buoyancy_gazebo_plugin.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef USV_GAZEBO_PLUGINS_BUOYANCY_GAZEBO_PLUGIN_HH_
#define USV_GAZEBO_PLUGINS_BUOYANCY_GAZEBO_PLUGIN_HH_

#include <map>
#include <string>
#include <vector>

#include <gazebo/common/common.hh>
#include <gazebo/common/Event.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>
#include "usv_gazebo_plugins/shape_volume.hh"

#include "wave_gazebo_plugins/Wavefield.hh"
#include "wave_gazebo_plugins/WavefieldEntity.hh"
#include "wave_gazebo_plugins/WavefieldModelPlugin.hh"

namespace gazebo
{
  namespace buoyancy
  {
    class BuoyancyObject
    {
      public: BuoyancyObject();

      public: BuoyancyObject(BuoyancyObject&& obj) noexcept; // NOLINT

      public: BuoyancyObject(BuoyancyObject& obj) = delete;

      public: void Load(const physics::ModelPtr model,
                        const sdf::ElementPtr elem);

      public: std::string Disp();

      public: int linkId;

      public: std::string linkName;

      public: ignition::math::Pose3d pose;

      public:double mass;

      public: ::buoyancy::ShapeVolumePtr shape;
    };
  }  // end of buoyancy namespace

  class BuoyancyPlugin : public ModelPlugin
  {
    public: BuoyancyPlugin();

    // Documentation inherited.
    public: virtual void Load(physics::ModelPtr _model,
                              sdf::ElementPtr _sdf);

    // Documentation inherited.
    public: virtual void Init();

    protected: virtual void OnUpdate();

    protected: event::ConnectionPtr updateConnection;

    protected: double fluidDensity;

    protected: double fluidLevel;

    protected: double linearDrag;

    protected: double angularDrag;

    protected: std::vector<buoyancy::BuoyancyObject> buoyancyObjects;

    protected: std::map<int, gazebo::physics::LinkPtr> linkMap;

    protected: physics::ModelPtr model;

    protected: physics::WorldPtr world;

    protected: std::string waveModelName;

    protected: std::map<gazebo::physics::LinkPtr, double> linkHeights;

    protected: std::map<gazebo::physics::LinkPtr, double> linkHeightDots;

    protected: double lastSimTime;

    protected: std::shared_ptr<const asv::WaveParameters> waveParams;
  };
}

#endif