Gazebo Gazebo

API Reference

6.16.0
LiftDrag Class Reference

The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots. More...

#include <LiftDrag.hh>

Public Member Functions

 LiftDrag ()
 Constructor. More...
 
 ~LiftDrag () override=default
 Destructor. More...
 
void Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
 Configure the system. More...
 
void PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
 Documentation inherited. More...
 
- Public Member Functions inherited from System
 System ()=default
 Constructor. More...
 
virtual ~System ()=default
 Destructor. More...
 

Detailed Description

The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots.

The following parameters are used by the system:

link_name : Name of the link affected by the group of lift/drag properties. This can be a scoped name to reference links in nested models.

See also
entitiesFromScopedName to learn more about scoped names. air_density : Density of the fluid this model is suspended in. area : Surface area of the link. a0 : The initial "alpha" or initial angle of attack. a0 is also the y-intercept of the alpha-lift coefficient curve. cla : The ratio of the coefficient of lift and alpha slope before stall. Slope of the first portion of the alpha-lift coefficient curve. cda : The ratio of the coefficient of drag and alpha slope before stall. cp : Center of pressure. The forces due to lift and drag will be applied here. forward : 3-vector representing the forward direction of motion in the link frame. upward : 3-vector representing the direction of lift or drag. alpha_stall : Angle of attack at stall point; the peak angle of attack. cla_stall : The ratio of coefficient of lift and alpha slope after stall. Slope of the second portion of the alpha-lift coefficient curve. cda_stall : The ratio of coefficient of drag and alpha slope after stall. control_joint_name: Name of joint that actuates a control surface for this lifting body (Optional)

Constructor & Destructor Documentation

◆ LiftDrag()

LiftDrag ( )

Constructor.

◆ ~LiftDrag()

~LiftDrag ( )
overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
overridevirtual

Configure the system.

Parameters
[in]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ PreUpdate()

void PreUpdate ( const UpdateInfo _info,
EntityComponentManager _ecm 
)
finalvirtual

Documentation inherited.

Implements ISystemPreUpdate.


The documentation for this class was generated from the following file: