KineticEnergyMonitor Class Reference

A system that monitors the kinetic energy of a link in a model and publishes when there is a lost of kinetic energy during a timestep that surpasses a specific threshold. This system can be used to detect when a model could be damaged. More...

#include <KineticEnergyMonitor.hh>

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

Detailed Description

A system that monitors the kinetic energy of a link in a model and publishes when there is a lost of kinetic energy during a timestep that surpasses a specific threshold. This system can be used to detect when a model could be damaged.

System Parameters

<link_name>: Name of the link to monitor. This name must match a name of link within the model.

<kinetic_energy_threshold>: Threshold, in Joule (J), after which a message is generated on <topic> with the kinetic energy value that surpassed the threshold.

<topic>: Custom topic that this system will publish to when kinetic energy surpasses the threshold. This element if optional, and the default value is /model/{name_of_model}/kinetic_energy.

Example Usage

 <model name="sphere">
    <pose>0 0 5 0 0 0</pose>
    <link name="sphere_link">
      <inertial>
        <inertia>
          <ixx>3</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3</iyy>
          <iyz>0</iyz>
          <izz>3</izz>
        </inertia>
        <mass>3.0</mass>
      </inertial>
      <collision name="sphere_collision">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </collision>
      <visual name="sphere_visual">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0 0 1 1</ambient>
          <diffuse>0 0 1 1</diffuse>
          <specular>0 0 1 1</specular>
        </material>
      </visual>
    </link>
    <plugin
      filename="ignition-gazebo-kinetic-energy-monitor-system"
      name="gz::sim::systems::KineticEnergyMonitor">
      <base_link_name>sphere_link</base_link_name>
      <kinetic_energy_threshold>100</kinetic_energy_threshold>
    </plugin>
  </model>

Constructor & Destructor Documentation

KineticEnergyMonitor()

KineticEnergyMonitor

(

)

Constructor.

~KineticEnergyMonitor()

~KineticEnergyMonitor ( )

final

Destructor.

Member Function Documentation

Configure()

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

finalvirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

PostUpdate()

void PostUpdate ( const UpdateInfo &  _info, const EntityComponentManager &  _ecm  )

finalvirtual

Implements ISystemPostUpdate.

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

• KineticEnergyMonitor.hh