Simulators::VSIM::Object Class Reference

Detailed Description

Object properties.

Public Types
enum	Type {   OBJECT, VEHICLE, UUV, UAV,   USV, UGV }

Public Member Functions
	Object (void)
virtual	~Object (void)
void	setMassProp (double m, double inertia[6])
void	setLinearDragCoef (double coefs[10])
void	setQuadraticDragCoef (double coefs[10])
void	setIntegrationMethod (bool method)
virtual void	insertInWorld (void)
virtual void	setPosition (double x, double y, double z)
virtual void	setOrientation (double roll, double pitch, double yaw)
double *	getPosition (void)
double *	getOrientation (void)
double *	getLinearVelocity (void)
double *	getAngularVelocity (void)
void	applyDragForces (void)
virtual void	applyForces (void)
void	addForces (double X, double Y, double Z, double P, double Q, double R)
void	resetForces (void)
void	update (double timestep)

Protected Attributes
double	m_mass
double	m_inertia [6]
double	m_position [3]
double	m_orientation [3]
double	m_linear_velocity [3]
double	m_angular_velocity [3]

Member Enumeration Documentation

enum Simulators::VSIM::Object::Type

Vehicle type.

Enumerator
OBJECT
VEHICLE
UUV
UAV
USV
UGV

Constructor & Destructor Documentation

Simulators::VSIM::Object::Object

(

void

)

Constructor.

References m_angular_velocity, m_inertia, m_linear_velocity, m_mass, m_orientation, and m_position.

virtual Simulators::VSIM::Object::~Object ( void  )

inlinevirtual

Destructor.

Member Function Documentation

void Simulators::VSIM::Object::addForces	(	double	X,
		double	Y,
		double	Z,
		double	P,
		double	Q,
		double	R
	)

Add Forces to be applied to the Object.

Parameters

[in]	X	force along the x-axis.
[in]	Y	force along the y-axis.
[in]	Z	force along the z-axis.
[in]	P	torque along the x-axis.
[in]	Q	torque along the y-axis.
[in]	R	torque along the z-axis.

Referenced by Simulators::VSIM::ASV::applyAsvActuation(), Simulators::VSIM::Vehicle::applyControlForces(), Simulators::VSIM::UUV::applyCoriolisForce(), and applyDragForces().

void Simulators::VSIM::Object::applyDragForces

(

void

)

Applies drag forces actuacting on the object.

References addForces(), m_angular_velocity, and m_linear_velocity.

Referenced by Simulators::VSIM::ASV::applyForces(), Simulators::VSIM::Vehicle::applyForces(), Simulators::VSIM::UUV::applyForces(), and applyForces().

void Simulators::VSIM::Object::applyForces ( void  )

virtual

Apply all object's forces.

Reimplemented in Simulators::VSIM::UUV, Simulators::VSIM::Vehicle, and Simulators::VSIM::ASV.

References applyDragForces().

double* Simulators::VSIM::Object::getAngularVelocity ( void  )

inline

Retrieve object's angular velocity (world referencial 3x1 vector).

Returns

pointer to object angular velocity.

References m_angular_velocity.

Referenced by Simulators::VSIM::Task::task().

double* Simulators::VSIM::Object::getLinearVelocity ( void  )

inline

Retrieve object's linear velocity (vehicle referencial 3x1 vector).

Returns

pointer to object linear velocity.

References m_linear_velocity.

Referenced by Simulators::VSIM::Task::task().

double* Simulators::VSIM::Object::getOrientation ( void  )

inline

Returns orientation vector [roll, pitch, yaw].

Returns

pointer to object orientation

References m_orientation.

Referenced by Simulators::VSIM::Task::task().

double* Simulators::VSIM::Object::getPosition ( void  )

inline

Returns position vector [X,Y,Z].

Returns

pointer to object position.

References m_position.

Referenced by Simulators::VSIM::Task::task().

void Simulators::VSIM::Object::insertInWorld ( void  )

virtual

Insert object in virtual World.

References m_orientation, m_position, setOrientation(), and setPosition().

Referenced by Simulators::VSIM::World::addObject(), and Simulators::VSIM::World::addVehicle().

void Simulators::VSIM::Object::resetForces

(

void

)

Reset Forces applied to Object for the next iteration.

Referenced by Simulators::VSIM::Factory::produceVehicle(), and update().

void Simulators::VSIM::Object::setIntegrationMethod ( bool  method )

inline

Define integration method to be applied in update() function.

Parameters

[in]

method

integration method.

Referenced by Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Object::setLinearDragCoef

(

double

coefs[10]

)

Set linear drag coefficients.

Parameters

[in]

coefs

linear drag coefficients.

Referenced by Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Object::setMassProp	(	double	m,
		double	inertia[6]
	)

Sets Mass and Inertial and Added Mass Matrix (diagonal).

Parameters

[in]	m	mass.
[in]	inertia	inertia matrix diagonal values.

References m_inertia, and m_mass.

Referenced by Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Object::setOrientation ( double  roll, double  pitch, double  yaw  )

virtual

Define object inertial orientation.

Parameters

[in]	roll	object roll orientation.
[in]	pitch	object pitch orientation.
[in]	yaw	object yaw orientation.

References m_orientation.

Referenced by Simulators::VSIM::Task::consume(), and insertInWorld().

void Simulators::VSIM::Object::setPosition ( double  x, double  y, double  z  )

virtual

Define object inertial position.

Parameters

[in]	x	object position in the x-axis.
[in]	y	object position in the y-axis.
[in]	z	object position in the z-axis.

References m_position.

Referenced by Simulators::VSIM::Task::consume(), and insertInWorld().

void Simulators::VSIM::Object::setQuadraticDragCoef

(

double

coefs[10]

)

Set quadratic drag coefficients.

Parameters

[in]

coefs

quadratic drag coefficients.

Referenced by Simulators::VSIM::Factory::produceVehicle().

void Simulators::VSIM::Object::update

(

double

timestep

)

Fetch object position, orientation & velocity from physics engine.

Parameters

[in]

timestep

integration timestep.

References m_angular_velocity, m_inertia, m_linear_velocity, m_orientation, m_position, and resetForces().

Member Data Documentation

double Simulators::VSIM::Object::m_angular_velocity[3]

protected

Object angular velocity (body-fixed reference frame).

Referenced by Simulators::VSIM::UUV::applyCoriolisForce(), applyDragForces(), getAngularVelocity(), Object(), and update().

double Simulators::VSIM::Object::m_inertia[6]

protected

Inertia matrix.

Referenced by Simulators::VSIM::UUV::applyCoriolisForce(), Object(), setMassProp(), and update().

double Simulators::VSIM::Object::m_linear_velocity[3]

protected

Object linear velocity (body-fixed reference frame).

Referenced by Simulators::VSIM::Vehicle::applyControlForces(), Simulators::VSIM::UUV::applyCoriolisForce(), applyDragForces(), getLinearVelocity(), Object(), and update().

double Simulators::VSIM::Object::m_mass

protected

Object's mass.

Referenced by Simulators::VSIM::UUV::applyCoriolisForce(), Object(), and setMassProp().

double Simulators::VSIM::Object::m_orientation[3]

protected

Object orientation.

Referenced by getOrientation(), insertInWorld(), Object(), setOrientation(), and update().

double Simulators::VSIM::Object::m_position[3]

protected

Object position.

Referenced by Simulators::VSIM::Vehicle::applyControlForces(), getPosition(), insertInWorld(), Object(), setPosition(), and update().

Collaboration diagram for Simulators::VSIM::Object: