usv_gazebo_dynamics_plugin.hh

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/*
 * Copyright (C) 2017  Brian Bingham
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef USV_GAZEBO_PLUGINS_DYNAMICS_PLUGIN_HH_
#define USV_GAZEBO_PLUGINS_DYNAMICS_PLUGIN_HH_

#include <Eigen/Core>
#include <string>
#include <vector>

#include <gazebo/common/common.hh>
#include <ignition/math/Vector3.hh>
#include <gazebo/physics/physics.hh>
#include <sdf/sdf.hh>

#include "wave_gazebo_plugins/Wavefield.hh"
#include "wave_gazebo_plugins/WavefieldEntity.hh"
#include "wave_gazebo_plugins/WavefieldModelPlugin.hh"

namespace gazebo
{
  class UsvDynamicsPlugin : public ModelPlugin
  {
    public: UsvDynamicsPlugin();

    public: virtual ~UsvDynamicsPlugin() = default;

    // Documentation inherited.
    public: virtual void Load(physics::ModelPtr _model,
                              sdf::ElementPtr _sdf);

    protected: virtual void Update();

    private: double SdfParamDouble(sdf::ElementPtr _sdfPtr,
                                   const std::string &_paramName,
                                   const double _defaultVal) const;

    private: double CircleSegment(double R, double h);

    private: physics::WorldPtr world;

    private: physics::LinkPtr link;

    private: common::Time prevUpdateTime;

    private: ignition::math::Vector3d prevLinVel;

    private: ignition::math::Vector3d prevAngVel;

    private: double paramXdotU;

    private: double paramYdotV;

    private: double paramNdotR;

    private: double paramXu;

    private: double paramXuu;

    private: double paramYv;

    private: double paramYvv;

    private: double paramZw;

    private: double paramKp;

    private: double paramMq;

    private: double paramNr;

    private: double paramNrr;

    private: double waterLevel;

    private: double waterDensity;

    private: double paramBoatLength;

    private: double paramBoatWidth;

    private: double paramHullRadius;

    private: int paramLengthN;

    private: Eigen::MatrixXd Ma;

    protected: std::string waveModelName;

    // /// \brief Wave parameters.
    // private: int paramWaveN;

    // /// \brief Wave amplitude values for N components.
    // private: std::vector<float> paramWaveAmps;

    // /// \brief Wave period values for N components.
    // private: std::vector<float> paramWavePeriods;

    // /// \brief Wave direction values for N components.
    // private: std::vector<std::vector<float>> paramWaveDirections;

    private: event::ConnectionPtr updateConnection;

    private: std::shared_ptr<const asv::WaveParameters> waveParams;
  };
}

#endif