A plugin that simulates lift and drag. More...

#include <liftdrag_plugin.h>

Inheritance diagram for gazebo::LiftDragPlugin:

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

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

	~LiftDragPlugin ()
	Destructor. More...

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

Protected Attributes
double	alpha
	angle of attack More...

double	alpha0
	initial angle of attack More...

double	alphaStall
	angle of attach when airfoil stalls More...

double	area
	effective planeform surface area More...

double	cda
	Coefficient of Drag / alpha slope. Drag = C_D * q * S where q (dynamic pressure) = 0.5 * rho * v^2. More...

double	cdaStall
	Cd-alpha rate after stall. More...

double	cla
	Coefficient of Lift / alpha slope. Lift = C_L * q * S where q (dynamic pressure) = 0.5 * rho * v^2. More...

double	claStall
	Cl-alpha rate after stall. More...

double	cma
	Coefficient of Moment / alpha slope. Moment = C_M * q * S where q (dynamic pressure) = 0.5 * rho * v^2. More...

double	cmaStall
	Cm-alpha rate after stall. More...

physics::JointPtr	controlJoint
	Pointer to a joint that actuates a control surface for this lifting body. More...

double	controlJointRadToCL
	how much to change CL per radian of control surface joint value. More...

ignition::math::Vector3d	cp
	center of pressure in link local coordinates More...

ignition::math::Vector3d	forward
	Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack forward flight. More...

physics::LinkPtr	link
	Pointer to link currently targeted by mud joint. More...

physics::ModelPtr	model
	Pointer to model containing plugin. More...

physics::PhysicsEnginePtr	physics
	Pointer to physics engine. More...

bool	radialSymmetry
	if the shape is aerodynamically radially symmetric about the forward direction. Defaults to false for wing shapes. If set to true, the upward direction is determined by the angle of attack. More...

double	rho
	air density at 25 deg C it's about 1.1839 kg/m^3 At 20 °C and 101.325 kPa, dry air has a density of 1.2041 kg/m3. More...

sdf::ElementPtr	sdf
	SDF for this plugin;. More...

double	sweep
	angle of sweep More...

event::ConnectionPtr	updateConnection
	Connection to World Update events. More...

ignition::math::Vector3d	upward
	A vector in the lift/drag plane, perpendicular to the forward vector. Inflow velocity orthogonal to forward and upward vectors is considered flow in the wing sweep direction. More...

double	velocityStall
	: : make a stall velocity curve More...

ignition::math::Vector3d	velSmooth
	Smoothed velocity. More...

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

Detailed Description

A plugin that simulates lift and drag.

Definition at line 30 of file liftdrag_plugin.h.

Constructor & Destructor Documentation

◆ LiftDragPlugin()

LiftDragPlugin::LiftDragPlugin ( )

Constructor.

: what's flat plate drag?

how much to change CL per every radian of the control joint value

Definition at line 33 of file liftdrag_plugin.cpp.

◆ ~LiftDragPlugin()

LiftDragPlugin::~LiftDragPlugin ( )

Destructor.

Definition at line 59 of file liftdrag_plugin.cpp.

Member Function Documentation

◆ Load()

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

virtual

Definition at line 64 of file liftdrag_plugin.cpp.

◆ OnUpdate()

void LiftDragPlugin::OnUpdate ( )

protectedvirtual

Callback for World Update events.

: also change cm and cd

: implement cm for now, reset cm to zero, as cm needs testing

Definition at line 161 of file liftdrag_plugin.cpp.

Member Data Documentation

◆ alpha

double gazebo::LiftDragPlugin::alpha

protected

angle of attack

Definition at line 107 of file liftdrag_plugin.h.

◆ alpha0

double gazebo::LiftDragPlugin::alpha0

protected

initial angle of attack

Definition at line 104 of file liftdrag_plugin.h.

◆ alphaStall

double gazebo::LiftDragPlugin::alphaStall

protected

angle of attach when airfoil stalls

Definition at line 72 of file liftdrag_plugin.h.

◆ area

double gazebo::LiftDragPlugin::area

protected

effective planeform surface area

Definition at line 98 of file liftdrag_plugin.h.

◆ cda

double gazebo::LiftDragPlugin::cda

protected

Coefficient of Drag / alpha slope. Drag = C_D * q * S where q (dynamic pressure) = 0.5 * rho * v^2.

Definition at line 64 of file liftdrag_plugin.h.

◆ cdaStall

double gazebo::LiftDragPlugin::cdaStall

protected

Cd-alpha rate after stall.

Definition at line 78 of file liftdrag_plugin.h.

◆ cla

double gazebo::LiftDragPlugin::cla

protected

Coefficient of Lift / alpha slope. Lift = C_L * q * S where q (dynamic pressure) = 0.5 * rho * v^2.

Definition at line 59 of file liftdrag_plugin.h.

◆ claStall

double gazebo::LiftDragPlugin::claStall

protected

Cl-alpha rate after stall.

Definition at line 75 of file liftdrag_plugin.h.

◆ cma

double gazebo::LiftDragPlugin::cma

protected

Coefficient of Moment / alpha slope. Moment = C_M * q * S where q (dynamic pressure) = 0.5 * rho * v^2.

Definition at line 69 of file liftdrag_plugin.h.

◆ cmaStall

double gazebo::LiftDragPlugin::cmaStall

protected

Cm-alpha rate after stall.

Definition at line 81 of file liftdrag_plugin.h.

◆ controlJoint

physics::JointPtr gazebo::LiftDragPlugin::controlJoint

protected

Pointer to a joint that actuates a control surface for this lifting body.

Definition at line 129 of file liftdrag_plugin.h.

◆ controlJointRadToCL

double gazebo::LiftDragPlugin::controlJointRadToCL

protected

how much to change CL per radian of control surface joint value.

Definition at line 133 of file liftdrag_plugin.h.

◆ cp

ignition::math::Vector3d gazebo::LiftDragPlugin::cp

protected

center of pressure in link local coordinates

Definition at line 110 of file liftdrag_plugin.h.

◆ forward

ignition::math::Vector3d gazebo::LiftDragPlugin::forward

protected

Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack forward flight.

Definition at line 114 of file liftdrag_plugin.h.

◆ link

physics::LinkPtr gazebo::LiftDragPlugin::link

protected

Pointer to link currently targeted by mud joint.

Definition at line 125 of file liftdrag_plugin.h.

◆ model

physics::ModelPtr gazebo::LiftDragPlugin::model

protected

Pointer to model containing plugin.

Definition at line 54 of file liftdrag_plugin.h.

◆ physics

physics::PhysicsEnginePtr gazebo::LiftDragPlugin::physics

protected

Pointer to physics engine.

Definition at line 51 of file liftdrag_plugin.h.

◆ radialSymmetry

bool gazebo::LiftDragPlugin::radialSymmetry

protected

if the shape is aerodynamically radially symmetric about the forward direction. Defaults to false for wing shapes. If set to true, the upward direction is determined by the angle of attack.

Definition at line 95 of file liftdrag_plugin.h.

◆ rho

double gazebo::LiftDragPlugin::rho

protected

air density at 25 deg C it's about 1.1839 kg/m^3 At 20 °C and 101.325 kPa, dry air has a density of 1.2041 kg/m3.

Definition at line 89 of file liftdrag_plugin.h.

◆ sdf

sdf::ElementPtr gazebo::LiftDragPlugin::sdf

protected

SDF for this plugin;.

Definition at line 136 of file liftdrag_plugin.h.

◆ sweep

double gazebo::LiftDragPlugin::sweep

protected

angle of sweep

Definition at line 101 of file liftdrag_plugin.h.

◆ updateConnection

event::ConnectionPtr gazebo::LiftDragPlugin::updateConnection

protected

Connection to World Update events.

Definition at line 45 of file liftdrag_plugin.h.

◆ upward

ignition::math::Vector3d gazebo::LiftDragPlugin::upward

protected

A vector in the lift/drag plane, perpendicular to the forward vector. Inflow velocity orthogonal to forward and upward vectors is considered flow in the wing sweep direction.

Definition at line 119 of file liftdrag_plugin.h.

◆ velocityStall

double gazebo::LiftDragPlugin::velocityStall

protected

: : make a stall velocity curve

Definition at line 84 of file liftdrag_plugin.h.

◆ velSmooth

ignition::math::Vector3d gazebo::LiftDragPlugin::velSmooth

protected

Smoothed velocity.

Definition at line 122 of file liftdrag_plugin.h.

◆ world

physics::WorldPtr gazebo::LiftDragPlugin::world

protected

Pointer to world.

Definition at line 48 of file liftdrag_plugin.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LiftDragPlugin()

◆ ~LiftDragPlugin()

Member Function Documentation

◆ Load()

◆ OnUpdate()

Member Data Documentation

◆ alpha

◆ alpha0

◆ alphaStall

◆ area

◆ cda

◆ cdaStall

◆ cla

◆ claStall

◆ cma

◆ cmaStall

◆ controlJoint

◆ controlJointRadToCL

◆ cp

◆ forward

◆ link

◆ model

◆ physics

◆ radialSymmetry

◆ rho

◆ sdf

◆ sweep

◆ updateConnection

◆ upward

◆ velocityStall

◆ velSmooth

◆ world