ThrusterPlugin
class gazebo::ThrusterPlugin¶
class gazebo::ThrusterPlugin : public ModelPlugin
Class for the thruster plugin.
Summary¶
| Members | Descriptions |
|---|---|
publicThrusterPlugin() |
Constructor. |
public virtual~ThrusterPlugin() |
Destructor. |
public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf) |
|
public virtual voidInit() |
|
public virtual voidReset() |
Custom plugin reset behavior. |
public voidUpdate(const common::UpdateInfo & _info) |
Update the simulation state. |
protected std::shared_ptr<Dynamics>thrusterDynamics |
Thruster dynamic model. |
protected std::shared_ptr<ConversionFunction>conversionFunction |
Thruster conversion function. |
protected event::ConnectionPtrupdateConnection |
Update event. |
protected physics::LinkPtrthrusterLink |
Pointer to the thruster link. |
protected transport::NodePtrnode |
Gazebo node. |
protected transport::SubscriberPtrcommandSubscriber |
Subscriber to the reference signal topic. |
protected transport::PublisherPtrthrustTopicPublisher |
Publisher to the output thrust topic. |
protected doubleinputCommand |
Input command, typically desired angular velocity of the rotor. |
protected doublethrustForce |
Latest thrust force in [N]. |
protected common::TimethrustForceStamp |
Time stamp of latest thrust force. |
protected physics::JointPtrjoint |
Optional: The rotor joint, used for visualization. |
protected doubleclampMin |
: Optional: Commands less than this value will be clamped. |
protected doubleclampMax |
: Optional: Commands greater than this value will be clamped. |
protected doublethrustMin |
: Optional: Minimum thrust force output |
protected doublethrustMax |
: Optional: Maximum thrust force output |
protected intthrusterID |
Thruster ID, used to generated topic names automatically. |
protected std::stringtopicPrefix |
Thruster topics prefix. |
protected doublegain |
: Optional: Gain factor: Desired angular velocity = command * gain |
protected boolisOn |
Optional: Flag to indicate if the thruster is turned on or off. |
protected doublethrustEfficiency |
Optional: Output thrust efficiency factor of the thruster. |
protected doublepropellerEfficiency |
Optional: Propeller angular velocity efficiency term. |
protected ignition::math::Vector3dthrusterAxis |
The axis about which the thruster rotates. |
protected voidUpdateInput(ConstDoublePtr& _msg) |
Callback for the input topic subscriber. |
Members¶
publicThrusterPlugin()¶
Constructor.
public virtual~ThrusterPlugin()¶
Destructor.
public virtual voidLoad(physics::ModelPtr _model,sdf::ElementPtr _sdf)¶
public virtual voidInit()¶
public virtual voidReset()¶
Custom plugin reset behavior.
public voidUpdate(const common::UpdateInfo & _info)¶
Update the simulation state.
Parameters¶
_infoInformation used in the update event.
protected std::shared_ptr<Dynamics>thrusterDynamics¶
Thruster dynamic model.
protected std::shared_ptr<ConversionFunction>conversionFunction¶
Thruster conversion function.
protected event::ConnectionPtrupdateConnection¶
Update event.
protected physics::LinkPtrthrusterLink¶
Pointer to the thruster link.
protected transport::NodePtrnode¶
Gazebo node.
protected transport::SubscriberPtrcommandSubscriber¶
Subscriber to the reference signal topic.
protected transport::PublisherPtrthrustTopicPublisher¶
Publisher to the output thrust topic.
protected doubleinputCommand¶
Input command, typically desired angular velocity of the rotor.
protected doublethrustForce¶
Latest thrust force in [N].
protected common::TimethrustForceStamp¶
Time stamp of latest thrust force.
protected physics::JointPtrjoint¶
Optional: The rotor joint, used for visualization.
protected doubleclampMin¶
- Optional: Commands less than this value will be clamped.
protected doubleclampMax¶
- Optional: Commands greater than this value will be clamped.
protected doublethrustMin¶
- Optional: Minimum thrust force output
protected doublethrustMax¶
- Optional: Maximum thrust force output
protected intthrusterID¶
Thruster ID, used to generated topic names automatically.
protected std::stringtopicPrefix¶
Thruster topics prefix.
protected doublegain¶
- Optional: Gain factor: Desired angular velocity = command * gain
protected boolisOn¶
Optional: Flag to indicate if the thruster is turned on or off.
protected doublethrustEfficiency¶
Optional: Output thrust efficiency factor of the thruster.
protected doublepropellerEfficiency¶
Optional: Propeller angular velocity efficiency term.
protected ignition::math::Vector3dthrusterAxis¶
The axis about which the thruster rotates.
protected voidUpdateInput(ConstDoublePtr& _msg)¶
Callback for the input topic subscriber.