#include <HydrodynamicModel.hh>

Inheritance diagram for gazebo::HydrodynamicModel:

[legend]

Public Member Functions
virtual void	ApplyHydrodynamicForces (double time, const ignition::math::Vector3d &_flowVelWorld)=0
	Computation of the hydrodynamic forces. More...

virtual bool	GetParam (std::string _tag, std::vector< double > &_output)=0
	Return paramater in vector form for the given tag. More...

virtual bool	GetParam (std::string _tag, double &_output)=0
	Return paramater in vector form for the given tag. More...

virtual std::string	GetType ()=0
	Returns type of model. More...

virtual void	Print (std::string _paramName, std::string _message=std::string())=0
	Prints parameters. More...

virtual bool	SetParam (std::string _tag, double _input)=0
	Set a scalar parameters. More...

Public Member Functions inherited from gazebo::BuoyantObject
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
bool	CheckParams (sdf::ElementPtr _sdf)
	Returns true if all parameters are available from the SDF element. More...

void	ComputeAcc (Eigen::Vector6d _velRel, double _time, double _alpha=0.3)
	Filter acceleration (fix due to the update structure of Gazebo) More...

ignition::math::Vector3d	FromNED (ignition::math::Vector3d _vec)
	Convert vector to comply with the NED reference frame. More...

	HydrodynamicModel (sdf::ElementPtr _sdf, physics::LinkPtr _link)
	Protected constructor: Use the factory for object creation. More...

ignition::math::Vector3d	ToNED (ignition::math::Vector3d _vec)
	Convert vector to comply with the NED reference frame. More...

Protected Member Functions inherited from gazebo::BuoyantObject
void	StoreVector (std::string _tag, ignition::math::Vector3d _vec)
	Store vector in the hydroWrench map if the field has been created. More...

Protected Attributes
Eigen::Vector6d	filteredAcc
	Filtered linear & angular acceleration vector in link frame. This is used to prevent the model to become unstable given that Gazebo only calls the update function at the beginning or at the end of a iteration of the physics engine. More...

double	lastTime
	Last timestamp (in seconds) at which ApplyHydrodynamicForces was called. More...

Eigen::Vector6d	lastVelRel
	Last body-fixed relative velocity (nu_R in Fossen's equations) More...

std::vector< std::string >	params
	List of parameters needed from the SDF element. More...

double	Re
	Reynolds number (not used by all models) More...

double	temperature
	Temperature (not used by all models) More...

Protected Attributes inherited from gazebo::BuoyantObject
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

Definition at line 42 of file HydrodynamicModel.hh.

Constructor & Destructor Documentation

gazebo::HydrodynamicModel::HydrodynamicModel	(	sdf::ElementPtr	_sdf,
		physics::LinkPtr	_link
	)

protected

Protected constructor: Use the factory for object creation.

Definition at line 22 of file HydrodynamicModel.cc.

Member Function Documentation

virtual void gazebo::HydrodynamicModel::ApplyHydrodynamicForces	(	double	time,
		const ignition::math::Vector3d &	_flowVelWorld
	)

pure virtual

Computation of the hydrodynamic forces.

Implemented in gazebo::HMFossen.

bool gazebo::HydrodynamicModel::CheckParams ( sdf::ElementPtr _sdf )

protected

Returns true if all parameters are available from the SDF element.

Definition at line 143 of file HydrodynamicModel.cc.

void gazebo::HydrodynamicModel::ComputeAcc	(	Eigen::Vector6d	_velRel,
		double	_time,
		double	_alpha = `0.3`
	)

protected

Filter acceleration (fix due to the update structure of Gazebo)

Definition at line 102 of file HydrodynamicModel.cc.

ignition::math::Vector3d gazebo::HydrodynamicModel::FromNED ( ignition::math::Vector3d _vec )

protected

Convert vector to comply with the NED reference frame.

Definition at line 137 of file HydrodynamicModel.cc.

virtual bool gazebo::HydrodynamicModel::GetParam	(	std::string	_tag,
		std::vector< double > &	_output
	)

pure virtual

Return paramater in vector form for the given tag.

Implemented in gazebo::HMFossen.

virtual bool gazebo::HydrodynamicModel::GetParam	(	std::string	_tag,
		double &	_output
	)

pure virtual

Return paramater in vector form for the given tag.

Implemented in gazebo::HMFossen.

virtual std::string gazebo::HydrodynamicModel::GetType ( )

pure virtual

Returns type of model.

Implemented in gazebo::HMBox, gazebo::HMSpheroid, gazebo::HMCylinder, gazebo::HMSphere, and gazebo::HMFossen.

virtual void gazebo::HydrodynamicModel::Print	(	std::string	_paramName,
		std::string	_message = `std::string()`
	)

pure virtual

Prints parameters.

Implemented in gazebo::HMBox, gazebo::HMSpheroid, gazebo::HMCylinder, gazebo::HMSphere, and gazebo::HMFossen.

virtual bool gazebo::HydrodynamicModel::SetParam	(	std::string	_tag,
		double	_input
	)

pure virtual

Set a scalar parameters.

Implemented in gazebo::HMFossen.

ignition::math::Vector3d gazebo::HydrodynamicModel::ToNED ( ignition::math::Vector3d _vec )

protected

Convert vector to comply with the NED reference frame.

Definition at line 128 of file HydrodynamicModel.cc.

Member Data Documentation

Eigen::Vector6d gazebo::HydrodynamicModel::filteredAcc

protected

Filtered linear & angular acceleration vector in link frame. This is used to prevent the model to become unstable given that Gazebo only calls the update function at the beginning or at the end of a iteration of the physics engine.

Definition at line 87 of file HydrodynamicModel.hh.

double gazebo::HydrodynamicModel::lastTime

protected

Last timestamp (in seconds) at which ApplyHydrodynamicForces was called.

Definition at line 91 of file HydrodynamicModel.hh.

Eigen::Vector6d gazebo::HydrodynamicModel::lastVelRel

protected

Last body-fixed relative velocity (nu_R in Fossen's equations)

Definition at line 94 of file HydrodynamicModel.hh.

std::vector<std::string> gazebo::HydrodynamicModel::params

protected

List of parameters needed from the SDF element.

Definition at line 97 of file HydrodynamicModel.hh.

double gazebo::HydrodynamicModel::Re

protected

Reynolds number (not used by all models)

Definition at line 100 of file HydrodynamicModel.hh.

double gazebo::HydrodynamicModel::temperature

protected

Temperature (not used by all models)

Definition at line 103 of file HydrodynamicModel.hh.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation