A plugin that simulates lift and drag. More...
#include <LiftDragPlugin.hh>
Public Member Functions | |
| LiftDragPlugin () | |
| Constructor. More... | |
| ~LiftDragPlugin () | |
| Destructor. More... | |
| virtual void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
| Load function. More... | |
 Public Member Functions inherited from gazebo::ModelPlugin | |
| ModelPlugin () | |
| Constructor. More... | |
| virtual | ~ModelPlugin () |
| Destructor. More... | |
| virtual void | Init () |
| Override this method for custom plugin initialization behavior. More... | |
| virtual void | Reset () |
| Override this method for custom plugin reset behavior. More... | |
| Public Member Functions inherited from gazebo::PluginT< ModelPlugin > | |
| PluginT () | |
| Constructor. More... | |
| virtual | ~PluginT () |
| 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... | |
Protected Member Functions | |
| 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... | |
| math::Vector3 | cp |
| center of pressure in link local coordinates More... | |
| math::Vector3 | forward |
| Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack forward flight. 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... | |
| event::ConnectionPtr | updateConnection |
| Connection to World Update events. More... | |
| math::Vector3 | upward |
| A vector in the lift/drag plane, perpendicular to the forward vector. More... | |
| double | velocityStall |
| : : make a stall velocity curve More... | |
| math::Vector3 | velSmooth |
| Smoothed velocity. More... | |
| physics::WorldPtr | world |
| Pointer to world. More... | |
| Protected Attributes inherited from gazebo::PluginT< ModelPlugin > | |
| std::string | filename |
| Path to the shared library file. More... | |
| std::string | handleName |
| Short name. More... | |
| PluginType | type |
| Type of plugin. More... | |
Additional Inherited Members | |
| Public Types inherited from gazebo::PluginT< ModelPlugin > | |
| typedef boost::shared_ptr < ModelPlugin > | TPtr |
| plugin pointer type definition More... | |
| Static Public Member Functions inherited from gazebo::PluginT< ModelPlugin > | |
| static TPtr | Create (const std::string &_filename, const std::string &_name) |
| a class method that creates a plugin from a file name. More... | |
A plugin that simulates lift and drag.
| gazebo::LiftDragPlugin::LiftDragPlugin | ( | ) |
Constructor.
| gazebo::LiftDragPlugin::~LiftDragPlugin | ( | ) |
Destructor.
|
virtual |
Load function.
Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.
| [in] | _model | Pointer to the Model |
| [in] | _sdf | Pointer to the SDF element of the plugin. |
Implements gazebo::ModelPlugin.
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protectedvirtual |
Callback for World Update events.
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protected |
angle of attack
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protected |
initial angle of attack
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protected |
angle of attach when airfoil stalls
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protected |
effective planeform surface area
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protected |
Coefficient of Drag / alpha slope.
Drag = C_D * q * S where q (dynamic pressure) = 0.5 * rho * v^2
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protected |
Cd-alpha rate after stall.
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protected |
Coefficient of Lift / alpha slope.
Lift = C_L * q * S where q (dynamic pressure) = 0.5 * rho * v^2
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protected |
Cl-alpha rate after stall.
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protected |
Coefficient of Moment / alpha slope.
Moment = C_M * q * S where q (dynamic pressure) = 0.5 * rho * v^2
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protected |
Cm-alpha rate after stall.
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protected |
Pointer to a joint that actuates a control surface for this lifting body.
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protected |
how much to change CL per radian of control surface joint value.
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protected |
center of pressure in link local coordinates
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protected |
Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack forward flight.
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protected |
Pointer to link currently targeted by mud joint.
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protected |
Pointer to model containing plugin.
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protected |
Pointer to physics engine.
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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.
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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.
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protected |
SDF for this plugin;.
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protected |
angle of sweep
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protected |
Connection to World Update events.
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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.
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protected |
: : make a stall velocity curve
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protected |
Smoothed velocity.
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protected |
Pointer to world.