#include <gazebo_fw_dynamics_plugin.h>

Inheritance diagram for gazebo::GazeboFwDynamicsPlugin:

Public Member Functions
	GazeboFwDynamicsPlugin ()
	Constructor. More...

virtual	~GazeboFwDynamicsPlugin ()
	Destructor. More...

Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Called when the plugin is first created, and after the world has been loaded. This function should not be blocking. More...

double	NormalizedInputToAngle (const ControlSurface &surface, double input)
	Convert control surface input that is normalized in range [-1, 1] to a physical deflection angle value. More...

void	OnUpdate (const common::UpdateInfo &)
	This gets called by the world update start event. More...

void	UpdateForcesAndMoments ()
	Calculates the forces and moments to be applied to the fixed-wing body. More...

Private Member Functions
void	ActuatorsCallback (GzActuatorsMsgPtr &actuators_msg)
	Processes the actuator commands. More...

void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required. More...

void	RollPitchYawrateThrustCallback (GzRollPitchYawrateThrustMsgPtr &roll_pitch_yawrate_thrust_msg)
	Process the roll_pitch_yawrate_thrust commands. More...

void	WindSpeedCallback (GzWindSpeedMsgPtr &wind_speed_msg)
	Processes the wind speed readings. More...

Private Attributes
gazebo::transport::SubscriberPtr	actuators_sub_
	Subscriber for receiving actuator commands. More...

std::string	actuators_sub_topic_
	Topic name for actuator commands. More...

FWAerodynamicParameters	aero_params_
	The aerodynamic properties of the aircraft. More...

double	delta_aileron_left_
	Left aileron deflection [rad]. More...

double	delta_aileron_right_
	Right aileron deflection [rad]. More...

double	delta_elevator_
	Elevator deflection [rad]. More...

double	delta_flap_
	Flap deflection [rad]. More...

double	delta_rudder_
	Rudder deflection [rad]. More...

bool	is_input_joystick_
	Are the input commands coming from a joystick (as opposed to a remote control via HIL interface, for example)? More...

physics::LinkPtr	link_
	Pointer to the link. More...

physics::ModelPtr	model_
	Pointer to the model. More...

std::string	namespace_
	Transport namespace. More...

transport::NodePtr	node_handle_
	Handle for the Gazebo node. More...

bool	pubs_and_subs_created_
	Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate(). More...

gazebo::transport::SubscriberPtr	roll_pitch_yawrate_thrust_sub_
	Subscriber for receiving roll_pitch_yawrate_thrust commands. More...

std::string	roll_pitch_yawrate_thrust_sub_topic_
	Topic name for roll_pitch_yawrate_thrust commands. More...

double	throttle_
	Throttle input, in range from 0 to 1. More...

event::ConnectionPtr	updateConnection_
	Pointer to the update event connection. More...

FWVehicleParameters	vehicle_params_
	The physical properties of the aircraft. More...

ignition::math::Vector3d	W_wind_speed_W_B_
	Most current wind speed reading [m/s]. More...

gazebo::transport::SubscriberPtr	wind_speed_sub_
	Subscriber ror receiving wind speed readings. More...

std::string	wind_speed_sub_topic_
	Topic name for wind speed readings. More...

physics::WorldPtr	world_
	Pointer to the world. More...

Detailed Description

Definition at line 50 of file gazebo_fw_dynamics_plugin.h.

Constructor & Destructor Documentation

◆ GazeboFwDynamicsPlugin()

gazebo::GazeboFwDynamicsPlugin::GazeboFwDynamicsPlugin ( )

Constructor.

Definition at line 24 of file gazebo_fw_dynamics_plugin.cpp.

◆ ~GazeboFwDynamicsPlugin()

gazebo::GazeboFwDynamicsPlugin::~GazeboFwDynamicsPlugin ( )

virtual

Destructor.

Definition at line 37 of file gazebo_fw_dynamics_plugin.cpp.

Member Function Documentation

◆ ActuatorsCallback()

void gazebo::GazeboFwDynamicsPlugin::ActuatorsCallback ( GzActuatorsMsgPtr & actuators_msg )

private

Processes the actuator commands.

Converts control surface actuator inputs into physical angles before storing them and throttle values for later use in calculation of forces and moments.

Definition at line 358 of file gazebo_fw_dynamics_plugin.cpp.

◆ CreatePubsAndSubs()

void gazebo::GazeboFwDynamicsPlugin::CreatePubsAndSubs ( )

private

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

Definition at line 290 of file gazebo_fw_dynamics_plugin.cpp.

◆ Load()

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

protected

Called when the plugin is first created, and after the world has been loaded. This function should not be blocking.

Definition at line 40 of file gazebo_fw_dynamics_plugin.cpp.

◆ NormalizedInputToAngle()

double gazebo::GazeboFwDynamicsPlugin::NormalizedInputToAngle	(	const ControlSurface &	surface,
		double	input
	)

protected

Convert control surface input that is normalized in range [-1, 1] to a physical deflection angle value.

Definition at line 284 of file gazebo_fw_dynamics_plugin.cpp.

◆ OnUpdate()

void gazebo::GazeboFwDynamicsPlugin::OnUpdate ( const common::UpdateInfo & _info )

protected

This gets called by the world update start event.

Definition at line 123 of file gazebo_fw_dynamics_plugin.cpp.

◆ RollPitchYawrateThrustCallback()

void gazebo::GazeboFwDynamicsPlugin::RollPitchYawrateThrustCallback ( GzRollPitchYawrateThrustMsgPtr & roll_pitch_yawrate_thrust_msg )

private

Process the roll_pitch_yawrate_thrust commands.

Converts the inputs into physical angles before storing them and thrust values for later use in calculation of forces and moments.

Definition at line 378 of file gazebo_fw_dynamics_plugin.cpp.

◆ UpdateForcesAndMoments()

void gazebo::GazeboFwDynamicsPlugin::UpdateForcesAndMoments ( )

protected

Calculates the forces and moments to be applied to the fixed-wing body.

Definition at line 136 of file gazebo_fw_dynamics_plugin.cpp.

◆ WindSpeedCallback()

void gazebo::GazeboFwDynamicsPlugin::WindSpeedCallback ( GzWindSpeedMsgPtr & wind_speed_msg )

private

Processes the wind speed readings.

Stores the most current wind speed reading for later use in calculation of forces and moments.

Definition at line 396 of file gazebo_fw_dynamics_plugin.cpp.

Member Data Documentation

◆ actuators_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboFwDynamicsPlugin::actuators_sub_

private

Subscriber for receiving actuator commands.

Definition at line 105 of file gazebo_fw_dynamics_plugin.h.

◆ actuators_sub_topic_

std::string gazebo::GazeboFwDynamicsPlugin::actuators_sub_topic_

private

Topic name for actuator commands.

Definition at line 95 of file gazebo_fw_dynamics_plugin.h.

◆ aero_params_

FWAerodynamicParameters gazebo::GazeboFwDynamicsPlugin::aero_params_

private

The aerodynamic properties of the aircraft.

Definition at line 124 of file gazebo_fw_dynamics_plugin.h.

◆ delta_aileron_left_

double gazebo::GazeboFwDynamicsPlugin::delta_aileron_left_

private

Left aileron deflection [rad].

Definition at line 130 of file gazebo_fw_dynamics_plugin.h.

◆ delta_aileron_right_

double gazebo::GazeboFwDynamicsPlugin::delta_aileron_right_

private

Right aileron deflection [rad].

Definition at line 132 of file gazebo_fw_dynamics_plugin.h.

◆ delta_elevator_

double gazebo::GazeboFwDynamicsPlugin::delta_elevator_

private

Elevator deflection [rad].

Definition at line 134 of file gazebo_fw_dynamics_plugin.h.

◆ delta_flap_

double gazebo::GazeboFwDynamicsPlugin::delta_flap_

private

Flap deflection [rad].

Definition at line 136 of file gazebo_fw_dynamics_plugin.h.

◆ delta_rudder_

double gazebo::GazeboFwDynamicsPlugin::delta_rudder_

private

Rudder deflection [rad].

Definition at line 138 of file gazebo_fw_dynamics_plugin.h.

◆ is_input_joystick_

bool gazebo::GazeboFwDynamicsPlugin::is_input_joystick_

private

Are the input commands coming from a joystick (as opposed to a remote control via HIL interface, for example)?

Definition at line 77 of file gazebo_fw_dynamics_plugin.h.

◆ link_

physics::LinkPtr gazebo::GazeboFwDynamicsPlugin::link_

private

Pointer to the link.

Definition at line 116 of file gazebo_fw_dynamics_plugin.h.

◆ model_

physics::ModelPtr gazebo::GazeboFwDynamicsPlugin::model_

private

Pointer to the model.

Definition at line 114 of file gazebo_fw_dynamics_plugin.h.

◆ namespace_

std::string gazebo::GazeboFwDynamicsPlugin::namespace_

private

Transport namespace.

Definition at line 93 of file gazebo_fw_dynamics_plugin.h.

◆ node_handle_

transport::NodePtr gazebo::GazeboFwDynamicsPlugin::node_handle_

private

Handle for the Gazebo node.

Definition at line 102 of file gazebo_fw_dynamics_plugin.h.

◆ pubs_and_subs_created_

bool gazebo::GazeboFwDynamicsPlugin::pubs_and_subs_created_

private

Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().

Definition at line 82 of file gazebo_fw_dynamics_plugin.h.

◆ roll_pitch_yawrate_thrust_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboFwDynamicsPlugin::roll_pitch_yawrate_thrust_sub_

private

Subscriber for receiving roll_pitch_yawrate_thrust commands.

Definition at line 107 of file gazebo_fw_dynamics_plugin.h.

◆ roll_pitch_yawrate_thrust_sub_topic_

std::string gazebo::GazeboFwDynamicsPlugin::roll_pitch_yawrate_thrust_sub_topic_

private

Topic name for roll_pitch_yawrate_thrust commands.

Definition at line 97 of file gazebo_fw_dynamics_plugin.h.

◆ throttle_

double gazebo::GazeboFwDynamicsPlugin::throttle_

private

Throttle input, in range from 0 to 1.

Definition at line 140 of file gazebo_fw_dynamics_plugin.h.

◆ updateConnection_

event::ConnectionPtr gazebo::GazeboFwDynamicsPlugin::updateConnection_

private

Pointer to the update event connection.

Definition at line 118 of file gazebo_fw_dynamics_plugin.h.

◆ vehicle_params_

FWVehicleParameters gazebo::GazeboFwDynamicsPlugin::vehicle_params_

private

The physical properties of the aircraft.

Definition at line 127 of file gazebo_fw_dynamics_plugin.h.

◆ W_wind_speed_W_B_

ignition::math::Vector3d gazebo::GazeboFwDynamicsPlugin::W_wind_speed_W_B_

private

Most current wind speed reading [m/s].

Definition at line 121 of file gazebo_fw_dynamics_plugin.h.

◆ wind_speed_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboFwDynamicsPlugin::wind_speed_sub_

private

Subscriber ror receiving wind speed readings.

Definition at line 109 of file gazebo_fw_dynamics_plugin.h.

◆ wind_speed_sub_topic_

std::string gazebo::GazeboFwDynamicsPlugin::wind_speed_sub_topic_

private

Topic name for wind speed readings.

Definition at line 99 of file gazebo_fw_dynamics_plugin.h.

◆ world_

physics::WorldPtr gazebo::GazeboFwDynamicsPlugin::world_

private

Pointer to the world.

Definition at line 112 of file gazebo_fw_dynamics_plugin.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GazeboFwDynamicsPlugin()

◆ ~GazeboFwDynamicsPlugin()

Member Function Documentation

◆ ActuatorsCallback()

◆ CreatePubsAndSubs()

◆ Load()

◆ NormalizedInputToAngle()

◆ OnUpdate()

◆ RollPitchYawrateThrustCallback()

◆ UpdateForcesAndMoments()

◆ WindSpeedCallback()

Member Data Documentation

◆ actuators_sub_

◆ actuators_sub_topic_

◆ aero_params_

◆ delta_aileron_left_

◆ delta_aileron_right_

◆ delta_elevator_

◆ delta_flap_

◆ delta_rudder_

◆ is_input_joystick_

◆ link_

◆ model_

◆ namespace_

◆ node_handle_

◆ pubs_and_subs_created_

◆ roll_pitch_yawrate_thrust_sub_

◆ roll_pitch_yawrate_thrust_sub_topic_

◆ throttle_

◆ updateConnection_

◆ vehicle_params_

◆ W_wind_speed_W_B_

◆ wind_speed_sub_

◆ wind_speed_sub_topic_

◆ world_