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Classes

  • namespace Eigen
  • namespace gazebo
    • class BuoyantObject
      Class describing the dynamics of a buoyant object, useful for simple representations of underwater structures.
    • class ConversionFunction
      Abstact base class for a thruster conversion function.
    • class ConversionFunctionBasic
      The most basic conversion function: Thrust = const.wabs(w) This corresponds to what is attrributed to Yoerger et al. and called Model 1 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.
    • class ConversionFunctionBessa
      Asymmetric conversion function with dead-zone nonlinearity. This corresponds to what is called Model 2 in Bessa et al.: Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.
    • class ConversionFunctionFactory
      Factory singleton class that creates a ConversionFunction from sdf.
    • class ConversionFunctionLinearInterp
      Conversion using linear interpolation between given data points.
    • class Dynamics
      Abstract base class for thruster dynamics.
    • class DynamicsFactory
      Factory singleton class that creates a ThrusterDynamics from sdf.
    • class DynamicsFirstOrder
      First-order dynamic system.
    • class DynamicsZeroOrder
      Trivial (no dynamics) zero-order dynamic system.
    • class FinPlugin
    • class HMBox
      Class containing the methods and attributes for a hydrodynamic model for a box in the fluid.
    • class HMCylinder
      Class containing the methods and attributes for a hydrodynamic model for a cylinder in the fluid.
    • class HMFossen
      Class containting the methods and attributes for a Fossen robot-like hydrodynamic model. The restoring forces are applied by the BuoyantObject class methods. Using the plugin for UUV models will use both this and the buoyant object class definitions, therefore the restoring forces were not inherited here. References:
    • class HMSphere
      Class containing the methods and attributes for a hydrodynamic model for a sphere in the fluid.
    • class HMSpheroid
      Class containing the methods and attributes for a hydrodynamic model for a spheroid in the fluid Reference: Antonelli - Underwater Robots.
    • class HydrodynamicModel
    • class HydrodynamicModelFactory
      Factory singleton class that creates a HydrodynamicModel from sdf.
    • class LiftDrag
      Abstract base class for Lift&Drag models.
    • class LiftDragFactory
      Factory singleton class that creates a LiftDrag from sdf.
    • class LiftDragQuadratic
      Basic quadratic (Hugin) lift&drag model, page 18 from [1]. [1] Engelhardtsen, Øystein. "3D AUV Collision Avoidance." (2007).
    • class LiftDragTwoLines
      Lift&drag model that models lift/drag coeffs using two lines. This is based on Gazebo's LiftDragPlugin but implemented as a derived LiftDrag model to allow using it in combination with the dynamics of a Fin.
    • class ThrusterDynamicsBessa
      Bessa's dynamic thruster model.
    • class ThrusterDynamicsYoerger
      Yoerger's dynamic thruster model.
    • class ThrusterPlugin
      Class for the thruster plugin.
    • class UmbilicalModel
    • class UmbilicalModelBerg
    • class UmbilicalModelFactory
      Factory singleton class that creates an UmbilicalModel from sdf.
    • class UmbilicalPlugin
    • class UmbilicalSegment
    • class UnderwaterObjectPlugin
      Gazebo model plugin class for underwater objects.

Updated on 2022-11-24 at 19:19:33 +0000

Last update: November 24, 2022