Drake
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...

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

 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.

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_x coefficient of drag in the x (forward) direction coefficient_drag_y coefficient of drag in the y (left/right) direction coefficient_drag_z coefficient of drag in the z (up/down) direction area_x of the object in drag in the x direction area_y of the object in drag in the y direction area_z of the object in drag in the z direction
Return values
 obj newly 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
 model manipulator the wing is part of body body to add the visual geometry to
Return values
 model updated model
Return values
 varargout
 function computeSpatialForce ( obj , manip , q , qd )

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

Parameters
 manip RigidBodyManipulator we are a part of q state vector qd time derivative of state vector
Return values
 force force produced by the drag dforce gradient 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
 model RigidBodyManipulator this is a part of
Return values
 obj updated object, which you need to put back into the updated model model updated 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:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/systems/plants/RigidBodyBluffBody.m