A plugin that simulates a simple wind model. It accepts the following parameters: More...
#include <usv_gazebo_wind_plugin.hh>
Classes | |
| struct | WindObj |
Public Member Functions | |
| virtual void | Load (physics::WorldPtr _parent, sdf::ElementPtr _sdf) |
| UsvWindPlugin () | |
| Constructor. More... | |
| virtual | ~UsvWindPlugin ()=default |
| Destructor. More... | |
Protected Member Functions | |
| virtual void | Update () |
| Callback executed at every physics update. More... | |
Private Attributes | |
| bool | debug = true |
| Bool debug set by environment var VRX_DEBUG More... | |
| double | filterGain |
| Calculated filter gain constant. More... | |
| double | gainConstant |
| User specified gain constant. More... | |
| double | lastPublishTime = 0 |
| Last time wind speed and direction was published. More... | |
| double | previousTime |
| Previous time. More... | |
| std::unique_ptr< std::mt19937 > | randGenerator |
| std::unique_ptr< ros::NodeHandle > | rosNode |
| ROS node handle. More... | |
| double | timeConstant |
| Time constant. More... | |
| std::string | topicWindDirection = "/vrx/debug/wind/direction" |
| Topic where the wind direction is published. More... | |
| std::string | topicWindSpeed = "/vrx/debug/wind/speed" |
| Topic where the wind speed is published. More... | |
| event::ConnectionPtr | updateConnection |
| Pointer to the update event connection. More... | |
| double | updateRate |
| Update rate buffer for wind speed and direction. More... | |
| double | varVel |
| Variable velocity component. More... | |
| ignition::math::Vector3d | windDirection |
| Wind velocity unit vector in Gazebo coordinates [m/s]. More... | |
| ros::Publisher | windDirectionPub |
| Publisher for wind direction. More... | |
| double | windMeanVelocity |
| Average wind velocity. More... | |
| std::vector< UsvWindPlugin::WindObj > | windObjs |
| vector of simple objects effected by the wind More... | |
| bool | windObjsInit = false |
| Bool to keep track if ALL of the windObjs have been initialized. More... | |
| unsigned int | windObjsInitCount = 0 |
| Bool to keep track if ALL of the windObjs have been initialized. More... | |
| ros::Publisher | windSpeedPub |
| Publisher for wind speed. More... | |
| physics::WorldPtr | world |
| Pointer to the Gazebo world. More... | |
Detailed Description
A plugin that simulates a simple wind model. It accepts the following parameters:
<wind_objs>: Block of objects (models) to be effected by the wind. <wind_obj>: A wind object. NOTE: may include as many objects as you like <name>: Name of the model (object) that will be effected by the wind <link_name>: Link on that model which will feel the force of the wind (limited to ONE per model). <coeff_vector>: Coefficient vector of the particluar wind object.
<wind_direction>: Wind direction vector. Wind direction is specified as the positive direction of the wind velocity vector in the horizontal plane in degrees using the ENU coordinate convention
<wind_mean_velocity>: The wind average velocity.
<var_wind_gain_constants>: Variable wind speed gain constant.
<var_wind_time_constants>: Variable wind speed time constant.
<random_seed>: Set the seed for wind speed randomization.
<update_rate>: Publishing rate of the wind topic. If set to 0, it will not publish, if set to a -1 it will publish every simulation iteration. "Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances".
Definition at line 61 of file usv_gazebo_wind_plugin.hh.
Constructor & Destructor Documentation
| UsvWindPlugin::UsvWindPlugin | ( | ) |
Constructor.
Definition at line 26 of file usv_gazebo_wind_plugin.cc.
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virtualdefault |
Destructor.
Member Function Documentation
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virtual |
Definition at line 31 of file usv_gazebo_wind_plugin.cc.
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protectedvirtual |
Callback executed at every physics update.
Definition at line 172 of file usv_gazebo_wind_plugin.cc.
Member Data Documentation
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private |
Bool debug set by environment var VRX_DEBUG
Definition at line 152 of file usv_gazebo_wind_plugin.hh.
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Calculated filter gain constant.
Definition at line 116 of file usv_gazebo_wind_plugin.hh.
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User specified gain constant.
Definition at line 113 of file usv_gazebo_wind_plugin.hh.
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Last time wind speed and direction was published.
Definition at line 143 of file usv_gazebo_wind_plugin.hh.
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Previous time.
Definition at line 122 of file usv_gazebo_wind_plugin.hh.
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Definition at line 155 of file usv_gazebo_wind_plugin.hh.
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ROS node handle.
Definition at line 128 of file usv_gazebo_wind_plugin.hh.
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Time constant.
Definition at line 119 of file usv_gazebo_wind_plugin.hh.
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Topic where the wind direction is published.
Definition at line 140 of file usv_gazebo_wind_plugin.hh.
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Topic where the wind speed is published.
Definition at line 137 of file usv_gazebo_wind_plugin.hh.
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Pointer to the update event connection.
Definition at line 149 of file usv_gazebo_wind_plugin.hh.
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Update rate buffer for wind speed and direction.
Definition at line 146 of file usv_gazebo_wind_plugin.hh.
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Variable velocity component.
Definition at line 125 of file usv_gazebo_wind_plugin.hh.
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Wind velocity unit vector in Gazebo coordinates [m/s].
Definition at line 107 of file usv_gazebo_wind_plugin.hh.
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Publisher for wind direction.
Definition at line 134 of file usv_gazebo_wind_plugin.hh.
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Average wind velocity.
Definition at line 110 of file usv_gazebo_wind_plugin.hh.
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vector of simple objects effected by the wind
Definition at line 95 of file usv_gazebo_wind_plugin.hh.
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Bool to keep track if ALL of the windObjs have been initialized.
Definition at line 98 of file usv_gazebo_wind_plugin.hh.
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Bool to keep track if ALL of the windObjs have been initialized.
Definition at line 101 of file usv_gazebo_wind_plugin.hh.
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Publisher for wind speed.
Definition at line 131 of file usv_gazebo_wind_plugin.hh.
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Pointer to the Gazebo world.
Definition at line 104 of file usv_gazebo_wind_plugin.hh.
The documentation for this class was generated from the following files: