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RigidBodyBluffBody Class Reference

Element that provides an aerodynamic drag force at a point. More...

Inheritance diagram for RigidBodyBluffBody:
Collaboration diagram for RigidBodyBluffBody:

Public Member Functions

function RigidBodyBluffBody (frame_id, coefficient_drag_x, coefficient_drag_y, coefficient_drag_z, area_x, area_y, area_z)
 Provides an aerodynamic drag force at a point. More...
 
function computeSpatialForce (obj, manip, q, qd)
 Computes the force and derivative of force for the aerodynamic drag on this object. More...
 
function addBluffBodyVisualShapeToBody (varargin)
 
function addBluffBodyVisualGeometryToBody (obj, model, body)
 Adds a visual geometry of the bluff body to the model on the body given for drawing in a visualizer. More...
 
function onCompile (obj, model)
 Update visual geometry on compile. More...
 
- Public Member Functions inherited from RigidBodyForceElement
function updateBodyCoordinates (obj, body_ind, T_old_body_to_new_body)
 
function setInputNum (obj, input_num)
 
function energy (obj, manip, q, qd)
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 

Static Public Member Functions

static function parseURDFNode (model, name, robotnum, node, options)
 Parse URDF node for drag object. More...
 
- Static Public Member Functions inherited from RigidBodyForceElement
static function cartesianForceToSpatialForce (varargin)
 This method is deprecated. More...
 

Public Attributes

Property coefficient_drag_x
 
Property coefficient_drag_y
 
Property coefficient_drag_z
 
Property rho
 Air density for 20 degC dry air, at sea level. More...
 
Property area_x
 
Property area_y
 
Property area_z
 
Property visual_geometry
 
Property parent_id
 
Property kinframe
 
- Public Attributes inherited from RigidBodyForceElement
Property name
 
Property direct_feedthrough_flag
 
Property input_num
 
Property input_limits
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 

Detailed Description

Element that provides an aerodynamic drag force at a point.

Constructor & Destructor Documentation

Provides an aerodynamic drag force at a point.

Drag force is computed as: \( F_d = \frac{1}{2} \rho v^2 C_d A \)

where:

 F_d: drag force
 rho: air density
 v: velocity
 C_d: coefficient of drag
 A: area
Parameters
frame_id
coefficient_drag_xcoefficient of drag in the x (forward) direction
coefficient_drag_ycoefficient of drag in the y (left/right) direction
coefficient_drag_zcoefficient of drag in the z (up/down) direction
area_xof the object in drag in the x direction
area_yof the object in drag in the y direction
area_zof the object in drag in the z direction
Return values
objnewly constructed object

Member Function Documentation

function addBluffBodyVisualGeometryToBody ( obj  ,
model  ,
body   
)

Adds a visual geometry of the bluff body to the model on the body given for drawing in a visualizer.

Parameters
modelmanipulator the wing is part of
bodybody to add the visual geometry to
Return values
modelupdated model
function addBluffBodyVisualShapeToBody ( varargin  )
Return values
varargout
function computeSpatialForce ( obj  ,
manip  ,
,
qd   
)

Computes the force and derivative of force for the aerodynamic drag on this object.

Parameters
manipRigidBodyManipulator we are a part of
qstate vector
qdtime derivative of state vector
Return values
forceforce produced by the drag
dforcegradient of force produced by the drag
function onCompile ( obj  ,
model   
)

Update visual geometry on compile.

This should be called after a parameter update that may change the automatic drawing of geometry (ie the area of the drag force is changed).

Parameters
modelRigidBodyManipulator this is a part of
Return values
objupdated object, which you need to put back into the updated model
modelupdated model
static function parseURDFNode ( model  ,
name  ,
robotnum  ,
node  ,
options   
)
static

Parse URDF node for drag object.

Return values
model
obj

Member Data Documentation

Property area_x
Property area_y
Property area_z
Property coefficient_drag_x
Property coefficient_drag_y
Property coefficient_drag_z
Property kinframe
Property parent_id
Property rho

Air density for 20 degC dry air, at sea level.

Property visual_geometry

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