Inheritance diagram for Ship::HeadingPIDController:

Collaboration diagram for Ship::HeadingPIDController:

Public Member Functions
	HeadingPIDController (const std::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

const double *	Torque (const double T, const double *const X)

const double *	AngleDiff (const double T, const double *const X)

Protected Member Functions
double	HeadingDifference (double from, double to)

Protected Attributes
double	Kp

double	Kd

double	Ki

double	T

double	angleDiff

ISignalPort *	m_InCurrentHeading
	Current position.

ISignalPort *	m_InCurrentYawRate
	Current position.

ISignalPort *	m_InDesiredHeading
	Desired position.

ISignalPort *	m_InDesiredYawRate
	Desired position.

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

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

Public Member Functions

Protected Member Functions