This plugin simulates buoyancy of an object in fluid. <wave_model>: Name of the wave model object (optional) More...
#include <buoyancy_gazebo_plugin.hh>
Public Member Functions | |
| BuoyancyPlugin () | |
| Constructor. More... | |
| virtual void | Init () |
| virtual void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
Protected Member Functions | |
| virtual void | OnUpdate () |
| Callback for World Update events. More... | |
Protected Attributes | |
| double | angularDrag |
| Angular drag coefficient. Defaults to 0. More... | |
| std::vector< buoyancy::BuoyancyObject > | buoyancyObjects |
| List of buoyancy objects for model. More... | |
| double | fluidDensity |
| The density of the fluid in which the object is submerged in kg/m^3. Defaults to 1000, the fluid density of water at 15 Celsius. More... | |
| double | fluidLevel |
| The height of the fluid/air interface [m]. Defaults to 0. More... | |
| double | lastSimTime |
| Previous update time. More... | |
| double | linearDrag |
| Linear drag coefficient. Defaults to 0. More... | |
| std::map< gazebo::physics::LinkPtr, double > | linkHeightDots |
| Map of water velocity at each link. More... | |
| std::map< gazebo::physics::LinkPtr, double > | linkHeights |
| Map of water height at each link from previous timestep. More... | |
| std::map< int, gazebo::physics::LinkPtr > | linkMap |
| Map of <link ID, link pointer> More... | |
| physics::ModelPtr | model |
| Pointer to base model. More... | |
| event::ConnectionPtr | updateConnection |
| Connection to World Update events. More... | |
| std::string | waveModelName |
| The name of the wave model. More... | |
| std::shared_ptr< const asv::WaveParameters > | waveParams |
| The wave parameters. More... | |
| physics::WorldPtr | world |
| Pointer to the Gazebo world Retrieved when the model is loaded. More... | |
Detailed Description
This plugin simulates buoyancy of an object in fluid. <wave_model>: Name of the wave model object (optional)
<fluid_density>: Sets the density of the fluid that surrounds the buoyant object [kg/m^3]. This parameter is optional (default value 997 kg/m^3).
<fluid_level>: The height of the fluid/air interface [m]. This parameter is optional (default value 0 m).
<linear_drag>: Linear drag coefficent [N/(m/s)]. Translational drag implement as linear function of velocity. This parameter is optional.
<angular_drag>: Angular drag coefficent [(Nm)/(rad/s)]. Rotational drag implemented as linear function of velocity. This parameter is optional.
<buoyancy>: Describes the volume properties For example:
<buoyancy name="buoyancy1"> <link_name>link</link_name> <geometry> ... </geometry> </buoyancy>
<link>: Name of associated link element
<geometry>: Geometry element specifying buoyancy object's volume properties. Supported shapes: box, sphere, cylinder
Definition at line 114 of file buoyancy_gazebo_plugin.hh.
Constructor & Destructor Documentation
◆ BuoyancyPlugin()
| BuoyancyPlugin::BuoyancyPlugin | ( | ) |
Constructor.
Definition at line 106 of file buoyancy_gazebo_plugin.cc.
Member Function Documentation
◆ Init()
|
virtual |
Definition at line 207 of file buoyancy_gazebo_plugin.cc.
◆ Load()
|
virtual |
Definition at line 117 of file buoyancy_gazebo_plugin.cc.
◆ OnUpdate()
|
protectedvirtual |
Callback for World Update events.
Definition at line 214 of file buoyancy_gazebo_plugin.cc.
Member Data Documentation
◆ angularDrag
|
protected |
Angular drag coefficient. Defaults to 0.
Definition at line 143 of file buoyancy_gazebo_plugin.hh.
◆ buoyancyObjects
|
protected |
List of buoyancy objects for model.
Definition at line 146 of file buoyancy_gazebo_plugin.hh.
◆ fluidDensity
|
protected |
The density of the fluid in which the object is submerged in kg/m^3. Defaults to 1000, the fluid density of water at 15 Celsius.
Definition at line 134 of file buoyancy_gazebo_plugin.hh.
◆ fluidLevel
|
protected |
The height of the fluid/air interface [m]. Defaults to 0.
Definition at line 137 of file buoyancy_gazebo_plugin.hh.
◆ lastSimTime
|
protected |
Previous update time.
Definition at line 168 of file buoyancy_gazebo_plugin.hh.
◆ linearDrag
|
protected |
Linear drag coefficient. Defaults to 0.
Definition at line 140 of file buoyancy_gazebo_plugin.hh.
◆ linkHeightDots
|
protected |
Map of water velocity at each link.
Definition at line 165 of file buoyancy_gazebo_plugin.hh.
◆ linkHeights
|
protected |
Map of water height at each link from previous timestep.
Definition at line 162 of file buoyancy_gazebo_plugin.hh.
◆ linkMap
|
protected |
Map of <link ID, link pointer>
Definition at line 149 of file buoyancy_gazebo_plugin.hh.
◆ model
|
protected |
Pointer to base model.
Definition at line 152 of file buoyancy_gazebo_plugin.hh.
◆ updateConnection
|
protected |
Connection to World Update events.
Definition at line 130 of file buoyancy_gazebo_plugin.hh.
◆ waveModelName
|
protected |
The name of the wave model.
Definition at line 159 of file buoyancy_gazebo_plugin.hh.
◆ waveParams
|
protected |
The wave parameters.
Definition at line 171 of file buoyancy_gazebo_plugin.hh.
◆ world
|
protected |
Pointer to the Gazebo world Retrieved when the model is loaded.
Definition at line 156 of file buoyancy_gazebo_plugin.hh.
The documentation for this class was generated from the following files: