A plugin that simulates buoyancy of an object immersed in fluid. More...

#include <BuoyancyPlugin.hh>

Public Types
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	BuoyancyPlugin ()
	Constructor. More...

std::string	GetFilename () const
	Get the name of the handler. More...

std::string	GetHandle () const
	Get the short name of the handler. More...

PluginType	GetType () const
	Returns the type of the plugin. More...

virtual void	Init ()
	Override this method for custom plugin initialization behavior. More...

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Read the model SDF to compute volume and center of volume for each link, and store those properties in volPropsMap. More...

virtual void	Reset ()
	Override this method for custom plugin reset behavior. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

virtual void	OnUpdate ()
	Callback for World Update events. More...

Protected Attributes
std::string	filename
	Path to the shared library file. More...

double	fluidDensity
	The density of the fluid in which the object is submerged in kg/m^3. More...

std::string	handleName
	Short name. More...

physics::ModelPtr	model
	Pointer to model containing the plugin. More...

sdf::ElementPtr	sdf
	Pointer to the plugin SDF. More...

PluginType	type
	Type of plugin. More...

event::ConnectionPtr	updateConnection
	Connection to World Update events. More...

std::map< int, VolumeProperties >	volPropsMap
	Map of <link ID, point> pairs mapping link IDs to the CoV (center of volume) and volume of the link. More...

Detailed Description

A plugin that simulates buoyancy of an object immersed in fluid.

All SDF parameters are optional. <fluid_density> sets the density of the fluid that surrounds the buoyant object. <link> elements describe the volume properties of individual links in the model. For example: <link name="body"> <center_of_volume>1 2 3</center_of_volume> <volume>50</volume> </link> <center_of_volume> A point representing the volumetric center of the link in the link frame. This is where the buoyancy force will be applied. <volume> The volume of the link in kg/m^3. If center of volume and volume are not specified, the plugin will attempt to compute these properties from the link collision shapes. This computation will not be accurate if the object is not composed of simple collision shapes.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ BuoyancyPlugin()

BuoyancyPlugin ( )

Constructor.

Member Function Documentation

◆ Create()

static TPtr Create	(	const std::string &	_filename,
		const std::string &	_name
	)

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns: Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

◆ GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

◆ GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

virtual void Init ( )

virtual

Override this method for custom plugin initialization behavior.

Reimplemented from ModelPlugin.

◆ Load()

virtual void Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

virtual

Read the model SDF to compute volume and center of volume for each link, and store those properties in volPropsMap.

Implements ModelPlugin.

◆ LoadParam() [1/2]

void LoadParam	(	const sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		V &	_target,
		V	_defaultValue = `V()`
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

References gzmsg, and PluginT< T >::handleName.

◆ LoadParam() [2/2]

void LoadParam	(	sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		std::string &	_target,
		const char *	_defaultValue
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

◆ OnUpdate()

virtual void OnUpdate ( )

protectedvirtual

Callback for World Update events.

◆ Reset()

virtual void Reset ( )

inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in KeysToCmdVelPlugin, RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, ActorPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

Member Data Documentation

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ fluidDensity

double fluidDensity

protected

The density of the fluid in which the object is submerged in kg/m^3.

Defaults to 1000, the fluid density of water.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ model

physics::ModelPtr model

protected

Pointer to model containing the plugin.

◆ sdf

sdf::ElementPtr sdf

protected

Pointer to the plugin SDF.

◆ type

PluginType type

protectedinherited

Type of plugin.

◆ updateConnection

event::ConnectionPtr updateConnection

protected

Connection to World Update events.

◆ volPropsMap

std::map<int, VolumeProperties> volPropsMap

protected

Map of <link ID, point> pairs mapping link IDs to the CoV (center of volume) and volume of the link.

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

BuoyancyPlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

Constructor & Destructor Documentation

◆ BuoyancyPlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ OnUpdate()

◆ Reset()

Member Data Documentation

◆ filename

◆ fluidDensity

◆ handleName

◆ model

◆ sdf

◆ type

◆ updateConnection

◆ volPropsMap