A plugin that simulates a simple wind model. It accepts the following parameters: More...

#include <usv_gazebo_wind_plugin.hh>

Inheritance diagram for gazebo::UsvWindPlugin:

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::UsvWindPlugin ( )

Constructor.

Definition at line 26 of file usv_gazebo_wind_plugin.cc.

◆ ~UsvWindPlugin()

virtual gazebo::UsvWindPlugin::~UsvWindPlugin ( )

virtualdefault

Destructor.

Member Function Documentation

◆ Load()

void UsvWindPlugin::Load	(	physics::WorldPtr	_parent,
		sdf::ElementPtr	_sdf
	)

virtual

Definition at line 31 of file usv_gazebo_wind_plugin.cc.

◆ Update()

void UsvWindPlugin::Update ( )

protectedvirtual

Callback executed at every physics update.

Definition at line 172 of file usv_gazebo_wind_plugin.cc.

Member Data Documentation

◆ debug

bool gazebo::UsvWindPlugin::debug = true

private

Bool debug set by environment var VRX_DEBUG

Definition at line 152 of file usv_gazebo_wind_plugin.hh.

◆ filterGain

double gazebo::UsvWindPlugin::filterGain

private

Calculated filter gain constant.

Definition at line 116 of file usv_gazebo_wind_plugin.hh.

◆ gainConstant

double gazebo::UsvWindPlugin::gainConstant

private

User specified gain constant.

Definition at line 113 of file usv_gazebo_wind_plugin.hh.

◆ lastPublishTime

double gazebo::UsvWindPlugin::lastPublishTime = 0

private

Last time wind speed and direction was published.

Definition at line 143 of file usv_gazebo_wind_plugin.hh.

◆ previousTime

double gazebo::UsvWindPlugin::previousTime

private

Previous time.

Definition at line 122 of file usv_gazebo_wind_plugin.hh.

◆ randGenerator

std::unique_ptr<std::mt19937> gazebo::UsvWindPlugin::randGenerator

private

Definition at line 155 of file usv_gazebo_wind_plugin.hh.

◆ rosNode

std::unique_ptr<ros::NodeHandle> gazebo::UsvWindPlugin::rosNode

private

ROS node handle.

Definition at line 128 of file usv_gazebo_wind_plugin.hh.

◆ timeConstant

double gazebo::UsvWindPlugin::timeConstant

private

Time constant.

Definition at line 119 of file usv_gazebo_wind_plugin.hh.

◆ topicWindDirection

std::string gazebo::UsvWindPlugin::topicWindDirection = "/vrx/debug/wind/direction"

private

Topic where the wind direction is published.

Definition at line 140 of file usv_gazebo_wind_plugin.hh.

◆ topicWindSpeed

std::string gazebo::UsvWindPlugin::topicWindSpeed = "/vrx/debug/wind/speed"

private

Topic where the wind speed is published.

Definition at line 137 of file usv_gazebo_wind_plugin.hh.

◆ updateConnection

event::ConnectionPtr gazebo::UsvWindPlugin::updateConnection

private

Pointer to the update event connection.

Definition at line 149 of file usv_gazebo_wind_plugin.hh.

◆ updateRate

double gazebo::UsvWindPlugin::updateRate

private

Update rate buffer for wind speed and direction.

Definition at line 146 of file usv_gazebo_wind_plugin.hh.

◆ varVel

double gazebo::UsvWindPlugin::varVel

private

Variable velocity component.

Definition at line 125 of file usv_gazebo_wind_plugin.hh.

◆ windDirection

ignition::math::Vector3d gazebo::UsvWindPlugin::windDirection

private

Wind velocity unit vector in Gazebo coordinates [m/s].

Definition at line 107 of file usv_gazebo_wind_plugin.hh.

◆ windDirectionPub

ros::Publisher gazebo::UsvWindPlugin::windDirectionPub

private

Publisher for wind direction.

Definition at line 134 of file usv_gazebo_wind_plugin.hh.

◆ windMeanVelocity

double gazebo::UsvWindPlugin::windMeanVelocity

private

Average wind velocity.

Definition at line 110 of file usv_gazebo_wind_plugin.hh.

◆ windObjs

std::vector<UsvWindPlugin::WindObj> gazebo::UsvWindPlugin::windObjs

private

vector of simple objects effected by the wind

Definition at line 95 of file usv_gazebo_wind_plugin.hh.

◆ windObjsInit

bool gazebo::UsvWindPlugin::windObjsInit = false

private

Bool to keep track if ALL of the windObjs have been initialized.

Definition at line 98 of file usv_gazebo_wind_plugin.hh.

◆ windObjsInitCount

unsigned int gazebo::UsvWindPlugin::windObjsInitCount = 0

private

Bool to keep track if ALL of the windObjs have been initialized.

Definition at line 101 of file usv_gazebo_wind_plugin.hh.

◆ windSpeedPub

ros::Publisher gazebo::UsvWindPlugin::windSpeedPub

private

Publisher for wind speed.

Definition at line 131 of file usv_gazebo_wind_plugin.hh.

◆ world

physics::WorldPtr gazebo::UsvWindPlugin::world

private

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:

Classes

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UsvWindPlugin()

◆ ~UsvWindPlugin()

Member Function Documentation

◆ Load()

◆ Update()

Member Data Documentation

◆ debug

◆ filterGain

◆ gainConstant

◆ lastPublishTime

◆ previousTime

◆ randGenerator

◆ rosNode

◆ timeConstant

◆ topicWindDirection

◆ topicWindSpeed

◆ updateConnection

◆ updateRate

◆ varVel

◆ windDirection

◆ windDirectionPub

◆ windMeanVelocity

◆ windObjs

◆ windObjsInit

◆ windObjsInitCount

◆ windSpeedPub

◆ world