97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_BUOYANCY_PLUGIN_HH_
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#define _GAZEBO_BUOYANCY_PLUGIN_HH_
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#include <map>
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#include "gazebo/common/Event.hh"
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/physics/physics.hh"
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namespace gazebo
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{
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/// \brief A class for storing the volume properties of a link.
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class VolumeProperties
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{
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/// \brief Default constructor.
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public: VolumeProperties() : volume(0) {}
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/// \brief Center of volume in the link frame.
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public: math::Vector3 cov;
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/// \brief Volume of this link.
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public: double volume;
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};
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/// \brief A plugin that simulates buoyancy of an object immersed in fluid.
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/// All SDF parameters are optional.
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/// <fluid_density> sets the density of the fluid that surrounds the buoyant
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/// object.
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/// <link> elements describe the volume properties of individual links in the
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/// model. For example:
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/// <link name="body">
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/// <center_of_volume>1 2 3</center_of_volume>
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/// <volume>50</volume>
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/// </link>
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/// <center_of_volume> A point representing the volumetric center of the
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/// link in the link frame. This is where the buoyancy force will be applied.
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/// <volume> The volume of the link in kg/m^3.
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/// If center of volume and volume are not specified, the plugin will attempt
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/// to compute these properties from the link collision shapes. This
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/// computation will not be accurate if the object is not composed of simple
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/// collision shapes.
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class GAZEBO_VISIBLE BuoyancyPlugin : public ModelPlugin
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{
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/// \brief Constructor.
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public: BuoyancyPlugin();
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/// \brief Read the model SDF to compute volume and center of volume for
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/// each link, and store those properties in volPropsMap.
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void Init();
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/// \brief Callback for World Update events.
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protected: virtual void OnUpdate();
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/// \brief Connection to World Update events.
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protected: event::ConnectionPtr updateConnection;
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/// \brief Pointer to model containing the plugin.
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protected: physics::ModelPtr model;
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/// \brief Pointer to the physics engine (for accessing gravity).
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protected: physics::PhysicsEnginePtr physicsEngine;
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/// \brief Pointer to the plugin SDF.
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protected: sdf::ElementPtr sdf;
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/// \brief The density of the fluid in which the object is submerged in
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/// kg/m^3. Defaults to 1000, the fluid density of water.
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protected: double fluidDensity;
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/// \brief Map of <link ID, point> pairs mapping link IDs to the CoV (center
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/// of volume) and volume of the link.
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protected: std::map<int, VolumeProperties> volPropsMap;
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};
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}
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#endif
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