17 #ifndef _GAZEBO_LIFT_DRAG_PLUGIN_HH_ 18 #define _GAZEBO_LIFT_DRAG_PLUGIN_HH_ 23 #include "gazebo/common/Plugin.hh" 24 #include "gazebo/physics/physics.hh" 25 #include "gazebo/transport/TransportTypes.hh" 39 public:
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
42 protected:
virtual void OnUpdate();
48 protected: physics::WorldPtr
world;
51 protected: physics::PhysicsEnginePtr
physics;
54 protected: physics::ModelPtr
model;
59 protected:
double cla;
64 protected:
double cda;
69 protected:
double cma;
89 protected:
double rho;
110 protected: ignition::math::Vector3d
cp;
119 protected: ignition::math::Vector3d
upward;
125 protected: physics::LinkPtr
link;
136 protected: sdf::ElementPtr
sdf;
physics::LinkPtr link
Pointer to link currently targeted by mud joint.
double area
effective planeform surface area
double alpha
angle of attack
ignition::math::Vector3d upward
A vector in the lift/drag plane, perpendicular to the forward vector. Inflow velocity orthogonal to f...
double sweep
angle of sweep
physics::ModelPtr model
Pointer to model containing plugin.
double cla
Coefficient of Lift / alpha slope. Lift = C_L * q * S where q (dynamic pressure) = 0...
sdf::ElementPtr sdf
SDF for this plugin;.
double alphaStall
angle of attach when airfoil stalls
ignition::math::Vector3d forward
Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack f...
double controlJointRadToCL
how much to change CL per radian of control surface joint value.
double rho
air density at 25 deg C it's about 1.1839 kg/m^3 At 20 °C and 101.325 kPa, dry air has a density of 1...
double cdaStall
Cd-alpha rate after stall.
physics::WorldPtr world
Pointer to world.
event::ConnectionPtr updateConnection
Connection to World Update events.
physics::JointPtr controlJoint
Pointer to a joint that actuates a control surface for this lifting body.
double cma
Coefficient of Moment / alpha slope. Moment = C_M * q * S where q (dynamic pressure) = 0...
double cmaStall
Cm-alpha rate after stall.
ignition::math::Vector3d cp
center of pressure in link local coordinates
A plugin that simulates lift and drag.
bool radialSymmetry
if the shape is aerodynamically radially symmetric about the forward direction. Defaults to false for...
double cda
Coefficient of Drag / alpha slope. Drag = C_D * q * S where q (dynamic pressure) = 0...
double claStall
Cl-alpha rate after stall.
ignition::math::Vector3d velSmooth
Smoothed velocity.
physics::PhysicsEnginePtr physics
Pointer to physics engine.
double alpha0
initial angle of attack
double velocityStall
: : make a stall velocity curve