Gazebo Sim: Thruster.hh File Reference

#include <gz/sim/System.hh>
#include <memory>

Classes
class	Thruster
	This plugin simulates a maritime thruster for boats and underwater vehicles. It uses the equations described in Fossen's "Guidance and Control of Ocean Vehicles" in page 246. This plugin has two modes of operation. In the default mode it takes in a force in Newtons and applies it to the thruster. It also calculates the theoretical angular velocity of the blades and spins them accordingly. Alternatively, one may send angular velocity commands to calculate the force to be applied using the said equation. In the default mode the plugin will publish angular velocity in radians per second on `/model/{ns}/joint/{joint_name}/ang_vel` as a gz.msgs.double. If <use_angvel_cmd> is set to true it publishes force in Newtons instead to `/model/{ns}/joint/{joint_name}/force`. More...

Namespaces
	gz
	This library is part of the Gazebo project.

	gz::sim
	Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.

	gz::sim::systems
	Namespace for all System plugins. Refer to the System class for more information about systems.

Classes