execution.uuv.control

Class LQRDepthController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.DepthController

execution.uuv.control.LQRDepthController

public class LQRDepthController
extends DepthController

Author:

dtdavis

Field Summary

Fields inherited from class execution.uuv.control.DepthController

altitudeControl, ballastCommand, bowPlaneCommand, depthControlReset, GLIDER_DEPTH_MAXIMUM, GLIDER_DEPTH_MINIMUM, GLIDER_PITCH_MAXIMUM, GLIDER_PITCH_MINIMUM, openLoopDepth, sternPlaneCommand

Fields inherited from class execution.uuv.control.UuvController

alongTrackRange, bowLateralThrusterCommand, bowVerticalThrusterCommand, correctToTrack, crossTrackError, depthError, depthErrorIntegral, depthPidTime, MAXDEPTHERROR, offTrackAngleDegrees, openLoopHeading, pdOnlyTime, portPropellerCommand, psiCommand, psiError, rudderCommand, speedControlReset, speedError, stbdPropellerCommand, sternLateralThrusterCommand, sternVerticalThrusterCommand, thetaCommand, THRUSTCONVERSION, turningRpm, uuvExecution, zCommand

Constructor Summary

Constructors

Constructor and Description
LQRDepthController(UuvExecution execution) Creates a new instance of LQRDepthController

Method Summary

Modifier and Type	Method and Description
protected void	computePlanes() Computes settings for bow and stern planes

Methods inherited from class execution.uuv.control.DepthController

computeBallast, computeControls, getBallastCommand, getBowPlaneCommand, getBowVerticalThrusterCommand, getGpsFix, getSternPlaneCommand, getSternVerticalThrusterCommand, getThetaCommand, getZCommand, readControls, setControls

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeRudderCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, isClosedLoopSpeed, setCommandedSpeed, setPropellersRPM, unsetClosedLoopSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

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

Constructor Detail

LQRDepthController

public LQRDepthController(UuvExecution execution)

Creates a new instance of LQRDepthController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computePlanes

protected void computePlanes()

Computes settings for bow and stern planes

Overrides:

computePlanes in class DepthController