Inheritance diagram for Ship::ControlAlgorithm:

Collaboration diagram for Ship::ControlAlgorithm:

Public Member Functions
	ControlAlgorithm (const string &simObjectName, ISimObjectCreator *const creator)
	reads parameters, registers states, input/output ports and shared resources

virtual void	OdeFcn (const double T, const double const X, double const XDot, const bool bIsMajorTimeStep)
	returns object derivatives as a function of time, states and input ports More...

Protected Attributes
ISignalPort *	adStatePosition
	Current position.

ISignalPort *	adStateTheta
	Current attitude in quaternions.

ISignalPort *	adStateVelocity
	Current linear velocity.

ISignalPort *	adStateRotation
	Current attitude in euler angles.

ISignalPort *	adStatePosition_Desired
	Desired position.

ISignalPort *	adStateTheta_Desired
	Desired attitude.

ISignalPort *	adStateVelocity_Desired
	Desired linear velocity.

double *	adStatePosition_error
	Position error, current - desired.

double *	adStateTheta_error
	Attitude error, current - desired.

double *	adStateVelocity_error
	Linear velocity error, current - desired.

int	m_StatePositionErrorSum_Index
	The relative index of the StatePositionErrorSum state in the state array.

int	m_StateThetaErrorSum_Index
	The relative index of the StateThetaErrorSum state in the state array.

int	m_StateVelocityErrorSum_Index
	The relative index of the StateVelocityErrorSum state in the state array.

Member Function Documentation

◆ OdeFcn()

virtual void Ship::ControlAlgorithm::OdeFcn	(	const double	T,
		const double *const	X,
		double *const	XDot,
		const bool	bIsMajorTimeStep
	)

virtual

The documentation for this class was generated from the following file: