PropellerInfo Struct Reference

Detailed Description

Parameters that describe the kinematic frame and force-production properties of a single propeller.

#include <drake/multibody/plant/propeller.h>

Public Member Functions
	PropellerInfo (const BodyIndex &body_index_, const math::RigidTransform< double > &X_BP_=math::RigidTransform< double >::Identity(), double thrust_ratio_=1.0, double moment_ratio_=0.0)
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	PropellerInfo (const PropellerInfo &)=default
PropellerInfo &	operator= (const PropellerInfo &)=default
	PropellerInfo (PropellerInfo &&)=default
PropellerInfo &	operator= (PropellerInfo &&)=default

Public Attributes
BodyIndex	body_index
	The BodyIndex of a RigidBody in the MultibodyPlant to which the propeller is attached.
math::RigidTransform< double >	X_BP {}
	Pose of the propeller frame P measured in the body frame B.
double	thrust_ratio {1.0}
	The z component (in frame P) of the spatial force will have magnitude thrust_ratio*command in Newtons.
double	moment_ratio {0.0}
	The moment about the z axis (in frame P) of the spatial force will have magnitude moment_ratio*command in Newton-meters.

Constructor & Destructor Documentation

PropellerInfo() [1/3]

PropellerInfo ( const PropellerInfo & )

default

PropellerInfo() [2/3]

PropellerInfo ( PropellerInfo && )

default

PropellerInfo() [3/3]

PropellerInfo ( const BodyIndex & body_index_, const math::RigidTransform< double > & X_BP_ = math::RigidTransform<double>::Identity(), double thrust_ratio_ = 1.0, double moment_ratio_ = 0.0 )

explicit

Member Function Documentation

operator=() [1/2]

PropellerInfo & operator= ( const PropellerInfo & )

default

operator=() [2/2]

PropellerInfo & operator= ( PropellerInfo && )

default

Member Data Documentation

body_index

BodyIndex body_index

The BodyIndex of a RigidBody in the MultibodyPlant to which the propeller is attached.

The spatial forces will be applied to this body.

moment_ratio

double moment_ratio {0.0}

The moment about the z axis (in frame P) of the spatial force will have magnitude moment_ratio*command in Newton-meters.

The default is 0, which makes the propeller a simple Cartesian force generator.

thrust_ratio

double thrust_ratio {1.0}

The z component (in frame P) of the spatial force will have magnitude thrust_ratio*command in Newtons.

The default is 1 (command in Newtons), but this can also be used to scale an actuator command to the resulting force.

X_BP

math::RigidTransform<double> X_BP {}

Pose of the propeller frame P measured in the body frame B.

Default: is the identity matrix.

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

• drake/multibody/plant/propeller.h