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.

System Parameters

• <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)
• <cm_delta>: How much Cm changes with a change in control surface deflection angle

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]	_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

Documentation inherited.

Implements ISystemPreUpdate.

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

• LiftDrag.hh