FinPlugin
class gazebo::FinPlugin¶
class gazebo::FinPlugin : public ModelPlugin
Summary¶
| Members | Descriptions |
|---|---|
publicFinPlugin() |
Constructor. |
public virtual~FinPlugin() |
Destructor. |
public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf) |
|
public virtual voidInit() |
|
public voidOnUpdate(const common::UpdateInfo & _info) |
Update the simulation state. |
protected std::shared_ptr<Dynamics>dynamics |
Fin dynamic model. |
protected std::shared_ptr<LiftDrag>liftdrag |
Lift&Drag model. |
protected event::ConnectionPtrupdateConnection |
Update event. |
protected transport::NodePtrnode |
Gazebo node. |
protected physics::JointPtrjoint |
The fin joint. |
protected physics::LinkPtrlink |
The fin link. |
protected transport::SubscriberPtrcommandSubscriber |
Subscriber to the reference signal topic. |
protected transport::PublisherPtranglePublisher |
Publisher to the output thrust topic. |
protected ignition::math::Vector3dfinForce |
Force component calculated from the lift and drag module. |
protected doubleinputCommand |
Latest input command. |
protected intfinID |
Fin ID. |
protected std::stringtopicPrefix |
Topic prefix. |
protected doubleangle |
Latest fin angle in [rad]. |
protected common::TimeangleStamp |
Time stamp of latest thrust force. |
protected transport::SubscriberPtrcurrentSubscriber |
Subcriber to current message. |
protected ignition::math::Vector3dcurrentVelocity |
Current velocity vector read from topic. |
protected voidUpdateInput(ConstDoublePtr& _msg) |
Callback for the input topic subscriber. |
protected voidUpdateCurrentVelocity(ConstVector3dPtr & _msg) |
Reads current velocity topic. |
Members¶
publicFinPlugin()¶
Constructor.
public virtual~FinPlugin()¶
Destructor.
public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf)¶
public virtual voidInit()¶
public voidOnUpdate(const common::UpdateInfo & _info)¶
Update the simulation state.
Parameters¶
_infoInformation used in the update event.
protected std::shared_ptr<Dynamics>dynamics¶
Fin dynamic model.
protected std::shared_ptr<LiftDrag>liftdrag¶
Lift&Drag model.
protected event::ConnectionPtrupdateConnection¶
Update event.
protected transport::NodePtrnode¶
Gazebo node.
protected physics::JointPtrjoint¶
The fin joint.
protected physics::LinkPtrlink¶
The fin link.
protected transport::SubscriberPtrcommandSubscriber¶
Subscriber to the reference signal topic.
protected transport::PublisherPtranglePublisher¶
Publisher to the output thrust topic.
protected ignition::math::Vector3dfinForce¶
Force component calculated from the lift and drag module.
protected doubleinputCommand¶
Latest input command.
protected intfinID¶
Fin ID.
protected std::stringtopicPrefix¶
Topic prefix.
protected doubleangle¶
Latest fin angle in [rad].
protected common::TimeangleStamp¶
Time stamp of latest thrust force.
protected transport::SubscriberPtrcurrentSubscriber¶
Subcriber to current message.
protected ignition::math::Vector3dcurrentVelocity¶
Current velocity vector read from topic.
protected voidUpdateInput(ConstDoublePtr& _msg)¶
Callback for the input topic subscriber.
protected voidUpdateCurrentVelocity(ConstVector3dPtr & _msg)¶
Reads current velocity topic.