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Lighter Than Air Dynamics Systems #2241

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May 14, 2024
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Lighter Than Air Dynamics Systems #2241

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78 changes: 78 additions & 0 deletions examples/worlds/lighter_than_air_blimp.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,78 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="blimp">

<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<!-- Zero to run as fast as possible -->
<real_time_factor>1</real_time_factor>
</physics>

<gravity>0 0 -9.81</gravity>

<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<plugin
filename="gz-sim-buoyancy-system"
name="gz::sim::systems::Buoyancy">
<uniform_fluid_density>1.097</uniform_fluid_density>
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<include>
<uri>
https://fuel.gazebosim.org/1.0/hkotze/models/airship
</uri>
</include>
</world>
</sdf>
9 changes: 9 additions & 0 deletions include/gz/sim/Link.hh
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Expand Up @@ -23,6 +23,7 @@
#include <vector>

#include <gz/math/Matrix3.hh>
#include <gz/math/Matrix6.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/Quaternion.hh>
#include <gz/math/Vector3.hh>
Expand Down Expand Up @@ -269,6 +270,14 @@ namespace gz
public: std::optional<math::Matrix3d> WorldInertiaMatrix(
const EntityComponentManager &_ecm) const;

/// \brief Get the fluid added mass matrix in the world frame.
/// \param[in] _ecm Entity-component manager.
/// \return Fluide added matrix in world frame, returns nullopt if link
/// does not have components components::Inertial and
/// components::WorldPose.
public: std::optional<math::Matrix6d> WorldFluidAddedMassMatrix(
const EntityComponentManager &_ecm) const;

/// \brief Get the rotational and translational kinetic energy of the
/// link with respect to the world frame.
/// \param[in] _ecm Entity-component manager.
Expand Down
12 changes: 12 additions & 0 deletions src/Link.cc
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Expand Up @@ -337,6 +337,18 @@ std::optional<math::Matrix3d> Link::WorldInertiaMatrix(
math::Inertiald(inertial->Data().MassMatrix(), comWorldPose).Moi());
}

std::optional<math::Matrix6d> Link::WorldFluidAddedMassMatrix(
const EntityComponentManager &_ecm) const
{
auto inertial = _ecm.Component<components::Inertial>(this->dataPtr->id);
auto worldPose = _ecm.Component<components::WorldPose>(this->dataPtr->id);

if (!worldPose || !inertial)
return std::nullopt;

return inertial->Data().FluidAddedMass();
}

//////////////////////////////////////////////////
std::optional<double> Link::WorldKineticEnergy(
const EntityComponentManager &_ecm) const
Expand Down
1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Expand Up @@ -129,6 +129,7 @@ add_subdirectory(joint_traj_control)
add_subdirectory(kinetic_energy_monitor)
add_subdirectory(label)
add_subdirectory(lift_drag)
add_subdirectory(lighter_than_air_dynamics)
add_subdirectory(log)
add_subdirectory(log_video_recorder)
add_subdirectory(logical_audio_sensor_plugin)
Expand Down
7 changes: 7 additions & 0 deletions src/systems/lighter_than_air_dynamics/CMakeLists.txt
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gz_add_system(lighter_than_air_dynamics
SOURCES
LighterThanAirDynamics.cc
PUBLIC_LINK_LIBS
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
gz-math${GZ_MATH_VER}::eigen3
)
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