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UnderwaterCurrentPlugin

class gazebo::UnderwaterCurrentPlugin

class gazebo::UnderwaterCurrentPlugin
  : public WorldPlugin

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

Summary

Members	Descriptions
publicUnderwaterCurrentPlugin()	Class constructor.
public virtual~UnderwaterCurrentPlugin()	Class destructor.
public virtual voidLoad(physics::WorldPtr _world,sdf::ElementPtr _sdf)
public virtual voidInit()
public voidUpdate(const common::UpdateInfo & _info)	Update the simulation state.
protected event::ConnectionPtrupdateConnection	Update event.
protected physics::WorldPtrworld	Pointer to world.
protected sdf::ElementPtrsdf	Pointer to sdf.
protected boolhasSurface	True if the sea surface is present.
protected transport::NodePtrnode	Pointer to a node for communication.
protected std::map< std::string, transport::PublisherPtr >publishers	Map of publishers.
protected std::stringcurrentVelocityTopic	Current velocity topic.
protected std::stringns	Namespace for topics and services.
protectedGaussMarkovProcesscurrentVelModel	Gauss-Markov process instance for the current velocity.
protectedGaussMarkovProcesscurrentHorzAngleModel	Gauss-Markov process instance for horizontal angle model.
protectedGaussMarkovProcesscurrentVertAngleModel	Gauss-Markov process instance for vertical angle model.
protected common::TimelastUpdate	Last update time stamp.
protected ignition::math::Vector3dcurrentVelocity	Current linear velocity vector.
protected voidPublishCurrentVelocity()	Publish current velocity and the pose of its frame.

Members

publicUnderwaterCurrentPlugin()

Class constructor.

public virtual~UnderwaterCurrentPlugin()

Class destructor.

public virtual voidLoad(physics::WorldPtr _world,sdf::ElementPtr _sdf)

public virtual voidInit()

public voidUpdate(const common::UpdateInfo & _info)

Update the simulation state.

Parameters

• _info Information used in the update event.

protected event::ConnectionPtrupdateConnection

Update event.

protected physics::WorldPtrworld

Pointer to world.

protected sdf::ElementPtrsdf

Pointer to sdf.

protected boolhasSurface

True if the sea surface is present.

protected transport::NodePtrnode

Pointer to a node for communication.

protected std::map< std::string, transport::PublisherPtr >publishers

Map of publishers.

protected std::stringcurrentVelocityTopic

Current velocity topic.

protected std::stringns

Namespace for topics and services.

protectedGaussMarkovProcesscurrentVelModel

Gauss-Markov process instance for the current velocity.

protectedGaussMarkovProcesscurrentHorzAngleModel

Gauss-Markov process instance for horizontal angle model.

protectedGaussMarkovProcesscurrentVertAngleModel

Gauss-Markov process instance for vertical angle model.

protected common::TimelastUpdate

Last update time stamp.

protected ignition::math::Vector3dcurrentVelocity

Current linear velocity vector.

protected voidPublishCurrentVelocity()

Publish current velocity and the pose of its frame.