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()
|
overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
|
overridevirtual |
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.
◆ PreUpdate()
|
finalvirtual |
Documentation inherited.
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: