BuoyancyPlugin Class Reference

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

#include <BuoyancyPlugin.hh>

Inherits ModelPlugin.

Public Types

typedef boost::shared_ptr< ModelPluginTPtr
 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

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, VolumePropertiesvolPropsMap
 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

typedef boost::shared_ptr<ModelPlugin > TPtr
inherited

plugin pointer type definition

Constructor & Destructor Documentation

Constructor.

Member Function Documentation

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]_filenamethe path to the shared library.
[in]_nameshort name of the plugin
Returns
Shared Pointer to this class type

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

std::string GetFilename ( ) const
inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

std::string GetHandle ( ) const
inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

PluginType GetType ( ) const
inlineinherited

Returns the type of the plugin.

Returns
type of the plugin

References PluginT< T >::type.

virtual void Init ( )
virtual

Override this method for custom plugin initialization behavior.

Reimplemented from ModelPlugin.

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.

virtual void OnUpdate ( )
protectedvirtual

Callback for World Update events.

virtual void Reset ( )
inlinevirtualinherited

Override this method for custom plugin reset behavior.

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

Member Data Documentation

std::string filename
protectedinherited

Path to the shared library file.

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.

std::string handleName
protectedinherited

Short name.

physics::ModelPtr model
protected

Pointer to model containing the plugin.

sdf::ElementPtr sdf
protected

Pointer to the plugin SDF.

PluginType type
protectedinherited

Type of plugin.

event::ConnectionPtr updateConnection
protected

Connection to World Update events.

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: