A Gazebo model plugin to simulate water waves. More...

#include <WavefieldModelPlugin.hh>

Inheritance diagram for asv::WavefieldModelPlugin:

Public Member Functions
void	Fini ()

void	Init ()

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

void	Reset ()

	WavefieldModelPlugin ()
	Constructor. More...

virtual	~WavefieldModelPlugin ()
	Destructor. More...

Static Public Member Functions
static std::shared_ptr< const WaveParameters >	GetWaveParams (gazebo::physics::WorldPtr _world, const std::string &_waveModelName)
	Retrive a pointer to the wavefield parameters from the Wavefield plugin. More...

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

Private Attributes
std::shared_ptr< WavefieldModelPluginPrivate >	data

Detailed Description

A Gazebo model plugin to simulate water waves.

Usage

Add the SDF for the plugin to the <model> element of your wave model.

<plugin name="wavefield" filename="libWavefieldModelPlugin.so">
  <static>false</static>
  <update_rate>30</update_rate>
  <size>1000 1000</size>
  <cell_count>50 50</cell_count>
  <wave>
    <number>3</number>
    <scale>1.5</scale>
    <angle>0.4</angle>
    <steepness>1.0</steepness>
    <amplitude>0.4</amplitude>
    <period>8.0</period>
    <direction>1 1</direction>
  </wave>
</plugin>

Parameters

<static> (bool, default: false) Create a static wave field if set to true.
<update_rate> (double, default: 30.0) The rate in Hz at which the wavefield is updated.
<size> (Vector2D, default: (1000 1000)) A two component vector for the size of the wave field in each direction.
<cell_count> (int, default: (50 50)) A two component vector for the number of grid cells in each direction.
<number> (int, default: 1) The number of component waves.
<scale> (double, default: 2.0) The scale between the mean and largest / smallest component waves.
<angle> (double, default: 2*pi/10) The angle between the mean wave direction and the largest / smallest component waves.
<steepness> (double, default: 1.0) A parameter in [0, 1] controlling the wave steepness with 1 being steepest.
<amplitude> (double, default: 0.0) The amplitude of the mean wave in [m].
<period> (double, default: 1.0) The period of the mean wave in [s].
<phase> (double, default: 0.0) The phase of the mean wave.
<direction> (Vector2D, default: (1 0)) A two component vector specifiying the direction of the mean wave.
<model> (string, default: default) The model used to generate component waves. Should be either "PMS" or "CWR"
<gain> (double, default: 1.0) For PMS, the multiplier applied to component amplitudes.
<tau> (double, default: 1.0) Time constant used to gradually increase wavefield at startup.

Definition at line 114 of file WavefieldModelPlugin.hh.

Constructor & Destructor Documentation

asv::WavefieldModelPlugin::~WavefieldModelPlugin ( )

virtual

Destructor.

Definition at line 69 of file WavefieldModelPlugin.cc.

asv::WavefieldModelPlugin::WavefieldModelPlugin ( )

Constructor.

Definition at line 78 of file WavefieldModelPlugin.cc.

Member Function Documentation

void asv::WavefieldModelPlugin::Fini ( )

Definition at line 128 of file WavefieldModelPlugin.cc.

std::shared_ptr< const WaveParameters > asv::WavefieldModelPlugin::GetWaveParams	(	gazebo::physics::WorldPtr	_world,
		const std::string &	_waveModelName
	)

static

Retrive a pointer to the wavefield parameters from the Wavefield plugin.

Parameters

_world	A pointer to the world containing the wave field.
_waveModelName	The name of the wavefield model containing the wave field.

Returns: A valid pointer to WaveParameters if found and nullptr if not.

Definition at line 170 of file WavefieldModelPlugin.cc.

void asv::WavefieldModelPlugin::Init ( )

Definition at line 120 of file WavefieldModelPlugin.cc.

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

Definition at line 84 of file WavefieldModelPlugin.cc.

void asv::WavefieldModelPlugin::OnUpdate ( )

private

Callback for World Update events.

internal

Definition at line 142 of file WavefieldModelPlugin.cc.

void asv::WavefieldModelPlugin::Reset ( )

Definition at line 132 of file WavefieldModelPlugin.cc.

Member Data Documentation

std::shared_ptr<WavefieldModelPluginPrivate> asv::WavefieldModelPlugin::data

private

Definition at line 150 of file WavefieldModelPlugin.hh.

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

Public Member Functions

Static Public Member Functions