#include <gazebo_fw_dynamics_plugin.h>

Public Member Functions
	GazeboFwDynamicsPlugin ()
	Constructor.
virtual	~GazeboFwDynamicsPlugin ()
	Destructor.
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Called when the plugin is first created, and after the world has been loaded. This function should not be blocking.
double	NormalizedInputToAngle (const ControlSurface &surface, double input)
	Convert control surface input that is normalized in range [-1, 1] to a physical deflection angle value.
void	OnUpdate (const common::UpdateInfo &)
	This gets called by the world update start event.
void	UpdateForcesAndMoments ()
	Calculates the forces and moments to be applied to the fixed-wing body.
Private Member Functions
void	ActuatorsCallback (GzActuatorsMsgPtr &actuators_msg)
	Processes the actuator commands.
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
void	RollPitchYawrateThrustCallback (GzRollPitchYawrateThrustMsgPtr &roll_pitch_yawrate_thrust_msg)
	Process the roll_pitch_yawrate_thrust commands.
void	WindSpeedCallback (GzWindSpeedMsgPtr &wind_speed_msg)
	Processes the wind speed readings.
Private Attributes
gazebo::transport::SubscriberPtr	actuators_sub_
	Subscriber for receiving actuator commands.
std::string	actuators_sub_topic_
	Topic name for actuator commands.
FWAerodynamicParameters	aero_params_
	The aerodynamic properties of the aircraft.
double	delta_aileron_left_
	Left aileron deflection [rad].
double	delta_aileron_right_
	Right aileron deflection [rad].
double	delta_elevator_
	Elevator deflection [rad].
double	delta_flap_
	Flap deflection [rad].
double	delta_rudder_
	Rudder deflection [rad].
bool	is_input_joystick_
	Are the input commands coming from a joystick (as opposed to a remote control via HIL interface, for example)?
physics::LinkPtr	link_
	Pointer to the link.
physics::ModelPtr	model_
	Pointer to the model.
std::string	namespace_
	Transport namespace.
transport::NodePtr	node_handle_
	Handle for the Gazebo node.
bool	pubs_and_subs_created_
	Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().
gazebo::transport::SubscriberPtr	roll_pitch_yawrate_thrust_sub_
	Subscriber for receiving roll_pitch_yawrate_thrust commands.
std::string	roll_pitch_yawrate_thrust_sub_topic_
	Topic name for roll_pitch_yawrate_thrust commands.
double	throttle_
	Throttle input, in range from 0 to 1.
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
FWVehicleParameters	vehicle_params_
	The physical properties of the aircraft.
ignition::math::Vector3d	W_wind_speed_W_B_
	Most current wind speed reading [m/s].
gazebo::transport::SubscriberPtr	wind_speed_sub_
	Subscriber ror receiving wind speed readings.
std::string	wind_speed_sub_topic_
	Topic name for wind speed readings.
physics::WorldPtr	world_
	Pointer to the world.

Detailed Description

Definition at line 50 of file gazebo_fw_dynamics_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboFwDynamicsPlugin::GazeboFwDynamicsPlugin ( )

Constructor.

Definition at line 24 of file gazebo_fw_dynamics_plugin.cpp.

gazebo::GazeboFwDynamicsPlugin::~GazeboFwDynamicsPlugin ( ) [virtual]

Destructor.

Definition at line 37 of file gazebo_fw_dynamics_plugin.cpp.

Member Function Documentation

void gazebo::GazeboFwDynamicsPlugin::ActuatorsCallback ( GzActuatorsMsgPtr & actuators_msg ) [private]

Processes the actuator commands.

Converts control surface actuator inputs into physical angles before storing them and throttle values for later use in calculation of forces and moments.

Definition at line 358 of file gazebo_fw_dynamics_plugin.cpp.

void gazebo::GazeboFwDynamicsPlugin::CreatePubsAndSubs ( ) [private]

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

Definition at line 290 of file gazebo_fw_dynamics_plugin.cpp.