LiftDragPlugin.hh
Go to the documentation of this file.
1/*
2 * Copyright (C) 2014 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PLUGINS_LIFTDRAGPLUGIN_HH_
18#define GAZEBO_PLUGINS_LIFTDRAGPLUGIN_HH_
19
20#include <string>
21#include <vector>
22
23#include <ignition/math/Vector3.hh>
24
26#include "gazebo/physics/physics.hh"
28
29namespace gazebo
30{
32 class GZ_PLUGIN_VISIBLE LiftDragPlugin : public ModelPlugin
33 {
35 public: LiftDragPlugin();
36
38 public: ~LiftDragPlugin();
39
40 // Documentation Inherited.
41 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
42
44 protected: virtual void OnUpdate();
45
48
51
54
57
61 protected: double cla;
62
66 protected: double cda;
67
71 protected: double cma;
72
74 protected: double alphaStall;
75
77 protected: double claStall;
78
80 protected: double cdaStall;
81
83 protected: double cmaStall;
84
86 protected: double velocityStall;
87
91 protected: double rho;
92
97 protected: bool radialSymmetry;
98
100 protected: double area;
101
103 protected: double sweep;
104
106 protected: double alpha0;
107
109 protected: double alpha;
110
112 protected: ignition::math::Vector3d cp;
113
116 protected: ignition::math::Vector3d forward;
117
121 protected: ignition::math::Vector3d upward;
122
124 protected: ignition::math::Vector3d velSmooth;
125
128
132
135 protected: double controlJointRadToCL;
136
138 protected: sdf::ElementPtr sdf;
139 };
140}
141#endif
Forward declarations for transport.
A plugin that simulates lift and drag.
Definition LiftDragPlugin.hh:33
double controlJointRadToCL
how much to change CL per radian of control surface joint value.
Definition LiftDragPlugin.hh:135
physics::WorldPtr world
Pointer to world.
Definition LiftDragPlugin.hh:50
physics::JointPtr controlJoint
Pointer to a joint that actuates a control surface for this lifting body.
Definition LiftDragPlugin.hh:131
ignition::math::Vector3d forward
Normally, this is taken as a direction parallel to the chord of the airfoil in zero angle of attack f...
Definition LiftDragPlugin.hh:116
double alpha
angle of attack
Definition LiftDragPlugin.hh:109
double velocityStall
: \TODO: make a stall velocity curve
Definition LiftDragPlugin.hh:86
physics::PhysicsEnginePtr physics
Pointer to physics engine.
Definition LiftDragPlugin.hh:53
double cma
Coefficient of Moment / alpha slope.
Definition LiftDragPlugin.hh:71
bool radialSymmetry
if the shape is aerodynamically radially symmetric about the forward direction.
Definition LiftDragPlugin.hh:97
double cmaStall
Cm-alpha rate after stall.
Definition LiftDragPlugin.hh:83
physics::LinkPtr link
Pointer to link currently targeted by mud joint.
Definition LiftDragPlugin.hh:127
ignition::math::Vector3d upward
A vector in the lift/drag plane, perpendicular to the forward vector.
Definition LiftDragPlugin.hh:121
~LiftDragPlugin()
Destructor.
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...
Definition LiftDragPlugin.hh:91
physics::ModelPtr model
Pointer to model containing plugin.
Definition LiftDragPlugin.hh:56
double sweep
angle of sweep
Definition LiftDragPlugin.hh:103
double alphaStall
angle of attach when airfoil stalls
Definition LiftDragPlugin.hh:74
double claStall
Cl-alpha rate after stall.
Definition LiftDragPlugin.hh:77
double cda
Coefficient of Drag / alpha slope.
Definition LiftDragPlugin.hh:66
virtual void OnUpdate()
Callback for World Update events.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
sdf::ElementPtr sdf
SDF for this plugin;.
Definition LiftDragPlugin.hh:138
event::ConnectionPtr updateConnection
Connection to World Update events.
Definition LiftDragPlugin.hh:47
ignition::math::Vector3d velSmooth
Smoothed velocity.
Definition LiftDragPlugin.hh:124
double cdaStall
Cd-alpha rate after stall.
Definition LiftDragPlugin.hh:80
double cla
Coefficient of Lift / alpha slope.
Definition LiftDragPlugin.hh:61
LiftDragPlugin()
Constructor.
double alpha0
initial angle of attack
Definition LiftDragPlugin.hh:106
double area
effective planeform surface area
Definition LiftDragPlugin.hh:100
ignition::math::Vector3d cp
center of pressure in link local coordinates
Definition LiftDragPlugin.hh:112
A plugin with access to physics::Model.
Definition Plugin.hh:304
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27