A system that simulates a simple wind model. The wind is described as a uniform worldwide model. So it is independent from model position for simple computations. Its components are computed separately: More...

#include <WindEffects.hh>

Public Member Functions
	WindEffects ()
	Constructor. More...

	~WindEffects () 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	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final

Public Member Functions inherited from System
	System ()=default
	Constructor. More...

virtual	~System ()=default
	Destructor. More...

Detailed Description

A system that simulates a simple wind model. The wind is described as a uniform worldwide model. So it is independent from model position for simple computations. Its components are computed separately:

Horizontal amplitude: Low pass filtering on user input (complementary gain)
- small local fluctuations
- noise on value (noise amplitude is a factor of wind magnitude)
Horizontal direction: Low pass filtering on user input (complementary gain)
- small local fluctuations
- noise on value
Vertical amplitude: Low pass filtering on user input (complementary gain)
- small local fluctuations
- noise on value

The following parameters are used by the system:

<horizontal><magnitude><time_for_rise> Analogous to the time constant of the low pass filter.
<horizontal><magnitude><sin><amplitude_percent> Fraction of the filtered wind velocity magnitude that is set to be the amplitude of the sinusoid.
<horizontal><magnitude><sin><period> Period of the sinusoid that is added to the wind velocity magnitude.
<horizontal><magnitude><noise> Parameters for the noise that is added to the wind velocity magnitude.
<horizontal><direction><time_for_rise> Analogous to the time constant of the low pass filter.
<horizontal><direction><sin><amplitude> Amplitude of the sinusoidal that is added on the direction of the wind velocity.
<horizontal><direction><sin><period> Period of the sinusoid that is added to the wind velocity direction.
<horizontal><direction><noise> Parameters for the noise that is added to the wind velocity direction.
<vertical><time_for_rise> Analogous to the time constant of the low pass filter for the vertical wind velocity magnitude.
<vertical><noise> Parameters for the noise that is added to the vertical wind velocity magnitude.

Constructor & Destructor Documentation

◆ WindEffects()

WindEffects ( )

Constructor.

◆ ~WindEffects()

~WindEffects ( )

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.

◆ PreUpdate()

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

finalvirtual

Implements ISystemPreUpdate.

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

WindEffects.hh

Gazebo Gazebo

API Reference