This plugin simulates buoyancy of an object in fluid. <wave_model>: Name of the wave model object (optional) More...

#include <buoyancy_gazebo_plugin.hh>

Inheritance diagram for gazebo::BuoyancyPlugin:

Public Member Functions
	BuoyancyPlugin ()
	Constructor. More...

virtual void	Init ()

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)

Protected Member Functions
virtual void	OnUpdate ()
	Callback for World Update events. More...

Protected Attributes
double	angularDrag
	Angular drag coefficient. Defaults to 0. More...

std::vector< buoyancy::BuoyancyObject >	buoyancyObjects
	List of buoyancy objects for model. More...

double	fluidDensity
	The density of the fluid in which the object is submerged in kg/m^3. Defaults to 1000, the fluid density of water at 15 Celsius. More...

double	fluidLevel
	The height of the fluid/air interface [m]. Defaults to 0. More...

double	lastSimTime
	Previous update time. More...

double	linearDrag
	Linear drag coefficient. Defaults to 0. More...

std::map< gazebo::physics::LinkPtr, double >	linkHeightDots
	Map of water velocity at each link. More...

std::map< gazebo::physics::LinkPtr, double >	linkHeights
	Map of water height at each link from previous timestep. More...

std::map< int, gazebo::physics::LinkPtr >	linkMap
	Map of <link ID, link pointer> More...

physics::ModelPtr	model
	Pointer to base model. More...

event::ConnectionPtr	updateConnection
	Connection to World Update events. More...

std::string	waveModelName
	The name of the wave model. More...

std::shared_ptr< const asv::WaveParameters >	waveParams
	The wave parameters. More...

physics::WorldPtr	world
	Pointer to the Gazebo world Retrieved when the model is loaded. More...

Detailed Description

This plugin simulates buoyancy of an object in fluid. <wave_model>: Name of the wave model object (optional)

<fluid_density>: Sets the density of the fluid that surrounds the buoyant object [kg/m^3]. This parameter is optional (default value 997 kg/m^3).

<fluid_level>: The height of the fluid/air interface [m]. This parameter is optional (default value 0 m).

<linear_drag>: Linear drag coefficent [N/(m/s)]. Translational drag implement as linear function of velocity. This parameter is optional.

<angular_drag>: Angular drag coefficent [(Nm)/(rad/s)]. Rotational drag implemented as linear function of velocity. This parameter is optional.

<buoyancy>: Describes the volume properties For example:

<geometry>: Geometry element specifying buoyancy object's volume properties. Supported shapes: box, sphere, cylinder

Definition at line 114 of file buoyancy_gazebo_plugin.hh.

Constructor & Destructor Documentation

BuoyancyPlugin::BuoyancyPlugin ( )

Constructor.

Definition at line 106 of file buoyancy_gazebo_plugin.cc.

Member Function Documentation

void BuoyancyPlugin::Init ( )

virtual

Definition at line 207 of file buoyancy_gazebo_plugin.cc.

void BuoyancyPlugin::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

virtual

Definition at line 117 of file buoyancy_gazebo_plugin.cc.

void BuoyancyPlugin::OnUpdate ( )

protectedvirtual

Callback for World Update events.

Definition at line 214 of file buoyancy_gazebo_plugin.cc.

Member Data Documentation

double gazebo::BuoyancyPlugin::angularDrag

protected

Angular drag coefficient. Defaults to 0.

Definition at line 143 of file buoyancy_gazebo_plugin.hh.

std::vector<buoyancy::BuoyancyObject> gazebo::BuoyancyPlugin::buoyancyObjects

protected

List of buoyancy objects for model.

Definition at line 146 of file buoyancy_gazebo_plugin.hh.

double gazebo::BuoyancyPlugin::fluidDensity

protected

The density of the fluid in which the object is submerged in kg/m^3. Defaults to 1000, the fluid density of water at 15 Celsius.

Definition at line 134 of file buoyancy_gazebo_plugin.hh.

double gazebo::BuoyancyPlugin::fluidLevel

protected

The height of the fluid/air interface [m]. Defaults to 0.

Definition at line 137 of file buoyancy_gazebo_plugin.hh.

double gazebo::BuoyancyPlugin::lastSimTime

protected

Previous update time.

Definition at line 168 of file buoyancy_gazebo_plugin.hh.

double gazebo::BuoyancyPlugin::linearDrag

protected

Linear drag coefficient. Defaults to 0.

Definition at line 140 of file buoyancy_gazebo_plugin.hh.

std::map<gazebo::physics::LinkPtr, double> gazebo::BuoyancyPlugin::linkHeightDots

protected

Map of water velocity at each link.

Definition at line 165 of file buoyancy_gazebo_plugin.hh.

std::map<gazebo::physics::LinkPtr, double> gazebo::BuoyancyPlugin::linkHeights

protected

Map of water height at each link from previous timestep.

Definition at line 162 of file buoyancy_gazebo_plugin.hh.

std::map<int, gazebo::physics::LinkPtr> gazebo::BuoyancyPlugin::linkMap

protected

Map of <link ID, link pointer>

Definition at line 149 of file buoyancy_gazebo_plugin.hh.

physics::ModelPtr gazebo::BuoyancyPlugin::model

protected

Pointer to base model.

Definition at line 152 of file buoyancy_gazebo_plugin.hh.

event::ConnectionPtr gazebo::BuoyancyPlugin::updateConnection

protected

Connection to World Update events.

Definition at line 130 of file buoyancy_gazebo_plugin.hh.

std::string gazebo::BuoyancyPlugin::waveModelName

protected

The name of the wave model.

Definition at line 159 of file buoyancy_gazebo_plugin.hh.

std::shared_ptr<const asv::WaveParameters> gazebo::BuoyancyPlugin::waveParams

protected

The wave parameters.

Definition at line 171 of file buoyancy_gazebo_plugin.hh.

physics::WorldPtr gazebo::BuoyancyPlugin::world

protected

Pointer to the Gazebo world Retrieved when the model is loaded.

Definition at line 156 of file buoyancy_gazebo_plugin.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