liftdrag_plugin.h

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/*
 * Copyright (C) 2014-2016 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_LIFT_DRAG_PLUGIN_HH_
#define _GAZEBO_LIFT_DRAG_PLUGIN_HH_

#include <string>
#include <vector>

#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"

namespace gazebo
{
  class GAZEBO_VISIBLE LiftDragPlugin : public ModelPlugin
  {
    public: LiftDragPlugin();

    public: ~LiftDragPlugin();

    // Documentation Inherited.
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    protected: virtual void OnUpdate();

    protected: event::ConnectionPtr updateConnection;

    protected: physics::WorldPtr world;

    protected: physics::PhysicsEnginePtr physics;

    protected: physics::ModelPtr model;

    protected: double cla;

    protected: double cda;

    protected: double cma;

    protected: double alphaStall;

    protected: double claStall;

    protected: double cdaStall;

    protected: double cmaStall;

    protected: double velocityStall;

    protected: double rho;

    protected: bool radialSymmetry;

    protected: double area;

    protected: double sweep;

    protected: double alpha0;

    protected: double alpha;

    protected: ignition::math::Vector3d cp;

    protected: ignition::math::Vector3d forward;

    protected: ignition::math::Vector3d upward;

    protected: ignition::math::Vector3d velSmooth;

    protected: physics::LinkPtr link;

    protected: physics::JointPtr controlJoint;

    protected: double controlJointRadToCL;

    protected: sdf::ElementPtr sdf;
  };
}
#endif