PaparazziSystem Class Reference

gz-sim System that connects NPS with the simulation. More...

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Public Member Functions
void	Configure (const gz::sim::Entity &entity, const std::shared_ptr< const sdf::Element > &, gz::sim::EntityComponentManager &ecm, gz::sim::EventManager &) override
void	PreUpdate (const gz::sim::UpdateInfo &info, gz::sim::EntityComponentManager &ecm) override
void	PostUpdate (const gz::sim::UpdateInfo &info, const gz::sim::EntityComponentManager &ecm) override
bool	Ready () const

Private Member Functions
void	FindModel (gz::sim::EntityComponentManager &ecm)

Private Attributes
gz::sim::Entity	world_ {gz::sim::kNullEntity}
gz::sim::Entity	model_ {gz::sim::kNullEntity}
gz::sim::Entity	body_link_ {gz::sim::kNullEntity}
gz::sim::Entity	motor_links_ [NPS_COMMANDS_NB]

Detailed Description

gz-sim System that connects NPS with the simulation.

• Configure: find the aircraft model and its links
• PreUpdate: apply the motor forces and torques
• PostUpdate: read the state of the aircraft

Definition at line 167 of file nps_fdm_gz.cpp.

Member Function Documentation

Configure()

void PaparazziSystem::Configure ( const gz::sim::Entity &  entity, const std::shared_ptr< const sdf::Element > &  , gz::sim::EntityComponentManager &  ecm, gz::sim::EventManager &    )

inlineoverride

Definition at line 173 of file nps_fdm_gz.cpp.

References FindModel(), foo, and world_.

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FindModel()

void PaparazziSystem::FindModel ( gz::sim::EntityComponentManager &  ecm )

inlineprivate

Definition at line 233 of file nps_fdm_gz.cpp.

References body_link_, foo, gazebo_actuators, model, model_, motor_links_, gazebo_actuators_t::names, NPS_COMMANDS_NB, NPS_GAZEBO_AC_NAME, and world_.

Referenced by Configure(), and PreUpdate().

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PostUpdate()

void PaparazziSystem::PostUpdate ( const gz::sim::UpdateInfo &  info, const gz::sim::EntityComponentManager &  ecm  )

inlineoverride

Definition at line 203 of file nps_fdm_gz.cpp.

References body_link_, foo, gravity(), gz_state, model_, and world_.

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PreUpdate()

void PaparazziSystem::PreUpdate ( const gz::sim::UpdateInfo &  info, gz::sim::EntityComponentManager &  ecm  )

inlineoverride

Definition at line 182 of file nps_fdm_gz.cpp.

References FindModel(), foo, gz_cmd, model_, motor_links_, and NPS_COMMANDS_NB.

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Ready()

bool PaparazziSystem::Ready ( ) const

inline

Definition at line 230 of file nps_fdm_gz.cpp.

References model_.

Field Documentation

body_link_

gz::sim::Entity PaparazziSystem::body_link_ {gz::sim::kNullEntity}

private

Definition at line 259 of file nps_fdm_gz.cpp.

Referenced by FindModel(), and PostUpdate().

model_

gz::sim::Entity PaparazziSystem::model_ {gz::sim::kNullEntity}

private

Definition at line 258 of file nps_fdm_gz.cpp.

Referenced by FindModel(), PostUpdate(), PreUpdate(), and Ready().

motor_links_

gz::sim::Entity PaparazziSystem::motor_links_[NPS_COMMANDS_NB]

private

Definition at line 260 of file nps_fdm_gz.cpp.

Referenced by FindModel(), and PreUpdate().

world_

gz::sim::Entity PaparazziSystem::world_ {gz::sim::kNullEntity}

private

Definition at line 257 of file nps_fdm_gz.cpp.

Referenced by Configure(), FindModel(), and PostUpdate().

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The documentation for this class was generated from the following file:

• sw/simulator/nps/nps_fdm_gz.cpp