dynamics.models.uav

Class UAVEngine

java.lang.Object

dynamics.models.uav.UAVEngine

public class UAVEngine
extends Object

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
static int	FOREPROP
static int	JET
static int	REARPROP

Constructor Summary

Constructors

Constructor and Description
UAVEngine(Vector3D position, int type, double maxPower) Creates a new instance of UAVEngine

Method Summary

Methods

Modifier and Type	Method and Description
void	setPower(double power) Sets the engine power.
Vector3D	thrustVector() Computes the thrust being applied by the engine with the current power setting
Vector3D	torqueVector() Calculates the total moment about the rigid body center of gravity due to due to the engine operation.

Methods inherited from class java.lang.Object

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

Field Detail

FOREPROP

public static final int FOREPROP

See Also:

Constant Field Values

REARPROP

public static final int REARPROP

See Also:

Constant Field Values

JET

public static final int JET

See Also:

Constant Field Values

Constructor Detail

UAVEngine

public UAVEngine(Vector3D position,
         int type,
         double maxPower)

Creates a new instance of UAVEngine

Parameters:

type - of propulsion (rear propeller, front propeller, jet)

position - of the engine in body coordinates

Method Detail

setPower

public void setPower(double power)

Sets the engine power. Power should be fraction of max power [0..1]

Parameters:

power - setting

thrustVector

public Vector3D thrustVector()

Computes the thrust being applied by the engine with the current power setting

torqueVector

public Vector3D torqueVector()

Calculates the total moment about the rigid body center of gravity due to due to the engine operation. It is computed as p X F + T where p is the location of the engine point of force application, F is the magnitude of the force and T is torque about the x axis due to propeller rotation.