gazebo::FinPlugin Class Reference

#include <FinPlugin.hh>

Inheritance diagram for gazebo::FinPlugin:

Public Member Functions
	FinPlugin ()
	Constructor. More...
virtual void	Init ()
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &_info)
	Update the simulation state. More...
virtual	~FinPlugin ()
	Destructor. More...

Protected Member Functions
void	UpdateCurrentVelocity (ConstVector3dPtr &_msg)
	Reads current velocity topic. More...
void	UpdateInput (ConstDoublePtr &_msg)
	Callback for the input topic subscriber. More...

Protected Attributes
double	angle
	Latest fin angle in [rad]. More...
transport::PublisherPtr	anglePublisher
	Publisher to the output thrust topic. More...
common::Time	angleStamp
	Time stamp of latest thrust force. More...
transport::SubscriberPtr	commandSubscriber
	Subscriber to the reference signal topic. More...
transport::SubscriberPtr	currentSubscriber
	Subcriber to current message. More...
ignition::math::Vector3d	currentVelocity
	Current velocity vector read from topic. More...
std::shared_ptr< Dynamics >	dynamics
	Fin dynamic model. More...
ignition::math::Vector3d	finForce
	Force component calculated from the lift and drag module. More...
int	finID
	Fin ID. More...
double	inputCommand
	Latest input command. More...
physics::JointPtr	joint
	The fin joint. More...
std::shared_ptr< LiftDrag >	liftdrag
	Lift&Drag model. More...
physics::LinkPtr	link
	The fin link. More...
transport::NodePtr	node
	Gazebo node. More...
std::string	topicPrefix
	Topic prefix. More...
event::ConnectionPtr	updateConnection
	Update event. More...

Detailed Description

Definition at line 38 of file FinPlugin.hh.

Constructor & Destructor Documentation

gazebo::FinPlugin::FinPlugin

(

)

Constructor.

Definition at line 30 of file FinPlugin.cc.

gazebo::FinPlugin::~FinPlugin ( )

virtual

Destructor.

Definition at line 35 of file FinPlugin.cc.

Member Function Documentation

void gazebo::FinPlugin::Init ( )

virtual

Definition at line 132 of file FinPlugin.cc.

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

virtual

Definition at line 48 of file FinPlugin.cc.

void gazebo::FinPlugin::OnUpdate

(

const common::UpdateInfo &

_info

)

Update the simulation state.

Parameters

[in]

_info

Information used in the update event.

Definition at line 137 of file FinPlugin.cc.

void gazebo::FinPlugin::UpdateCurrentVelocity ( ConstVector3dPtr &  _msg )

protected

Reads current velocity topic.

Definition at line 195 of file FinPlugin.cc.

void gazebo::FinPlugin::UpdateInput ( ConstDoublePtr &  _msg )

protected

Callback for the input topic subscriber.

Definition at line 189 of file FinPlugin.cc.

Member Data Documentation

double gazebo::FinPlugin::angle

protected

Latest fin angle in [rad].

Definition at line 100 of file FinPlugin.hh.

transport::PublisherPtr gazebo::FinPlugin::anglePublisher

protected

Publisher to the output thrust topic.

Definition at line 85 of file FinPlugin.hh.

common::Time gazebo::FinPlugin::angleStamp

protected

Time stamp of latest thrust force.

Definition at line 103 of file FinPlugin.hh.

transport::SubscriberPtr gazebo::FinPlugin::commandSubscriber

protected

Subscriber to the reference signal topic.

Definition at line 82 of file FinPlugin.hh.

transport::SubscriberPtr gazebo::FinPlugin::currentSubscriber

protected

Subcriber to current message.

Definition at line 106 of file FinPlugin.hh.

ignition::math::Vector3d gazebo::FinPlugin::currentVelocity

protected

Current velocity vector read from topic.

Definition at line 109 of file FinPlugin.hh.

std::shared_ptr<Dynamics> gazebo::FinPlugin::dynamics

protected

Fin dynamic model.

Definition at line 64 of file FinPlugin.hh.

ignition::math::Vector3d gazebo::FinPlugin::finForce

protected

Force component calculated from the lift and drag module.

Definition at line 88 of file FinPlugin.hh.

int gazebo::FinPlugin::finID

protected

Fin ID.

Definition at line 94 of file FinPlugin.hh.

double gazebo::FinPlugin::inputCommand

protected

Latest input command.

Definition at line 91 of file FinPlugin.hh.

physics::JointPtr gazebo::FinPlugin::joint

protected

The fin joint.

Definition at line 76 of file FinPlugin.hh.

std::shared_ptr<LiftDrag> gazebo::FinPlugin::liftdrag

protected

Lift&Drag model.

Definition at line 67 of file FinPlugin.hh.

physics::LinkPtr gazebo::FinPlugin::link

protected

The fin link.

Definition at line 79 of file FinPlugin.hh.

transport::NodePtr gazebo::FinPlugin::node

protected

Gazebo node.

Definition at line 73 of file FinPlugin.hh.

std::string gazebo::FinPlugin::topicPrefix

protected

Topic prefix.

Definition at line 97 of file FinPlugin.hh.

event::ConnectionPtr gazebo::FinPlugin::updateConnection

protected

Update event.

Definition at line 70 of file FinPlugin.hh.

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The documentation for this class was generated from the following files:

• FinPlugin.hh
• FinPlugin.cc