| ▼Ngazebo | |
| CBuoyantObject | Class describing the dynamics of a buoyant object, useful for simple representations of underwater structures |
| CConversionFunction | Abstact base class for a thruster conversion function |
| CConversionFunctionBasic | The most basic conversion function: Thrust = const.*w*abs(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 |
| CConversionFunctionBessa | 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 |
| CConversionFunctionFactory | Factory singleton class that creates a ConversionFunction from sdf |
| CConversionFunctionLinearInterp | Conversion using linear interpolation between given data points |
| CDynamics | Abstract base class for thruster dynamics |
| CDynamicsFactory | Factory singleton class that creates a ThrusterDynamics from sdf |
| CDynamicsFirstOrder | First-order dynamic system |
| CDynamicsZeroOrder | Trivial (no dynamics) zero-order dynamic system |
| CFinPlugin | |
| CHMBox | Class containing the methods and attributes for a hydrodynamic model for a box in the fluid |
| CHMCylinder | Class containing the methods and attributes for a hydrodynamic model for a cylinder in the fluid |
| CHMFossen | 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: |
| CHMSphere | Class containing the methods and attributes for a hydrodynamic model for a sphere in the fluid |
| CHMSpheroid | Class containing the methods and attributes for a hydrodynamic model for a spheroid in the fluid Reference: Antonelli - Underwater Robots |
| CHydrodynamicModel | |
| CHydrodynamicModelFactory | Factory singleton class that creates a HydrodynamicModel from sdf |
| CLiftDrag | Abstract base class for Lift&Drag models |
| CLiftDragFactory | Factory singleton class that creates a LiftDrag from sdf |
| CLiftDragQuadratic | Basic quadratic (Hugin) lift&drag model, page 18 from [1]. [1] Engelhardtsen, Øystein. "3D AUV Collision Avoidance." (2007) |
| CLiftDragTwoLines | 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 |
| CThrusterDynamicsBessa | Bessa's dynamic thruster model |
| CThrusterDynamicsYoerger | Yoerger's dynamic thruster model |
| CThrusterPlugin | Class for the thruster plugin |
| CUmbilicalModel | |
| CUmbilicalModelBerg | |
| CUmbilicalModelFactory | Factory singleton class that creates an UmbilicalModel from sdf |
| CUmbilicalPlugin | |
| CUmbilicalSegment | |
| CUnderwaterObjectPlugin | Gazebo model plugin class for underwater objects |