mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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ROV/AUV/Submarine simulator class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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#include "SIM_Motor.h"
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#include "SIM_Frame.h"
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namespace SITL {
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/*
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a submarine simulator
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*/
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class Submarine : public Aircraft {
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public:
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Submarine(const char *home_str, const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new Submarine(home_str, frame_str);
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}
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protected:
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// calculate rotational and linear accelerations
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
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Frame *frame;
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};
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class Thruster {
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public:
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Thruster(int8_t _servo, float roll_fac, float pitch_fac, float yaw_fac, float throttle_fac, float forward_fac, float lat_fac) :
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servo(_servo)
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{
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linear = Vector3f(forward_fac, lat_fac, -throttle_fac);
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rotational = Vector3f(roll_fac, pitch_fac, yaw_fac);
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};
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int8_t servo;
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Vector3f linear;
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Vector3f rotational;
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};
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}
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