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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
  • _info Information 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.

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.