A plugin that simulates lift and drag. More...

#include <LiftDragPlugin.hh>

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

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

	~LiftDragPlugin ()
	Destructor. 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)
	Load function. 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
double	alpha
	angle of attack More...

double	alpha0
	initial angle of attack More...

double	alphaStall
	angle of attach when airfoil stalls More...

double	area
	effective planeform surface area More...

double	cda
	Coefficient of Drag / alpha slope. More...

double	cdaStall
	Cd-alpha rate after stall. More...

double	cla
	Coefficient of Lift / alpha slope. More...

double	claStall
	Cl-alpha rate after stall. More...

double	cma
	Coefficient of Moment / alpha slope. More...

double	cmaStall
	Cm-alpha rate after stall. More...

physics::JointPtr	controlJoint
	Pointer to a joint that actuates a control surface for this lifting body. More...

double	controlJointRadToCL
	how much to change CL per radian of control surface joint value. More...

ignition::math::Vector3d	cp
	center of pressure in link local coordinates More...

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

ignition::math::Vector3d	forward
	Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack forward flight. More...

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

physics::LinkPtr	link
	Pointer to link currently targeted by mud joint. More...

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

physics::PhysicsEnginePtr	physics
	Pointer to physics engine. More...

bool	radialSymmetry
	if the shape is aerodynamically radially symmetric about the forward direction. More...

double	rho
	air density at 25 deg C it's about 1.1839 kg/m^3 At 20 °C and 101.325 kPa, dry air has a density of 1.2041 kg/m3. More...

sdf::ElementPtr	sdf
	SDF for this plugin;. More...

double	sweep
	angle of sweep More...

PluginType	type
	Type of plugin. More...

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

ignition::math::Vector3d	upward
	A vector in the lift/drag plane, perpendicular to the forward vector. More...

double	velocityStall
	: : make a stall velocity curve More...

ignition::math::Vector3d	velSmooth
	Smoothed velocity. More...

physics::WorldPtr	world
	Pointer to world. More...

Detailed Description

A plugin that simulates lift and drag.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ LiftDragPlugin()

LiftDragPlugin ( )

Constructor.

◆ ~LiftDragPlugin()

~LiftDragPlugin ( )

Destructor.

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 ( )

inlinevirtualinherited

Override this method for custom plugin initialization behavior.

Reimplemented in KeysToCmdVelPlugin, BuoyancyPlugin, HarnessPlugin, FollowerPlugin, PlaneDemoPlugin, MudPlugin, CartDemoPlugin, VehiclePlugin, GimbalSmall2dPlugin, LinearBatteryPlugin, DiffDrivePlugin, and SphereAtlasDemoPlugin.

◆ Load()

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

virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_model	Pointer to the Model
[in]	_sdf	Pointer to the SDF element of the plugin.

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

◆ alpha

double alpha

protected

angle of attack

◆ alpha0

double alpha0

protected

initial angle of attack

◆ alphaStall

double alphaStall

protected

angle of attach when airfoil stalls

◆ area

double area

protected

effective planeform surface area

◆ cda

double cda

protected

Coefficient of Drag / alpha slope.

Drag = C_D * q * S where q (dynamic pressure) = 0.5 * rho * v^2

◆ cdaStall

double cdaStall

protected

Cd-alpha rate after stall.

◆ cla

double cla

protected

Coefficient of Lift / alpha slope.

Lift = C_L * q * S where q (dynamic pressure) = 0.5 * rho * v^2

◆ claStall

double claStall

protected

Cl-alpha rate after stall.

◆ cma

double cma

protected

Coefficient of Moment / alpha slope.

Moment = C_M * q * S where q (dynamic pressure) = 0.5 * rho * v^2

◆ cmaStall

double cmaStall

protected

Cm-alpha rate after stall.

◆ controlJoint

physics::JointPtr controlJoint

protected

Pointer to a joint that actuates a control surface for this lifting body.

◆ controlJointRadToCL

double controlJointRadToCL

protected

how much to change CL per radian of control surface joint value.

◆ cp

ignition::math::Vector3d cp

protected

center of pressure in link local coordinates

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ forward

ignition::math::Vector3d forward

protected

Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack forward flight.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ link

physics::LinkPtr link

protected

Pointer to link currently targeted by mud joint.

◆ model

physics::ModelPtr model

protected

Pointer to model containing plugin.

◆ physics

physics::PhysicsEnginePtr physics

protected

Pointer to physics engine.

◆ radialSymmetry

bool radialSymmetry

protected

if the shape is aerodynamically radially symmetric about the forward direction.

Defaults to false for wing shapes. If set to true, the upward direction is determined by the angle of attack.

◆ rho

double rho

protected

air density at 25 deg C it's about 1.1839 kg/m^3 At 20 °C and 101.325 kPa, dry air has a density of 1.2041 kg/m3.

◆ sdf

sdf::ElementPtr sdf

protected

SDF for this plugin;.

◆ sweep

double sweep

protected

angle of sweep

◆ type

PluginType type

protectedinherited

Type of plugin.

◆ updateConnection

event::ConnectionPtr updateConnection

protected

Connection to World Update events.

◆ upward

ignition::math::Vector3d upward

protected

A vector in the lift/drag plane, perpendicular to the forward vector.

Inflow velocity orthogonal to forward and upward vectors is considered flow in the wing sweep direction.

◆ velocityStall

double velocityStall

protected

: : make a stall velocity curve

◆ velSmooth

ignition::math::Vector3d velSmooth

protected

Smoothed velocity.

◆ world

physics::WorldPtr world

protected

Pointer to world.

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

LiftDragPlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

Constructor & Destructor Documentation

◆ LiftDragPlugin()

◆ ~LiftDragPlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ OnUpdate()

◆ Reset()

Member Data Documentation

◆ alpha

◆ alpha0

◆ alphaStall

◆ area

◆ cda

◆ cdaStall

◆ cla

◆ claStall

◆ cma

◆ cmaStall

◆ controlJoint

◆ controlJointRadToCL

◆ cp

◆ filename

◆ forward

◆ handleName

◆ link

◆ model

◆ physics

◆ radialSymmetry

◆ rho

◆ sdf

◆ sweep

◆ type

◆ updateConnection

◆ upward

◆ velocityStall

◆ velSmooth

◆ world