This gazebo plugin simulates wind acting on a model. More...

#include <gazebo_wind_plugin.h>

Public Member Functions
	GazeboWindPlugin ()
virtual	~GazeboWindPlugin ()
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Load the plugin.
void	OnUpdate (const common::UpdateInfo &)
	Called when the world is updated.
Private Member Functions
ignition::math::Vector3d	BilinearInterpolation (double position, ignition::math::Vector3d values, double *points) const
	Bilinear interpolation.
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.
ignition::math::Vector3d	LinearInterpolation (double position, ignition::math::Vector3d values, double points) const
	Functions for trilinear interpolation of wind field at aircraft position.
void	ReadCustomWindField (std::string &custom_wind_field_path)
	Reads wind data from a text file and saves it.
ignition::math::Vector3d	TrilinearInterpolation (ignition::math::Vector3d link_position, ignition::math::Vector3d values, double points) const
	Trilinear interpolation.
Private Attributes
std::vector< float >	bottom_z_
std::string	frame_id_
physics::LinkPtr	link_
std::string	link_name_
float	min_x_
float	min_y_
physics::ModelPtr	model_
int	n_x_
int	n_y_
std::string	namespace_
gazebo::transport::NodePtr	node_handle_
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().
float	res_x_
float	res_y_
std::vector< float >	top_z_
std::vector< float >	u_
event::ConnectionPtr	update_connection_
	Pointer to the update event connection.
bool	use_custom_static_wind_field_
	Variables for custom wind field generation.
std::vector< float >	v_
std::vector< float >	vertical_spacing_factors_
std::vector< float >	w_
ignition::math::Vector3d	wind_direction_
double	wind_force_mean_
gazebo::transport::PublisherPtr	wind_force_pub_
std::string	wind_force_pub_topic_
double	wind_force_variance_
ignition::math::Vector3d	wind_gust_direction_
common::Time	wind_gust_end_
double	wind_gust_force_mean_
double	wind_gust_force_variance_
common::Time	wind_gust_start_
double	wind_speed_mean_
gz_mav_msgs::WindSpeed	wind_speed_msg_
	Gazebo message for sending wind speed data.
gazebo::transport::PublisherPtr	wind_speed_pub_
std::string	wind_speed_pub_topic_
double	wind_speed_variance_
physics::WorldPtr	world_
gz_geometry_msgs::WrenchStamped	wrench_stamped_msg_
	Gazebo message for sending wind data.
ignition::math::Vector3d	xyz_offset_

Detailed Description

This gazebo plugin simulates wind acting on a model.

This plugin publishes on a Gazebo topic and instructs the ROS interface plugin to forward the message onto ROS.

Definition at line 67 of file gazebo_wind_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboWindPlugin::GazeboWindPlugin ( ) [inline]

Definition at line 69 of file gazebo_wind_plugin.h.

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

Definition at line 31 of file gazebo_wind_plugin.cpp.

Member Function Documentation

ignition::math::Vector3d gazebo::GazeboWindPlugin::BilinearInterpolation	(	double *	position,
		ignition::math::Vector3d *	values,
		double *	points
	)		const `[private]`

Bilinear interpolation.

Parameters:

[in] position Pointer to an array of size 2 containing the x- and y-coordinates of the target point. values Pointer to an array of size 4 containing the wind values of the four points to interpolate from (8, 9, 10 and 11). points Pointer to an array of size 14 containing the z-coordinate of the eight points to interpolate from, the x-coordinate of the four intermediate points (8, 9, 10 and 11), and the y-coordinate of the last two intermediate points (12 and 13).

Definition at line 416 of file gazebo_wind_plugin.cpp.

void gazebo::GazeboWindPlugin::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 has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

Definition at line 300 of file gazebo_wind_plugin.cpp.

ignition::math::Vector3d gazebo::GazeboWindPlugin::LinearInterpolation	(	double	position,
		ignition::math::Vector3d *	values,
		double *	points
	)		const `[private]`

Functions for trilinear interpolation of wind field at aircraft position.

Linear interpolation

Parameters:

[in] position y-coordinate of the target point. values Pointer to an array of size 2 containing the wind values of the two points to interpolate from (12 and 13). points Pointer to an array of size 2 containing the y-coordinate of the two points to interpolate from.

Definition at line 409 of file gazebo_wind_plugin.cpp.

void gazebo::GazeboWindPlugin::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)		`[protected]`

Load the plugin.

Parameters:

[in]	_model	Pointer to the model that loaded this plugin.
[in]	_sdf	SDF element that describes the plugin.

Definition at line 35 of file gazebo_wind_plugin.cpp.

void gazebo::GazeboWindPlugin::OnUpdate ( const common::UpdateInfo & _info ) [protected]

Called when the world is updated.

Parameters:

[in] _info Update timing information.

Definition at line 126 of file gazebo_wind_plugin.cpp.

void gazebo::GazeboWindPlugin::ReadCustomWindField ( std::string & custom_wind_field_path ) [private]

Reads wind data from a text file and saves it.

Parameters:

[in] custom_wind_field_path Path to the wind field from ~/.ros.

Definition at line 340 of file gazebo_wind_plugin.cpp.

ignition::math::Vector3d gazebo::GazeboWindPlugin::TrilinearInterpolation	(	ignition::math::Vector3d	link_position,
		ignition::math::Vector3d *	values,
		double *	points
	)		const `[private]`

Trilinear interpolation.

Parameters:

[in] link_position Vector3 containing the x, y and z-coordinates of the target point. values Pointer to an array of size 8 containing the wind values of the eight points to interpolate from (0, 1, 2, 3, 4, 5, 6 and 7). points Pointer to an array of size 14 containing the z-coordinate of the eight points to interpolate from, the x-coordinate of the four intermediate points (8, 9, 10 and 11), and the y-coordinate of the last two intermediate points (12 and 13).

Definition at line 427 of file gazebo_wind_plugin.cpp.