17#ifndef GAZEBO_PLUGINS_LIFTDRAGPLUGIN_HH_
18#define GAZEBO_PLUGINS_LIFTDRAGPLUGIN_HH_
23#include <ignition/math/Vector3.hh>
26#include "gazebo/physics/physics.hh"
61 protected:
double cla;
66 protected:
double cda;
71 protected:
double cma;
91 protected:
double rho;
112 protected: ignition::math::Vector3d
cp;
121 protected: ignition::math::Vector3d
upward;
138 protected: sdf::ElementPtr
sdf;
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