kUIntegral

kPropellerHover

kSurgeHover

kThrusterHover

kSwayHover

kThrusterLateral

kThrusterRotate

kZ

kThrusterZ

kZIntegral

kPropellerCurrent

kThrusterCurrent

kZLQR

kThetaLQR

kQLQR

kWLQR

kPsiLQR

kRLQR

kVLQR

Constructor Detail

ControlCoefficients

Method Detail

loadCoefficients