#include <UnderwaterObjectROSPlugin.hh>

Inheritance diagram for uuv_simulator_ros::UnderwaterObjectROSPlugin:

Public Member Functions
bool	GetFluidDensity (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Get current value for the fluid density. More...

bool	GetModelProperties (uuv_gazebo_ros_plugins_msgs::GetModelProperties::Request &_req, uuv_gazebo_ros_plugins_msgs::GetModelProperties::Response &_res)
	Return the model properties, along with parameters from the hydrodynamic and hydrostatic models. More...

bool	GetOffsetAddedMass (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return the offset factor for the added-mass matrix. More...

bool	GetOffsetLinearDamping (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return the offset factor for the linear damping matrix. More...

bool	GetOffsetLinearForwardSpeedDamping (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return the offset factor for the linear forward speed damping matrix. More...

bool	GetOffsetNonLinearDamping (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return the offset factor for the nonlinear damping matrix. More...

bool	GetOffsetVolume (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return the offset factor for the model's volume. More...

bool	GetScalingAddedMass (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return current scaling factor for the added-mass matrix. More...

bool	GetScalingDamping (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Return the scaling factor for the overall damping matrix. More...

bool	GetScalingVolume (uuv_gazebo_ros_plugins_msgs::GetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::GetFloat::Response &_res)
	Get scaling factor for the model's volume used for buoyancy force computation. More...

virtual void	Init ()
	Initialize Module. More...

void	Load (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load module and read parameters from SDF. More...

virtual void	Reset ()
	Reset Module. More...

bool	SetFluidDensity (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set new fluid density (this will alter the value for the buoyancy force) More...

bool	SetOffsetAddedMass (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set the offset factor for the added-mass matrix. More...

bool	SetOffsetLinearDamping (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set the offset factor for the linear damping matrix. More...

bool	SetOffsetLinearForwardSpeedDamping (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set the offset factor for the linear forward speed damping matrix. More...

bool	SetOffsetNonLinearDamping (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set the offset factor for the nonlinear damping matrix. More...

bool	SetOffsetVolume (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set offset factor for the model's volume (this will alter the value for the buoyancy force) More...

bool	SetScalingAddedMass (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set the scaling factor for the added-mass matrix. More...

bool	SetScalingDamping (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set a scaling factor for the overall damping matrix. More...

bool	SetScalingVolume (uuv_gazebo_ros_plugins_msgs::SetFloat::Request &_req, uuv_gazebo_ros_plugins_msgs::SetFloat::Response &_res)
	Set scaling factor for the model's volume used for buoyancy force computation. More...

bool	SetUseGlobalCurrentVel (uuv_gazebo_ros_plugins_msgs::SetUseGlobalCurrentVel::Request &_req, uuv_gazebo_ros_plugins_msgs::SetUseGlobalCurrentVel::Response &_res)
	Set flag to use the global current velocity topic input. More...

	UnderwaterObjectROSPlugin ()
	Constructor. More...

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

void	UpdateLocalCurrentVelocity (const geometry_msgs::Vector3::ConstPtr &_msg)
	Update the local current velocity, this data will be used only if the useGlobalCurrent flag is set to false. More...

virtual	~UnderwaterObjectROSPlugin ()
	Destructor. More...

Public Member Functions inherited from gazebo::UnderwaterObjectPlugin
	UnderwaterObjectPlugin ()

virtual	~UnderwaterObjectPlugin ()

Protected Member Functions
virtual void	GenWrenchMsg (ignition::math::Vector3d _force, ignition::math::Vector3d _torque, geometry_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 ()
	Publishes the 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...

Protected Member Functions inherited from gazebo::UnderwaterObjectPlugin
virtual void	Connect ()

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

void	UpdateFlowVelocity (ConstVector3dPtr &_msg)

Private Attributes
geometry_msgs::TransformStamped	nedTransform

std::map< std::string, ros::Publisher >	rosHydroPub
	Publisher for current actual thrust. More...

boost::scoped_ptr< ros::NodeHandle >	rosNode
	Pointer to this ROS node's handle. More...

std::map< std::string, ros::ServiceServer >	services
	Map of services. More...

ros::Subscriber	subLocalCurVel
	Subscriber to locally calculated current velocity. More...

tf2_ros::TransformBroadcaster	tfBroadcaster

Additional Inherited Members
Protected Attributes inherited from gazebo::UnderwaterObjectPlugin
std::string	baseLinkName

gazebo::transport::SubscriberPtr	flowSubscriber

ignition::math::Vector3d	flowVelocity

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

gazebo::physics::ModelPtr	model

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

gazebo::transport::NodePtr	node

gazebo::event::ConnectionPtr	updateConnection

bool	useGlobalCurrent

gazebo::physics::WorldPtr	world

Detailed Description

Definition at line 47 of file UnderwaterObjectROSPlugin.hh.

Constructor & Destructor Documentation

uuv_simulator_ros::UnderwaterObjectROSPlugin::UnderwaterObjectROSPlugin ( )

Constructor.

Definition at line 26 of file UnderwaterObjectROSPlugin.cc.

uuv_simulator_ros::UnderwaterObjectROSPlugin::~UnderwaterObjectROSPlugin ( )

virtual

Destructor.

Definition at line 31 of file UnderwaterObjectROSPlugin.cc.

Member Function Documentation

void uuv_simulator_ros::UnderwaterObjectROSPlugin::GenWrenchMsg	(	ignition::math::Vector3d	_force,
		ignition::math::Vector3d	_torque,
		geometry_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 355 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetFluidDensity	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Get current value for the fluid density.

Definition at line 626 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetModelProperties	(	uuv_gazebo_ros_plugins_msgs::GetModelProperties::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetModelProperties::Response &	_res
	)

Return the model properties, along with parameters from the hydrodynamic and hydrostatic models.

Definition at line 411 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetOffsetAddedMass	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return the offset factor for the added-mass matrix.

Definition at line 684 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetOffsetLinearDamping	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return the offset factor for the linear damping matrix.

Definition at line 713 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetOffsetLinearForwardSpeedDamping	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return the offset factor for the linear forward speed damping matrix.

Definition at line 742 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetOffsetNonLinearDamping	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return the offset factor for the nonlinear damping matrix.

Definition at line 771 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetOffsetVolume	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return the offset factor for the model's volume.

Definition at line 655 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetScalingAddedMass	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return current scaling factor for the added-mass matrix.

Definition at line 518 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetScalingDamping	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Return the scaling factor for the overall damping matrix.

Definition at line 554 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::GetScalingVolume	(	uuv_gazebo_ros_plugins_msgs::GetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::GetFloat::Response &	_res
	)

Get scaling factor for the model's volume used for buoyancy force computation.

Definition at line 590 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::Init ( )

virtual

Initialize Module.

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 193 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::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

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 212 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::Load	(	gazebo::physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

virtual

Load module and read parameters from SDF.

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 37 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::PublishCurrentVelocityMarker ( )

protectedvirtual

Publishes the current velocity marker.

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 263 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::PublishHydrodynamicWrenches ( gazebo::physics::LinkPtr _link )

protectedvirtual

Publish hydrodynamic wrenches.

Parameters

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

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 317 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::PublishIsSubmerged ( )

protectedvirtual

Publishes the state of the vehicle (is submerged)

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 253 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::PublishRestoringForce ( gazebo::physics::LinkPtr _link )

protectedvirtual

Publish restoring force.

Parameters

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

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 230 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::Reset ( )

virtual

Reset Module.

Definition at line 199 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetFluidDensity	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set new fluid density (this will alter the value for the buoyancy force)

Definition at line 600 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetOffsetAddedMass	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set the offset factor for the added-mass matrix.

Definition at line 665 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetOffsetLinearDamping	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set the offset factor for the linear damping matrix.

Definition at line 694 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetOffsetLinearForwardSpeedDamping	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set the offset factor for the linear forward speed damping matrix.

Definition at line 723 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetOffsetNonLinearDamping	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set the offset factor for the nonlinear damping matrix.

Definition at line 752 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetOffsetVolume	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set offset factor for the model's volume (this will alter the value for the buoyancy force)

Definition at line 636 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetScalingAddedMass	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set the scaling factor for the added-mass matrix.

Definition at line 492 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetScalingDamping	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set a scaling factor for the overall damping matrix.

Definition at line 528 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetScalingVolume	(	uuv_gazebo_ros_plugins_msgs::SetFloat::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetFloat::Response &	_res
	)

Set scaling factor for the model's volume used for buoyancy force computation.

Definition at line 564 of file UnderwaterObjectROSPlugin.cc.

bool uuv_simulator_ros::UnderwaterObjectROSPlugin::SetUseGlobalCurrentVel	(	uuv_gazebo_ros_plugins_msgs::SetUseGlobalCurrentVel::Request &	_req,
		uuv_gazebo_ros_plugins_msgs::SetUseGlobalCurrentVel::Response &	_res
	)

Set flag to use the global current velocity topic input.

Definition at line 386 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::Update ( const gazebo::common::UpdateInfo & _info )

virtual

Update the simulation state.

Parameters

[in] _info Information used in the update event.

Reimplemented from gazebo::UnderwaterObjectPlugin.

Definition at line 203 of file UnderwaterObjectROSPlugin.cc.

void uuv_simulator_ros::UnderwaterObjectROSPlugin::UpdateLocalCurrentVelocity ( const geometry_msgs::Vector3::ConstPtr & _msg )

Update the local current velocity, this data will be used only if the useGlobalCurrent flag is set to false.

Definition at line 374 of file UnderwaterObjectROSPlugin.cc.

Member Data Documentation

geometry_msgs::TransformStamped uuv_simulator_ros::UnderwaterObjectROSPlugin::nedTransform

private

Definition at line 227 of file UnderwaterObjectROSPlugin.hh.

std::map<std::string, ros::Publisher> uuv_simulator_ros::UnderwaterObjectROSPlugin::rosHydroPub

private

Publisher for current actual thrust.

Definition at line 222 of file UnderwaterObjectROSPlugin.hh.

boost::scoped_ptr<ros::NodeHandle> uuv_simulator_ros::UnderwaterObjectROSPlugin::rosNode

private

Pointer to this ROS node's handle.

Definition at line 216 of file UnderwaterObjectROSPlugin.hh.

std::map<std::string, ros::ServiceServer> uuv_simulator_ros::UnderwaterObjectROSPlugin::services

private

Map of services.

Definition at line 225 of file UnderwaterObjectROSPlugin.hh.

ros::Subscriber uuv_simulator_ros::UnderwaterObjectROSPlugin::subLocalCurVel

private

Subscriber to locally calculated current velocity.

Definition at line 219 of file UnderwaterObjectROSPlugin.hh.

tf2_ros::TransformBroadcaster uuv_simulator_ros::UnderwaterObjectROSPlugin::tfBroadcaster

private

Definition at line 229 of file UnderwaterObjectROSPlugin.hh.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation