Classes
class	BuoyantObject
	Class describing the dynamics of a buoyant object, useful for simple representations of underwater structures. More...

class	ConversionFunction
	Abstact base class for a thruster conversion function. More...

class	ConversionFunctionBasic
	The most basic conversion function: Thrust = const.wabs(w) This corresponds to what is attrributed to Yoerger et al. and called Model 1 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation. More...

class	ConversionFunctionBessa
	Asymmetric conversion function with dead-zone nonlinearity. This corresponds to what is called Model 2 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation. More...

class	ConversionFunctionFactory
	Factory singleton class that creates a ConversionFunction from sdf. More...

class	ConversionFunctionLinearInterp
	Conversion using linear interpolation between given data points. More...

class	Dynamics
	Abstract base class for thruster dynamics. More...

class	DynamicsFactory
	Factory singleton class that creates a ThrusterDynamics from sdf. More...

class	DynamicsFirstOrder
	First-order dynamic system. More...

class	DynamicsZeroOrder
	Trivial (no dynamics) zero-order dynamic system. More...

class	FinPlugin

class	HMBox
	Class containing the methods and attributes for a hydrodynamic model for a box in the fluid. More...

class	HMCylinder
	Class containing the methods and attributes for a hydrodynamic model for a cylinder in the fluid. More...

class	HMFossen
	Class containting the methods and attributes for a Fossen robot-like hydrodynamic model. The restoring forces are applied by the BuoyantObject class methods. Using the plugin for UUV models will use both this and the buoyant object class definitions, therefore the restoring forces were not inherited here. References: More...

class	HMSphere
	Class containing the methods and attributes for a hydrodynamic model for a sphere in the fluid. More...

class	HMSpheroid
	Class containing the methods and attributes for a hydrodynamic model for a spheroid in the fluid Reference: Antonelli - Underwater Robots. More...

class	HydrodynamicModel

class	HydrodynamicModelFactory
	Factory singleton class that creates a HydrodynamicModel from sdf. More...

class	LiftDrag
	Abstract base class for Lift&Drag models. More...

class	LiftDragFactory
	Factory singleton class that creates a LiftDrag from sdf. More...

class	LiftDragQuadratic
	Basic quadratic (Hugin) lift&drag model, page 18 from [1]. [1] Engelhardtsen, Øystein. "3D AUV Collision Avoidance." (2007). More...

class	LiftDragTwoLines
	Lift&drag model that models lift/drag coeffs using two lines. This is based on Gazebo's LiftDragPlugin but implemented as a derived LiftDrag model to allow using it in combination with the dynamics of a Fin. More...

class	ThrusterDynamicsBessa
	Bessa's dynamic thruster model. More...

class	ThrusterDynamicsYoerger
	Yoerger's dynamic thruster model. More...

class	ThrusterPlugin
	Class for the thruster plugin. More...

class	UmbilicalModel

class	UmbilicalModelBerg

class	UmbilicalModelFactory
	Factory singleton class that creates an UmbilicalModel from sdf. More...

class	UmbilicalPlugin

class	UmbilicalSegment

class	UnderwaterObjectPlugin
	Gazebo model plugin class for underwater objects. More...

Typedefs
typedef const boost::shared_ptr< const uuv_gazebo_plugins_msgs::msgs::Double >	ConstDoublePtr
	Definition of a pointer to the floating point message. More...

typedef ConversionFunction (	ConversionFunctionCreator) (sdf::ElementPtr)
	Function pointer to create a certain conversion function. More...

typedef Dynamics (	DynamicsCreator) (sdf::ElementPtr)
	Function pointer to create a certain thruster dynamics object. More...

typedef HydrodynamicModel (	HydrodynamicModelCreator) (sdf::ElementPtr, physics::LinkPtr)
	Function pointer to create a certain a model. More...

typedef boost::shared_ptr< HydrodynamicModel >	HydrodynamicModelPtr
	Pointer to model. More...

typedef LiftDrag (	LiftDragCreator) (sdf::ElementPtr)
	Function pointer to create a certain LiftDrag object. More...

typedef UmbilicalModel (	UmbilicalModelCreator) (sdf::ElementPtr, physics::ModelPtr)
	Function pointer to create a certain conversion function. More...

typedef boost::shared_ptr< UmbilicalSegment >	UmbilicalSegmentPtr

Functions
Eigen::Matrix3d	CrossProductOperator (Eigen::Vector3d _x)
	Returns the cross product operator matrix for Eigen vectors. More...

Eigen::Matrix3d	CrossProductOperator (ignition::math::Vector3d _x)
	Returns the cross product operator matrix for Gazebo vectors. More...

Eigen::Vector6d	EigenStack (const ignition::math::Vector3d &_x, const ignition::math::Vector3d &_y)

	GZ_REGISTER_MODEL_PLUGIN (UmbilicalPlugin)

ignition::math::Matrix3d	Mat3dToGazebo (const Eigen::Matrix3d &_x)

	REGISTER_CONVERSIONFUNCTION_CREATOR (ConversionFunctionBasic,&ConversionFunctionBasic::create) ConversionFunction *ConversionFunctionBasic

	REGISTER_CONVERSIONFUNCTION_CREATOR (ConversionFunctionBessa,&ConversionFunctionBessa::create) ConversionFunction *ConversionFunctionBessa

	REGISTER_CONVERSIONFUNCTION_CREATOR (ConversionFunctionLinearInterp,&ConversionFunctionLinearInterp::create) ConversionFunction *ConversionFunctionLinearInterp

	REGISTER_DYNAMICS_CREATOR (DynamicsZeroOrder,&DynamicsZeroOrder::create) Dynamics *DynamicsZeroOrder

	REGISTER_DYNAMICS_CREATOR (DynamicsFirstOrder,&DynamicsFirstOrder::create) Dynamics *DynamicsFirstOrder

	REGISTER_DYNAMICS_CREATOR (ThrusterDynamicsYoerger,&ThrusterDynamicsYoerger::create) Dynamics *ThrusterDynamicsYoerger

	REGISTER_DYNAMICS_CREATOR (ThrusterDynamicsBessa,&ThrusterDynamicsBessa::create) Dynamics *ThrusterDynamicsBessa

	REGISTER_HYDRODYNAMICMODEL_CREATOR (HMFossen,&HMFossen::create)

	REGISTER_HYDRODYNAMICMODEL_CREATOR (HMSphere,&HMSphere::create)

	REGISTER_HYDRODYNAMICMODEL_CREATOR (HMCylinder,&HMCylinder::create)

	REGISTER_HYDRODYNAMICMODEL_CREATOR (HMSpheroid,&HMSpheroid::create)

	REGISTER_HYDRODYNAMICMODEL_CREATOR (HMBox,&HMBox::create)

	REGISTER_LIFTDRAG_CREATOR (LiftDragQuadratic,&LiftDragQuadratic::create) LiftDrag *LiftDragQuadratic

	REGISTER_LIFTDRAG_CREATOR (LiftDragTwoLines,&LiftDragTwoLines::create) LiftDrag *LiftDragTwoLines

std::vector< double >	Str2Vector (std::string _input)
	Conversion of a string to a double vector. More...

Eigen::Vector3d	ToEigen (const ignition::math::Vector3d &_x)

Eigen::Matrix3d	ToEigen (const ignition::math::Matrix3d &_x)

ignition::math::Vector3d	Vec3dToGazebo (const Eigen::Vector3d &_x)

Typedef Documentation

typedef const boost::shared_ptr< const uuv_gazebo_plugins_msgs::msgs::Double > gazebo::ConstDoublePtr

Definition of a pointer to the floating point message.

Definition at line 36 of file FinPlugin.hh.

typedef ConversionFunction*(* gazebo::ConversionFunctionCreator) (sdf::ElementPtr)

Function pointer to create a certain conversion function.

Definition at line 55 of file ThrusterConversionFcn.hh.

typedef Dynamics*(* gazebo::DynamicsCreator) (sdf::ElementPtr)

Function pointer to create a certain thruster dynamics object.

Definition at line 57 of file Dynamics.hh.

typedef HydrodynamicModel*(* gazebo::HydrodynamicModelCreator) (sdf::ElementPtr, physics::LinkPtr)

Function pointer to create a certain a model.

Definition at line 110 of file HydrodynamicModel.hh.

typedef boost::shared_ptr<HydrodynamicModel> gazebo::HydrodynamicModelPtr

Pointer to model.

Definition at line 107 of file HydrodynamicModel.hh.

typedef LiftDrag*(* gazebo::LiftDragCreator) (sdf::ElementPtr)

Function pointer to create a certain LiftDrag object.

Definition at line 66 of file LiftDragModel.hh.

typedef UmbilicalModel*(* gazebo::UmbilicalModelCreator) (sdf::ElementPtr, physics::ModelPtr)

Function pointer to create a certain conversion function.

Definition at line 55 of file UmbilicalModel.hh.

typedef boost::shared_ptr<UmbilicalSegment> gazebo::UmbilicalSegmentPtr

Definition at line 58 of file UmbilicalPlugin.hh.

Function Documentation

Eigen::Matrix3d gazebo::CrossProductOperator ( Eigen::Vector3d _x )

inline

Returns the cross product operator matrix for Eigen vectors.

Definition at line 67 of file Def.hh.

Eigen::Matrix3d gazebo::CrossProductOperator ( ignition::math::Vector3d _x )

inline

Returns the cross product operator matrix for Gazebo vectors.

Definition at line 76 of file Def.hh.

Eigen::Vector6d gazebo::EigenStack	(	const ignition::math::Vector3d &	_x,
		const ignition::math::Vector3d &	_y
	)

inline

Definition at line 97 of file Def.hh.

gazebo::GZ_REGISTER_MODEL_PLUGIN ( UmbilicalPlugin )

ignition::math::Matrix3d gazebo::Mat3dToGazebo ( const Eigen::Matrix3d & _x )

inline

Definition at line 112 of file Def.hh.

gazebo::REGISTER_CONVERSIONFUNCTION_CREATOR	(	ConversionFunctionBasic	,
		&ConversionFunctionBasic::create
	)

Definition at line 70 of file ThrusterConversionFcn.cc.

gazebo::REGISTER_CONVERSIONFUNCTION_CREATOR	(	ConversionFunctionBessa	,
		&ConversionFunctionBessa::create
	)

Definition at line 118 of file ThrusterConversionFcn.cc.

gazebo::REGISTER_CONVERSIONFUNCTION_CREATOR	(	ConversionFunctionLinearInterp	,
		&ConversionFunctionLinearInterp::create
	)

Definition at line 225 of file ThrusterConversionFcn.cc.

gazebo::REGISTER_DYNAMICS_CREATOR	(	DynamicsZeroOrder	,
		&DynamicsZeroOrder::create
	)

Definition at line 75 of file Dynamics.cc.

gazebo::REGISTER_DYNAMICS_CREATOR	(	DynamicsFirstOrder	,
		&DynamicsFirstOrder::create
	)

Definition at line 92 of file Dynamics.cc.

gazebo::REGISTER_DYNAMICS_CREATOR	(	ThrusterDynamicsYoerger	,
		&ThrusterDynamicsYoerger::create
	)

Definition at line 135 of file Dynamics.cc.

gazebo::REGISTER_DYNAMICS_CREATOR	(	ThrusterDynamicsBessa	,
		&ThrusterDynamicsBessa::create
	)

Definition at line 184 of file Dynamics.cc.

gazebo::REGISTER_HYDRODYNAMICMODEL_CREATOR	(	HMFossen	,
		&HMFossen::create
	)

gazebo::REGISTER_HYDRODYNAMICMODEL_CREATOR	(	HMSphere	,
		&HMSphere::create
	)

gazebo::REGISTER_HYDRODYNAMICMODEL_CREATOR	(	HMCylinder	,
		&HMCylinder::create
	)

gazebo::REGISTER_HYDRODYNAMICMODEL_CREATOR	(	HMSpheroid	,
		&HMSpheroid::create
	)

gazebo::REGISTER_HYDRODYNAMICMODEL_CREATOR	(	HMBox	,
		&HMBox::create
	)

gazebo::REGISTER_LIFTDRAG_CREATOR	(	LiftDragQuadratic	,
		&LiftDragQuadratic::create
	)

Definition at line 82 of file LiftDragModel.cc.

gazebo::REGISTER_LIFTDRAG_CREATOR	(	LiftDragTwoLines	,
		&LiftDragTwoLines::create
	)

Definition at line 168 of file LiftDragModel.cc.

std::vector<double> gazebo::Str2Vector ( std::string _input )

inline

Conversion of a string to a double vector.

Definition at line 55 of file Def.hh.

Eigen::Vector3d gazebo::ToEigen ( const ignition::math::Vector3d & _x )

inline

Definition at line 83 of file Def.hh.

Eigen::Matrix3d gazebo::ToEigen ( const ignition::math::Matrix3d & _x )

inline

Definition at line 88 of file Def.hh.

ignition::math::Vector3d gazebo::Vec3dToGazebo ( const Eigen::Vector3d & _x )

inline

Definition at line 107 of file Def.hh.

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation