LighterThanAirDynamics.hh

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/*
 * Copyright (C) 2023 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_SIM_SYSTEMS_LighterThanAirDynamics_HH_
#define GZ_SIM_SYSTEMS_LighterThanAirDynamics_HH_
 
#include <gz/sim/System.hh>
#include <memory>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
  class LighterThanAirDynamicsPrivateData;
 
 
 
 
 
 
 
 
 
  class LighterThanAirDynamics:
    public gz::sim::System,
    public gz::sim::ISystemConfigure,
    public gz::sim::ISystemPreUpdate
  {
    public: LighterThanAirDynamics();
 
    public: ~LighterThanAirDynamics() override;
 
    public: void Configure(
        const gz::sim::Entity &_entity,
        const std::shared_ptr<const sdf::Element> &_sdf,
        gz::sim::EntityComponentManager &_ecm,
        gz::sim::EventManager &/*_eventMgr*/) override;
 
    public: void PreUpdate(
        const gz::sim::UpdateInfo &_info,
        gz::sim::EntityComponentManager &_ecm) override;
 
    public: math::Vector3d LocalVelocity(math::Vector3d lin_vel,
                    math::Vector3d ang_vel, math::Vector3d dist);
 
    public: double DynamicPressure(math::Vector3d vec, double air_density);
 
    public: math::Vector3d AddedMassTorque(math::Vector3d lin_vel,
                            math::Vector3d ang_vel,
                            math::Matrix3d m11, math::Matrix3d m12,
                            math::Matrix3d m21, math::Matrix3d m22);
 
    public: math::Vector3d AddedMassForce(math::Vector3d lin_vel,
                            math::Vector3d ang_vel,
                            math::Matrix3d m11, math::Matrix3d m12);
 
    public: math::Matrix3d SkewSymmetricMatrix(math::Vector3d mat);
 
    private: std::unique_ptr<LighterThanAirDynamicsPrivateData> dataPtr;
  };
}
}
}
}
#endif