Gazebo model plugin class for underwater objects. More...

#include <UnderwaterObjectPlugin.hh>

Inheritance diagram for gazebo::UnderwaterObjectPlugin:

Public Member Functions
virtual void	Init ()

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

	UnderwaterObjectPlugin ()
	Constructor. More...

virtual void	Update (const gazebo::common::UpdateInfo &_info)
	Update the simulation state. More...

virtual	~UnderwaterObjectPlugin ()
	Destructor. More...

Protected Member Functions
virtual void	Connect ()
	Connects the update event callback. More...

virtual void	GenWrenchMsg (ignition::math::Vector3d _force, ignition::math::Vector3d _torque, gazebo::msgs::WrenchStamped &_output)
	Returns the wrench message for debugging topics. More...

virtual void	InitDebug (gazebo::physics::LinkPtr _link, gazebo::HydrodynamicModelPtr _hydro)
	Sets the topics used for publishing the intermediate data during the simulation. More...

virtual void	PublishCurrentVelocityMarker ()
	Publish current velocity marker. More...

virtual void	PublishHydrodynamicWrenches (gazebo::physics::LinkPtr _link)
	Publish hydrodynamic wrenches. More...

virtual void	PublishIsSubmerged ()
	Publishes the state of the vehicle (is submerged) More...

virtual void	PublishRestoringForce (gazebo::physics::LinkPtr _link)
	Publish restoring force. More...

void	UpdateFlowVelocity (ConstVector3dPtr &_msg)
	Reads flow velocity topic. More...

Protected Attributes
std::string	baseLinkName
	Name of vehicle's base_link. More...

gazebo::transport::SubscriberPtr	flowSubscriber
	Subcriber to flow message. More...

ignition::math::Vector3d	flowVelocity
	Flow velocity vector read from topic. More...

std::map< std::string, gazebo::transport::PublisherPtr >	hydroPub
	Publishers of hydrodynamic and hydrostatic forces and torques in the case the debug flag is on. More...

gazebo::physics::ModelPtr	model
	Pointer to the model structure. More...

std::map< gazebo::physics::LinkPtr, HydrodynamicModelPtr >	models
	Pairs of links & corresponding hydrodynamic models. More...

gazebo::transport::NodePtr	node
	Gazebo node. More...

gazebo::event::ConnectionPtr	updateConnection
	Update event. More...

bool	useGlobalCurrent
	Flag to use the global current velocity or the individually assigned current velocity. More...

gazebo::physics::WorldPtr	world
	Pointer to the world plugin. More...

Detailed Description

Gazebo model plugin class for underwater objects.

Definition at line 35 of file UnderwaterObjectPlugin.hh.

Constructor & Destructor Documentation

gazebo::UnderwaterObjectPlugin::UnderwaterObjectPlugin ( )

Constructor.

Definition at line 34 of file UnderwaterObjectPlugin.cc.

gazebo::UnderwaterObjectPlugin::~UnderwaterObjectPlugin ( )

virtual

Destructor.

Definition at line 39 of file UnderwaterObjectPlugin.cc.

Member Function Documentation

void gazebo::UnderwaterObjectPlugin::Connect ( )

protectedvirtual

Connects the update event callback.

Definition at line 221 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::GenWrenchMsg	(	ignition::math::Vector3d	_force,
		ignition::math::Vector3d	_torque,
		gazebo::msgs::WrenchStamped &	_output
	)

protectedvirtual

Returns the wrench message for debugging topics.

Parameters

[in]	_force	Force vector
[in]	_torque	Torque vector
[in]	_output	Stamped wrench message to be updated

Definition at line 307 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::Init ( )

virtual

Definition at line 183 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::InitDebug	(	gazebo::physics::LinkPtr	_link,
		gazebo::HydrodynamicModelPtr	_hydro
	)

protectedvirtual

Sets the topics used for publishing the intermediate data during the simulation.

Parameters

[in]	_link	Pointer to the link
[in]	_hydro	Pointer to the hydrodynamic model

Definition at line 158 of file UnderwaterObjectPlugin.cc.

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

virtual

Definition at line 49 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::PublishCurrentVelocityMarker ( )

protectedvirtual

Publish current velocity marker.

Definition at line 230 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::PublishHydrodynamicWrenches ( gazebo::physics::LinkPtr _link )

protectedvirtual

Publish hydrodynamic wrenches.

Parameters

[in] _link Pointer to the link where the force information will be extracted from

Definition at line 273 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::PublishIsSubmerged ( )

protectedvirtual

Publishes the state of the vehicle (is submerged)

Definition at line 237 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::PublishRestoringForce ( gazebo::physics::LinkPtr _link )

protectedvirtual

Publish restoring force.

Parameters

[in] _link Pointer to the link where the force information will be extracted from

Definition at line 255 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::Update ( const gazebo::common::UpdateInfo & _info )

virtual

Update the simulation state.

Parameters

[in] _info Information used in the update event.

Definition at line 189 of file UnderwaterObjectPlugin.cc.

void gazebo::UnderwaterObjectPlugin::UpdateFlowVelocity ( ConstVector3dPtr & _msg )

protected

Reads flow velocity topic.

Definition at line 244 of file UnderwaterObjectPlugin.cc.

Member Data Documentation

std::string gazebo::UnderwaterObjectPlugin::baseLinkName

protected

Name of vehicle's base_link.

Definition at line 113 of file UnderwaterObjectPlugin.hh.

gazebo::transport::SubscriberPtr gazebo::UnderwaterObjectPlugin::flowSubscriber

protected

Subcriber to flow message.

Definition at line 116 of file UnderwaterObjectPlugin.hh.

ignition::math::Vector3d gazebo::UnderwaterObjectPlugin::flowVelocity

protected

Flow velocity vector read from topic.

Definition at line 98 of file UnderwaterObjectPlugin.hh.

std::map<std::string, gazebo::transport::PublisherPtr> gazebo::UnderwaterObjectPlugin::hydroPub

protected

Publishers of hydrodynamic and hydrostatic forces and torques in the case the debug flag is on.

Definition at line 124 of file UnderwaterObjectPlugin.hh.

gazebo::physics::ModelPtr gazebo::UnderwaterObjectPlugin::model

protected

Pointer to the model structure.

Definition at line 107 of file UnderwaterObjectPlugin.hh.

std::map<gazebo::physics::LinkPtr, HydrodynamicModelPtr> gazebo::UnderwaterObjectPlugin::models

protected

Pairs of links & corresponding hydrodynamic models.

Definition at line 95 of file UnderwaterObjectPlugin.hh.

gazebo::transport::NodePtr gazebo::UnderwaterObjectPlugin::node

protected

Gazebo node.

Definition at line 110 of file UnderwaterObjectPlugin.hh.

gazebo::event::ConnectionPtr gazebo::UnderwaterObjectPlugin::updateConnection

protected

Update event.

Definition at line 101 of file UnderwaterObjectPlugin.hh.

bool gazebo::UnderwaterObjectPlugin::useGlobalCurrent

protected

Flag to use the global current velocity or the individually assigned current velocity.

Definition at line 120 of file UnderwaterObjectPlugin.hh.

gazebo::physics::WorldPtr gazebo::UnderwaterObjectPlugin::world

protected

Pointer to the world plugin.

Definition at line 104 of file UnderwaterObjectPlugin.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