Inheritance diagram for TrawlDoorControlledLift:

Collaboration diagram for TrawlDoorControlledLift:

Classes
struct	Loads
	The forces and controller errors at one time and state. More...

Public Member Functions
	TrawlDoorControlledLift (const std::string &simObjectName, ISimObjectCreator *creator)

void	OdeFcn (const double T, const double const X, double const XDot) const override

void	FinalSetup (const double T, const double const X, ISimObjectCreator const creator) override

void	AcceptedStep (const double T, const double *const X) override

Protected Types
enum class	WeightModel { Controlled , Mass }
	What sets the door's weight in water. More...

Protected Member Functions
	TrawlDoorControlledLift (const std::string &simObjectName, ISimObjectCreator *creator, WeightModel weightModel)

double	Mass (const double *const X) const
	The mass at `X` [kg]: the mass state, or the fixed mass.

Loads	ComputeLoads (const double T, const double *const X) const
	The loads at (`T`, `X`).

const double *	OutPos (const double T, const double *const X, const int index)

const double *	OutVel (const double T, const double *const X, const int index)

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

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

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

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

Protected Attributes
WeightModel	m_weightModel
	What sets the weight.

bool	m_isPort
	Is this the port door?

bool	m_useWidthMeasurement
	Is `Distance` a measured width, rather than a reference position?

double	m_mass
	The mass [kg], with WeightModel::Controlled.

double	m_massMin
	The smallest mass [kg], with WeightModel::Mass.

double	m_massMax
	The largest mass [kg], with WeightModel::Mass.

double	m_liftDragRatio
	Lift divided by drag.

double	m_size
	The diameter of the contact sphere [m].

environment::SeafloorForcesInterface *	m_seafloorForces = nullptr

environment::EnvironmentProvider *	m_environment = nullptr

std::vector< ISignalPort * >	m_inForces

ISignalPort *	m_inDistanceGoal

ISignalPort *	m_inDistance

ISignalPort *	m_inBottomForceGoal = nullptr
	With WeightModel::Controlled.

ISignalPort *	m_inMassGoal = nullptr
	With WeightModel::Mass.

int	m_IStatePos

int	m_IStateVel

int	m_IStateIntegratedSpreadError

int	m_IStateIntegratedBottomForceError = -1
	With WeightModel::Controlled.

int	m_IStateMass = -1
	With WeightModel::Mass.

PidWithExternalState	m_distanceController
	Lift from the spread error.

PidWithExternalState	m_weightController
	Weight from the bottom force error.

double	m_outLift = 0.0

double	m_outDrag = 0.0

double	m_outWeight = 0.0

double	m_outBottomContact = 0.0

Member Enumeration Documentation

◆ WeightModel

strongprotected

Enumerator
Controlled	A PID controller on the bottom force error (this class).
Mass	A mass state that follows `MassGoal` (Trawl/TrawlDoorControlledLiftAndMass).

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