A system that monitors the kinetic energy of a link in a model and publishes when there is a lost of kinetic energy during a timestep that surpasses a specific threshold. This system can be used to detect when a model could be damaged. More...

#include <KineticEnergyMonitor.hh>

Public Member Functions
	KineticEnergyMonitor ()
	Constructor.

	~KineticEnergyMonitor () final
	Destructor.

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
	Configure the system.

void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) final

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

virtual	~System ()=default
	Destructor.

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.

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

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

Detailed Description

A system that monitors the kinetic energy of a link in a model and publishes when there is a lost of kinetic energy during a timestep that surpasses a specific threshold. This system can be used to detect when a model could be damaged.

System Parameters

<link_name>: Name of the link to monitor. This name must match a name of link within the model.
<kinetic_energy_threshold>: Threshold, in Joule (J), after which a message is generated on <topic> with the kinetic energy value that surpassed the threshold.
<topic>: Custom topic that this system will publish to when kinetic energy surpasses the threshold. This element if optional, and the default value is /model/{name_of_model}/kinetic_energy.

Example Usage

 <model name="sphere">
    <pose>0 0 5 0 0 0</pose>
    <link name="sphere_link">
      <inertial>
        <inertia>
          <ixx>3</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3</iyy>
          <iyz>0</iyz>
          <izz>3</izz>
        </inertia>
        <mass>3.0</mass>
      </inertial>
      <collision name="sphere_collision">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </collision>
      <visual name="sphere_visual">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0 0 1 1</ambient>
          <diffuse>0 0 1 1</diffuse>
          <specular>0 0 1 1</specular>
        </material>
      </visual>
    </link>
    <plugin
      filename="gz-sim-kinetic-energy-monitor-system"
      name="systems::KineticEnergyMonitor">
      <base_link_name>sphere_link</base_link_name>
      <kinetic_energy_threshold>100</kinetic_energy_threshold>
    </plugin>
  </model>

Constructor & Destructor Documentation

◆ KineticEnergyMonitor()

KineticEnergyMonitor ( )

Constructor.

◆ ~KineticEnergyMonitor()

~KineticEnergyMonitor ( )

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.