BuoyantObject.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// 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 __UUV_GAZEBO_PLUGINS_BUOYANT_OBJECT_HH__
#define __UUV_GAZEBO_PLUGINS_BUOYANT_OBJECT_HH__

#include <string>
#include <map>

#include <gazebo/gazebo.hh>
#include <gazebo/physics/Link.hh>
#include <gazebo/physics/Collision.hh>
#include <gazebo/physics/Shape.hh>

#define RESTORING_FORCE   "restoring_force"

namespace gazebo
{
class BuoyantObject
{
  public: BuoyantObject(physics::LinkPtr _link);

  public: ~BuoyantObject();

  public: void GetBuoyancyForce(const ignition::math::Pose3d &_pose,
    ignition::math::Vector3d &buoyancyForce,
    ignition::math::Vector3d &buoyancyTorque);

  public: void ApplyBuoyancyForce();

  public: void SetVolume(double _volume = -1);

  public: double GetVolume();

  public: void SetFluidDensity(double _fluidDensity);

  public: double GetFluidDensity();

  public: void SetCoB(const ignition::math::Vector3d &_centerOfBuoyancy);

  public: ignition::math::Vector3d GetCoB();

  public: void SetGravity(double _g);

  public: double GetGravity();

  public: void SetBoundingBox(const ignition::math::Box &_bBox);

  public: void SetStoreVector(std::string _tag);

  public: ignition::math::Vector3d GetStoredVector(std::string _tag);

  public: void SetDebugFlag(bool _debugOn = true);

  public: bool IsSubmerged();

  public: bool IsNeutrallyBuoyant();

  public: bool GetDebugFlag();

  public: void SetNeutrallyBuoyant();

  protected: void StoreVector(std::string _tag, ignition::math::Vector3d _vec);

  protected: double volume;

  protected: double scalingVolume;

  protected: double offsetVolume;

  protected: double fluidDensity;

  protected: double g;

  protected: ignition::math::Vector3d centerOfBuoyancy;

  protected: ignition::math::Box boundingBox;

  protected: std::map<std::string, ignition::math::Vector3d> hydroWrench;

  protected: bool debugFlag;

  protected: bool isSubmerged;

  protected: physics::LinkPtr link;

  // force
  protected: bool neutrallyBuoyant;

  // \brief Metacentric width of the robot, used only for surface vessels and
  // floating objects
  protected: double metacentricWidth;

  protected: double metacentricLength;

  protected: double waterLevelPlaneArea;

  protected: double submergedHeight;

  protected: bool isSurfaceVessel;

  protected: bool isSurfaceVesselFloating;
};
}

#endif