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Deadalus
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Model plugin for gazebo. More...
#include <gazebo_model_plugin.hh>
Public Member Functions | |
| GazeboModelPlugin () | |
| Constructor. | |
| void | Load (physics::ModelPtr _parent, sdf::ElementPtr) |
| void | callback_imu (ConstIMUPtr &msg) |
| Function is called everytime an imu-message is received. | |
| void | OnUpdate (const common::UpdateInfo &) |
| Called by the world update start event, for all simulation steps. | |
Public Attributes | |
| QuadRotorDynamics | _myQuadRotorDynamics |
| Destructor. | |
| AngularVel | _rotor_speed |
| Current rotor speeds of the motors. | |
| Mechanics | _mechanics |
Private Types | |
| enum | MotorNumber { m1, m2, m3, m4, front, rear, right, left, all } |
Private Member Functions | |
| void | get_magnetic_field () |
Private Attributes | |
| transport::NodePtr | node |
| Node for publishing simulated IMU sensor data. | |
| transport::SubscriberPtr | imuSubscriber |
| Subscriber for simulated IMU sensor data. | |
| SIL | _sil |
| Instance of the Software in the Loop (SIL) | |
| Sensors | _sensor_vals |
| physics::ModelPtr | model |
| Pointer to the model. | |
| physics::LinkPtr | motor_1 |
| physics::LinkPtr | motor_front |
| physics::LinkPtr | motor_2 |
| physics::LinkPtr | motor_right |
| physics::LinkPtr | motor_3 |
| physics::LinkPtr | motor_rear |
| physics::LinkPtr | motor_4 |
| physics::LinkPtr | motor_left |
| physics::LinkPtr | frame_center |
| physics::LinkPtr | motor_prop_1 |
| physics::LinkPtr | motor_prop_front |
| physics::LinkPtr | motor_prop_2 |
| physics::LinkPtr | motor_prop_right |
| physics::LinkPtr | motor_prop_3 |
| physics::LinkPtr | motor_prop_rear |
| physics::LinkPtr | motor_prop_4 |
| physics::LinkPtr | motor_prop_left |
| event::ConnectionPtr | updateConnection |
| common::Time | _current_time |
| common::Time | _last_time |
| common::Time | _dt |
| const gazebo::math::Vector3 | _earth_mag_vec3 |
Model plugin for gazebo.
Current Thrust Forces and Drag Torques On the quadcopter frame.
Destructor.
Instance of QuadRotorDynamics class, to calculate the Thrust Forces and Drag Torque in the quadrocopter frame resulting from the current rotor speeds
Current Sensor values of all subscribed and simulated sensors.
1.7.6.1
