BuoyancyPlugin.hh
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1/*
2 * Copyright (C) 2015 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.
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16*/
17
18#ifndef GAZEBO_PLUGINS_BUOYANCYPLUGIN_HH_
19#define GAZEBO_PLUGINS_BUOYANCYPLUGIN_HH_
20
21#include <map>
22#include <ignition/math/Vector3.hh>
23
26#include "gazebo/physics/physics.hh"
27
28namespace gazebo
29{
32 {
34 public: VolumeProperties() : volume(0) {}
35
37 public: ignition::math::Vector3d cov;
38
40 public: double volume;
41 };
42
60 class GZ_PLUGIN_VISIBLE BuoyancyPlugin : public ModelPlugin
61 {
63 public: BuoyancyPlugin();
64
67 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
68
69 // Documentation inherited
70 public: virtual void Init();
71
73 protected: virtual void OnUpdate();
74
77
80
82 protected: sdf::ElementPtr sdf;
83
86 protected: double fluidDensity;
87
90 protected: std::map<int, VolumeProperties> volPropsMap;
91 };
92}
93
94#endif
A plugin that simulates buoyancy of an object immersed in fluid.
Definition BuoyancyPlugin.hh:61
BuoyancyPlugin()
Constructor.
virtual void Init()
Override this method for custom plugin initialization behavior.
physics::ModelPtr model
Pointer to model containing the plugin.
Definition BuoyancyPlugin.hh:79
virtual void OnUpdate()
Callback for World Update events.
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 i...
sdf::ElementPtr sdf
Pointer to the plugin SDF.
Definition BuoyancyPlugin.hh:82
event::ConnectionPtr updateConnection
Connection to World Update events.
Definition BuoyancyPlugin.hh:76
double fluidDensity
The density of the fluid in which the object is submerged in kg/m^3.
Definition BuoyancyPlugin.hh:86
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.
Definition BuoyancyPlugin.hh:90
A plugin with access to physics::Model.
Definition Plugin.hh:304
A class for storing the volume properties of a link.
Definition BuoyancyPlugin.hh:32
VolumeProperties()
Default constructor.
Definition BuoyancyPlugin.hh:34
double volume
Volume of this link.
Definition BuoyancyPlugin.hh:40
ignition::math::Vector3d cov
Center of volume in the link frame.
Definition BuoyancyPlugin.hh:37
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27