gazebo::UnderwaterCurrentPlugin Class Reference

Class for the underwater current plugin TODO: Add option to make the underwater current also a function of depth to comply with DNV. More...

#include <UnderwaterCurrentPlugin.hh>

Inheritance diagram for gazebo::UnderwaterCurrentPlugin:

Public Member Functions
virtual void	Init ()
virtual void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
	UnderwaterCurrentPlugin ()
	Class constructor. More...
void	Update (const common::UpdateInfo &_info)
	Update the simulation state. More...
virtual	~UnderwaterCurrentPlugin ()
	Class destructor. More...

Protected Member Functions
void	PublishCurrentVelocity ()
	Publish current velocity and the pose of its frame. More...

Protected Attributes
GaussMarkovProcess	currentHorzAngleModel
	Gauss-Markov process instance for horizontal angle model. More...
GaussMarkovProcess	currentVelModel
	Gauss-Markov process instance for the current velocity. More...
ignition::math::Vector3d	currentVelocity
	Current linear velocity vector. More...
std::string	currentVelocityTopic
	Current velocity topic. More...
GaussMarkovProcess	currentVertAngleModel
	Gauss-Markov process instance for vertical angle model. More...
bool	hasSurface
	True if the sea surface is present. More...
common::Time	lastUpdate
	Last update time stamp. More...
transport::NodePtr	node
	Pointer to a node for communication. More...
std::string	ns
	Namespace for topics and services. More...
std::map< std::string, transport::PublisherPtr >	publishers
	Map of publishers. More...
sdf::ElementPtr	sdf
	Pointer to sdf. More...
event::ConnectionPtr	updateConnection
	Update event. More...
physics::WorldPtr	world
	Pointer to world. More...

Detailed Description

Class for the underwater current plugin TODO: Add option to make the underwater current also a function of depth to comply with DNV.

Definition at line 36 of file UnderwaterCurrentPlugin.hh.

Constructor & Destructor Documentation

UnderwaterCurrentPlugin()

UnderwaterCurrentPlugin::UnderwaterCurrentPlugin

(

)

Class constructor.

Definition at line 40 of file UnderwaterCurrentPlugin.cc.

~UnderwaterCurrentPlugin()

UnderwaterCurrentPlugin::~UnderwaterCurrentPlugin ( )

virtual

Class destructor.

Definition at line 46 of file UnderwaterCurrentPlugin.cc.

Member Function Documentation

Init()

void UnderwaterCurrentPlugin::Init ( )

virtual

Definition at line 227 of file UnderwaterCurrentPlugin.cc.

Load()

void UnderwaterCurrentPlugin::Load ( physics::WorldPtr  _world, sdf::ElementPtr  _sdf  )

virtual

Definition at line 56 of file UnderwaterCurrentPlugin.cc.

PublishCurrentVelocity()

void UnderwaterCurrentPlugin::PublishCurrentVelocity ( )

protected

Publish current velocity and the pose of its frame.

Definition at line 264 of file UnderwaterCurrentPlugin.cc.

Update()

void UnderwaterCurrentPlugin::Update

(

const common::UpdateInfo &

_info

)

Update the simulation state.

Parameters

[in]

_info

Information used in the update event.

Parameters

_info

_info

Definition at line 233 of file UnderwaterCurrentPlugin.cc.

Member Data Documentation

currentHorzAngleModel

GaussMarkovProcess gazebo::UnderwaterCurrentPlugin::currentHorzAngleModel

protected

Gauss-Markov process instance for horizontal angle model.

Definition at line 87 of file UnderwaterCurrentPlugin.hh.

currentVelModel

GaussMarkovProcess gazebo::UnderwaterCurrentPlugin::currentVelModel

protected

Gauss-Markov process instance for the current velocity.

Definition at line 84 of file UnderwaterCurrentPlugin.hh.

currentVelocity

ignition::math::Vector3d gazebo::UnderwaterCurrentPlugin::currentVelocity

protected

Current linear velocity vector.

Definition at line 96 of file UnderwaterCurrentPlugin.hh.

currentVelocityTopic

std::string gazebo::UnderwaterCurrentPlugin::currentVelocityTopic

protected

Current velocity topic.

Definition at line 78 of file UnderwaterCurrentPlugin.hh.

currentVertAngleModel

GaussMarkovProcess gazebo::UnderwaterCurrentPlugin::currentVertAngleModel

protected

Gauss-Markov process instance for vertical angle model.

Definition at line 90 of file UnderwaterCurrentPlugin.hh.

hasSurface

bool gazebo::UnderwaterCurrentPlugin::hasSurface

protected

True if the sea surface is present.

Definition at line 68 of file UnderwaterCurrentPlugin.hh.

lastUpdate

common::Time gazebo::UnderwaterCurrentPlugin::lastUpdate

protected

Last update time stamp.

Definition at line 93 of file UnderwaterCurrentPlugin.hh.

node

transport::NodePtr gazebo::UnderwaterCurrentPlugin::node

protected

Pointer to a node for communication.

Definition at line 71 of file UnderwaterCurrentPlugin.hh.

ns

std::string gazebo::UnderwaterCurrentPlugin::ns

protected

Namespace for topics and services.

Definition at line 81 of file UnderwaterCurrentPlugin.hh.

publishers

std::map<std::string, transport::PublisherPtr> gazebo::UnderwaterCurrentPlugin::publishers

protected

Map of publishers.

Definition at line 75 of file UnderwaterCurrentPlugin.hh.

sdf

sdf::ElementPtr gazebo::UnderwaterCurrentPlugin::sdf

protected

Pointer to sdf.

Definition at line 65 of file UnderwaterCurrentPlugin.hh.

updateConnection

event::ConnectionPtr gazebo::UnderwaterCurrentPlugin::updateConnection

protected

Update event.

Definition at line 59 of file UnderwaterCurrentPlugin.hh.

world

physics::WorldPtr gazebo::UnderwaterCurrentPlugin::world

protected

Pointer to world.

Definition at line 62 of file UnderwaterCurrentPlugin.hh.

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

• UnderwaterCurrentPlugin.hh
• UnderwaterCurrentPlugin.cc