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...

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More...

Static Public Attributes inherited from System
constexpr static PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases. More...

constexpr static std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed. 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

LiftDrag ( )

Constructor.

~LiftDrag ( )

overridedefault

Destructor.

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.