Class describing the dynamics of a buoyant object, useful for simple representations of underwater structures. More...
#include <BuoyantObject.hh>
Public Member Functions | |
| void | ApplyBuoyancyForce () |
| Applies buoyancy force on link. More... | |
| BuoyantObject (physics::LinkPtr _link) | |
| Constructor. More... | |
| void | GetBuoyancyForce (const ignition::math::Pose3d &_pose, ignition::math::Vector3d &buoyancyForce, ignition::math::Vector3d &buoyancyTorque) |
| Returns the buoyancy force vector in the world frame. More... | |
| ignition::math::Vector3d | GetCoB () |
| Returns the stored center of buoyancy. More... | |
| bool | GetDebugFlag () |
| Returns the debug flag. More... | |
| double | GetFluidDensity () |
| Returns the stored fluid density. More... | |
| double | GetGravity () |
| Get stored acceleration of gravity. More... | |
| ignition::math::Vector3d | GetStoredVector (std::string _tag) |
| Get vector from the hydroWrench map. More... | |
| double | GetVolume () |
| Returns the stored link submerged volume. More... | |
| bool | IsNeutrallyBuoyant () |
| Returns true if the link was set to be neutrally buoyant. More... | |
| bool | IsSubmerged () |
| Returns true if the robot is completely submerged. More... | |
| void | SetBoundingBox (const ignition::math::Box &_bBox) |
| Sets bounding box. More... | |
| void | SetCoB (const ignition::math::Vector3d &_centerOfBuoyancy) |
| Sets the position of the center of buoyancy on the body frame. More... | |
| void | SetDebugFlag (bool _debugOn=true) |
| Set debug flag to store intermediate forces and torques. More... | |
| void | SetFluidDensity (double _fluidDensity) |
| Sets the fluid density in kg/m^3. More... | |
| void | SetGravity (double _g) |
| Set acceleration of gravity. More... | |
| void | SetNeutrallyBuoyant () |
| Sets this link as neutrally buoyant. More... | |
| void | SetStoreVector (std::string _tag) |
| Adds a field in the hydroWrench map. More... | |
| void | SetVolume (double _volume=-1) |
| Sets the link's submerged volume. More... | |
| ~BuoyantObject () | |
| Destructor. More... | |
Protected Member Functions | |
| void | StoreVector (std::string _tag, ignition::math::Vector3d _vec) |
| Store vector in the hydroWrench map if the field has been created. More... | |
Protected Attributes | |
| ignition::math::Box | boundingBox |
| TEMP for calculation of the buoyancy force close to the surface. More... | |
| ignition::math::Vector3d | centerOfBuoyancy |
| Center of buoyancy in the body frame. More... | |
| bool | debugFlag |
| Debug flag, storing all intermediate forces and torques. More... | |
| double | fluidDensity |
| Fluid density. More... | |
| double | g |
| Acceleration of gravity. More... | |
| std::map< std::string, ignition::math::Vector3d > | hydroWrench |
| Storage for hydrodynamic and hydrostatic forces and torques for debugging purposes. More... | |
| bool | isSubmerged |
| Is submerged flag. More... | |
| bool | isSurfaceVessel |
| Flag set to true if the information about the metacentric width and height is available. More... | |
| bool | isSurfaceVesselFloating |
| Flag set to true if the vessel has reached its submerged height. More... | |
| physics::LinkPtr | link |
| Pointer to the correspondent robot link. More... | |
| double | metacentricLength |
| Metacentric length of the robot, used only for surface vessels and floating objects. More... | |
| double | metacentricWidth |
| bool | neutrallyBuoyant |
| If true, the restoring force will be equal to the gravitational. More... | |
| double | offsetVolume |
| Offset for the volume. More... | |
| double | scalingVolume |
| Scaling factor for the volume. More... | |
| double | submergedHeight |
| Height of the robot that is submerged (only for surface vessels) More... | |
| double | volume |
| Volume of fluid displaced by the submerged object. More... | |
| double | waterLevelPlaneArea |
| If the cross section area around water level of the surface vessel is not given, it will be computed from the object's bounding box. More... | |
Detailed Description
Class describing the dynamics of a buoyant object, useful for simple representations of underwater structures.
Definition at line 36 of file BuoyantObject.hh.
Constructor & Destructor Documentation
| gazebo::BuoyantObject::BuoyantObject | ( | physics::LinkPtr | _link | ) |
Constructor.
Definition at line 24 of file BuoyantObject.cc.
| gazebo::BuoyantObject::~BuoyantObject | ( | ) |
Destructor.
Definition at line 63 of file BuoyantObject.cc.
Member Function Documentation
| void gazebo::BuoyantObject::ApplyBuoyancyForce | ( | ) |
Applies buoyancy force on link.
Definition at line 166 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::GetBuoyancyForce | ( | const ignition::math::Pose3d & | _pose, |
| ignition::math::Vector3d & | buoyancyForce, | ||
| ignition::math::Vector3d & | buoyancyTorque | ||
| ) |
Returns the buoyancy force vector in the world frame.
Definition at line 82 of file BuoyantObject.cc.
| ignition::math::Vector3d gazebo::BuoyantObject::GetCoB | ( | ) |
Returns the stored center of buoyancy.
Definition at line 247 of file BuoyantObject.cc.
| bool gazebo::BuoyantObject::GetDebugFlag | ( | ) |
Returns the debug flag.
Definition at line 263 of file BuoyantObject.cc.
| double gazebo::BuoyantObject::GetFluidDensity | ( | ) |
Returns the stored fluid density.
Definition at line 237 of file BuoyantObject.cc.
| double gazebo::BuoyantObject::GetGravity | ( | ) |
Get stored acceleration of gravity.
Definition at line 257 of file BuoyantObject.cc.
| ignition::math::Vector3d gazebo::BuoyantObject::GetStoredVector | ( | std::string | _tag | ) |
Get vector from the hydroWrench map.
Definition at line 276 of file BuoyantObject.cc.
| double gazebo::BuoyantObject::GetVolume | ( | ) |
Returns the stored link submerged volume.
Definition at line 224 of file BuoyantObject.cc.
| bool gazebo::BuoyantObject::IsNeutrallyBuoyant | ( | ) |
Returns true if the link was set to be neutrally buoyant.
Definition at line 304 of file BuoyantObject.cc.
| bool gazebo::BuoyantObject::IsSubmerged | ( | ) |
Returns true if the robot is completely submerged.
Definition at line 298 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetBoundingBox | ( | const ignition::math::Box & | _bBox | ) |
Sets bounding box.
Definition at line 208 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetCoB | ( | const ignition::math::Vector3d & | _centerOfBuoyancy | ) |
Sets the position of the center of buoyancy on the body frame.
Definition at line 240 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetDebugFlag | ( | bool | _debugOn = true | ) |
Set debug flag to store intermediate forces and torques.
Definition at line 260 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetFluidDensity | ( | double | _fluidDensity | ) |
Sets the fluid density in kg/m^3.
Definition at line 230 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetGravity | ( | double | _g | ) |
Set acceleration of gravity.
Definition at line 250 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetNeutrallyBuoyant | ( | ) |
Sets this link as neutrally buoyant.
Definition at line 66 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetStoreVector | ( | std::string | _tag | ) |
Adds a field in the hydroWrench map.
Definition at line 266 of file BuoyantObject.cc.
| void gazebo::BuoyantObject::SetVolume | ( | double | _volume = -1 | ) |
Sets the link's submerged volume.
Definition at line 217 of file BuoyantObject.cc.
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Store vector in the hydroWrench map if the field has been created.
Definition at line 287 of file BuoyantObject.cc.
Member Data Documentation
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TEMP for calculation of the buoyancy force close to the surface.
Definition at line 123 of file BuoyantObject.hh.
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Center of buoyancy in the body frame.
Definition at line 119 of file BuoyantObject.hh.
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Debug flag, storing all intermediate forces and torques.
Definition at line 130 of file BuoyantObject.hh.
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Fluid density.
Definition at line 113 of file BuoyantObject.hh.
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Acceleration of gravity.
Definition at line 116 of file BuoyantObject.hh.
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Storage for hydrodynamic and hydrostatic forces and torques for debugging purposes.
Definition at line 127 of file BuoyantObject.hh.
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Is submerged flag.
Definition at line 133 of file BuoyantObject.hh.
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Flag set to true if the information about the metacentric width and height is available.
Definition at line 159 of file BuoyantObject.hh.
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Flag set to true if the vessel has reached its submerged height.
Definition at line 162 of file BuoyantObject.hh.
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Pointer to the correspondent robot link.
Definition at line 136 of file BuoyantObject.hh.
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Metacentric length of the robot, used only for surface vessels and floating objects.
Definition at line 148 of file BuoyantObject.hh.
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Definition at line 144 of file BuoyantObject.hh.
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If true, the restoring force will be equal to the gravitational.
Definition at line 140 of file BuoyantObject.hh.
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Offset for the volume.
Definition at line 110 of file BuoyantObject.hh.
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Scaling factor for the volume.
Definition at line 107 of file BuoyantObject.hh.
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Height of the robot that is submerged (only for surface vessels)
Definition at line 155 of file BuoyantObject.hh.
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Volume of fluid displaced by the submerged object.
Definition at line 104 of file BuoyantObject.hh.
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If the cross section area around water level of the surface vessel is not given, it will be computed from the object's bounding box.
Definition at line 152 of file BuoyantObject.hh.
The documentation for this class was generated from the following files: