C# Class GravityTurn.AttitudeController

显示文件 Open project: johnfink8/GravityTurn Class Usage Examples

Public Properties

Property	Type	Description
RCS_auto	bool
Tf	double
TfMax	double
TfMin	double
TfV	UnityEngine.Vector3d
Tf_autoTune	bool
attitudeError	double
attitudeKILLROT	bool
attitudeRCScontrol	bool
deadband	double
enabled	bool
error	Vector3
inertia	UnityEngine.Vector3d
kWlimit	double
kdFactor	double
kiFactor	double
kpFactor	double
lastAct	Vector3
pid	PIDControllerV3
pidAction	Vector3
steeringError	MovingAverage
torque	UnityEngine.Vector3d
useCoMVelocity	bool
useSAS	bool

Protected Properties

Property	Type	Description
_attitudeReference	AttitudeReference
_attitudeTarget	UnityEngine.Quaternion
_axisControl	UnityEngine.Vector3d
_lastAttitudeTarget	UnityEngine.Quaternion
_oldAttitudeTarget	UnityEngine.Quaternion
_requestedAttitude	UnityEngine.Quaternion
attitudeChanged	bool
lastReferencePart	Part
lastSAS	UnityEngine.Quaternion
timeCount	float

Private Properties

Property	Type	Description
SetFlightCtrlState	void

Public Methods

Method	Description
AttitudeController ( GravityTurner turner ) : System
AxisControl ( bool pitch, bool yaw, bool roll ) : void
Drive ( FlightCtrlState s ) : void
OnFixedUpdate ( ) : void
OnModuleEnabled ( ) : void
OnStart ( ) : void
OnUpdate ( ) : void
ResetConfig ( ) : void
attitudeAngleFromTarget ( ) : double
attitudeDeactivate ( ) : bool
attitudeGetReferenceRotation ( AttitudeReference reference ) : Quaternion
attitudeReferenceToWorld ( UnityEngine.Vector3d vector, AttitudeReference reference ) : UnityEngine.Vector3d
attitudeTo ( Quaternion attitude, AttitudeReference reference, object controller ) : bool
attitudeTo ( UnityEngine.Vector3d direction, AttitudeReference reference, object controller ) : bool
attitudeTo ( double heading, double pitch, double roll, object controller ) : bool
attitudeWorldToReference ( UnityEngine.Vector3d vector, AttitudeReference reference ) : UnityEngine.Vector3d
setPIDParameters ( ) : void
surfaceVelocityAngleFromTarget ( ) : double
tuneTf ( UnityEngine.Vector3d torque ) : void

Private Methods

Method	Description
SetFlightCtrlState ( UnityEngine.Vector3d act, UnityEngine.Vector3d deltaEuler, FlightCtrlState s, float drive_limit ) : void

Method Details

AttitudeController() public method

public AttitudeController ( GravityTurner turner ) : System
turner	GravityTurner
return	System

AxisControl() public method

public AxisControl ( bool pitch, bool yaw, bool roll ) : void
pitch	bool
yaw	bool
roll	bool
return	void

Drive() public method

public Drive ( FlightCtrlState s ) : void
s	FlightCtrlState
return	void

OnFixedUpdate() public method

public OnFixedUpdate ( ) : void
return	void

OnModuleEnabled() public method

public OnModuleEnabled ( ) : void
return	void

OnStart() public method

public OnStart ( ) : void
return	void

OnUpdate() public method

public OnUpdate ( ) : void
return	void

ResetConfig() public method

public ResetConfig ( ) : void
return	void

attitudeAngleFromTarget() public method

public attitudeAngleFromTarget ( ) : double
return	double

attitudeDeactivate() public method

public attitudeDeactivate ( ) : bool
return	bool

attitudeGetReferenceRotation() public method

public attitudeGetReferenceRotation ( AttitudeReference reference ) : Quaternion
reference	AttitudeReference
return	UnityEngine.Quaternion

attitudeReferenceToWorld() public method

public attitudeReferenceToWorld ( UnityEngine.Vector3d vector, AttitudeReference reference ) : UnityEngine.Vector3d
vector	UnityEngine.Vector3d
reference	AttitudeReference
return	UnityEngine.Vector3d

attitudeTo() public method

public attitudeTo ( Quaternion attitude, AttitudeReference reference, object controller ) : bool
attitude	UnityEngine.Quaternion
reference	AttitudeReference
controller	object
return	bool

attitudeTo() public method

public attitudeTo ( UnityEngine.Vector3d direction, AttitudeReference reference, object controller ) : bool
direction	UnityEngine.Vector3d
reference	AttitudeReference
controller	object
return	bool

attitudeTo() public method

public attitudeTo ( double heading, double pitch, double roll, object controller ) : bool
heading	double
pitch	double
roll	double
controller	object
return	bool

attitudeWorldToReference() public method

public attitudeWorldToReference ( UnityEngine.Vector3d vector, AttitudeReference reference ) : UnityEngine.Vector3d
vector	UnityEngine.Vector3d
reference	AttitudeReference
return	UnityEngine.Vector3d

setPIDParameters() public method

public setPIDParameters ( ) : void
return	void

surfaceVelocityAngleFromTarget() public method

public surfaceVelocityAngleFromTarget ( ) : double
return	double

tuneTf() public method

public tuneTf ( UnityEngine.Vector3d torque ) : void
torque	UnityEngine.Vector3d
return	void

Property Details

RCS_auto public_oe property

public bool RCS_auto
return	bool

Tf public_oe property

public double Tf
return	double

TfMax public_oe property

public double TfMax
return	double

TfMin public_oe property

public double TfMin
return	double

TfV public_oe property

public Vector3d,UnityEngine TfV
return	UnityEngine.Vector3d

Tf_autoTune public_oe property

public bool Tf_autoTune
return	bool

_attitudeReference protected_oe property

protected AttitudeReference _attitudeReference
return	AttitudeReference

_attitudeTarget protected_oe property

protected Quaternion,UnityEngine _attitudeTarget
return	UnityEngine.Quaternion

_axisControl protected_oe property

protected Vector3d,UnityEngine _axisControl
return	UnityEngine.Vector3d

_lastAttitudeTarget protected_oe property

protected Quaternion,UnityEngine _lastAttitudeTarget
return	UnityEngine.Quaternion

_oldAttitudeTarget protected_oe property

protected Quaternion,UnityEngine _oldAttitudeTarget
return	UnityEngine.Quaternion

_requestedAttitude protected_oe property

protected Quaternion,UnityEngine _requestedAttitude
return	UnityEngine.Quaternion

attitudeChanged protected_oe property

protected bool attitudeChanged
return	bool

attitudeError public_oe property

public double attitudeError
return	double

attitudeKILLROT public_oe property

public bool attitudeKILLROT
return	bool

attitudeRCScontrol public_oe property

public bool attitudeRCScontrol
return	bool

deadband public_oe property

public double deadband
return	double

enabled public_oe property

public bool enabled
return	bool

error public_oe property

public Vector3 error
return	Vector3

inertia public_oe property

public Vector3d,UnityEngine inertia
return	UnityEngine.Vector3d

kWlimit public_oe property

public double kWlimit
return	double

kdFactor public_oe property

public double kdFactor
return	double

kiFactor public_oe property

public double kiFactor
return	double

kpFactor public_oe property

public double kpFactor
return	double

lastAct public_oe property

public Vector3 lastAct
return	Vector3

lastReferencePart protected_oe property

protected Part lastReferencePart
return	Part

lastSAS protected_oe property

protected Quaternion,UnityEngine lastSAS
return	UnityEngine.Quaternion

pid public_oe property

public PIDControllerV3,GravityTurn pid
return	PIDControllerV3

pidAction public_oe property

public Vector3 pidAction
return	Vector3

steeringError public_oe property

public MovingAverage steeringError
return	MovingAverage

timeCount protected_oe property

protected float timeCount
return	float

torque public_oe property

public Vector3d,UnityEngine torque
return	UnityEngine.Vector3d

useCoMVelocity public_oe static_oe property

public static bool useCoMVelocity
return	bool

useSAS public_oe property

public bool useSAS
return	bool