APM:Libraries
Classes | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
SITL::Gazebo Class Reference

#include <SIM_Gazebo.h>

Inheritance diagram for SITL::Gazebo:
[legend]
Collaboration diagram for SITL::Gazebo:
[legend]

Classes

struct  fdm_packet
 
struct  servo_packet
 

Public Member Functions

 Gazebo (const char *home_str, const char *frame_str)
 
void update (const struct sitl_input &input)
 
void set_interface_ports (const char *address, const int port_in, const int port_out)
 
- Public Member Functions inherited from SITL::Aircraft
 Aircraft (const char *home_str, const char *frame_str)
 
void set_speedup (float speedup)
 
void set_instance (uint8_t _instance)
 
void set_autotest_dir (const char *_autotest_dir)
 
void fill_fdm (struct sitl_fdm &fdm)
 
void smooth_sensors (void)
 
float get_rate_hz (void) const
 
const Vector3f & get_gyro (void) const
 
const Vector3f & get_velocity_ef (void) const
 
const Vector3f & get_velocity_air_ef (void) const
 
const Matrix3f & get_dcm (void) const
 
const Vector3f & get_mag_field_bf (void) const
 
virtual float gross_mass () const
 
const Location & get_location () const
 
const Vector3f & get_position () const
 
void get_attitude (Quaternion &attitude) const
 

Static Public Member Functions

static Aircraft * create (const char *home_str, const char *frame_str)
 
- Static Public Member Functions inherited from SITL::Aircraft
static double rand_normal (double mean, double stddev)
 
static bool parse_home (const char *home_str, Location &loc, float &yaw_degrees)
 

Private Member Functions

void recv_fdm (const struct sitl_input &input)
 
void send_servos (const struct sitl_input &input)
 
void drain_sockets ()
 

Private Attributes

double last_timestamp
 
SocketAPM socket_sitl
 
const char * _gazebo_address = "127.0.0.1"
 
int _gazebo_port = 9002
 

Static Private Attributes

static const uint64_t GAZEBO_TIMEOUT_US = 5000000
 

Additional Inherited Members

- Protected Types inherited from SITL::Aircraft
enum  { GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }
 
- Protected Member Functions inherited from SITL::Aircraft
float ground_height_difference () const
 
virtual bool on_ground () const
 
float hagl () const
 
void update_position (void)
 
void update_mag_field_bf (void)
 
void time_advance ()
 
void setup_frame_time (float rate, float speedup)
 
void adjust_frame_time (float rate)
 
void sync_frame_time (void)
 
void add_noise (float throttle)
 
uint64_t get_wall_time_us (void) const
 
void update_dynamics (const Vector3f &rot_accel)
 
void update_wind (const struct sitl_input &input)
 
float filtered_idx (float v, uint8_t idx)
 
float filtered_servo_angle (const struct sitl_input &input, uint8_t idx)
 
float filtered_servo_range (const struct sitl_input &input, uint8_t idx)
 
void extrapolate_sensors (float delta_time)
 
- Protected Attributes inherited from SITL::Aircraft
SITL * sitl
 
Location home
 
Location location
 
float ground_level
 
float home_yaw
 
float frame_height
 
Matrix3f dcm
 
Vector3f gyro
 
Vector3f gyro_prev
 
Vector3f ang_accel
 
Vector3f velocity_ef
 
Vector3f wind_ef
 
Vector3f velocity_air_ef
 
Vector3f velocity_air_bf
 
Vector3f position
 
float mass
 
Vector3f accel_body
 
float airspeed
 
float airspeed_pitot
 
float battery_voltage = -1.0f
 
float battery_current = 0.0f
 
float rpm1 = 0
 
float rpm2 = 0
 
uint8_t rcin_chan_count = 0
 
float rcin [8]
 
float range = -1.0f
 
float turbulence_azimuth = 0.0f
 
float turbulence_horizontal_speed = 0.0f
 
float turbulence_vertical_speed = 0.0f
 
Vector3f mag_bf
 
uint64_t time_now_us
 
const float gyro_noise
 
const float accel_noise
 
float rate_hz
 
float achieved_rate_hz
 
float target_speedup
 
uint64_t frame_time_us
 
float scaled_frame_time_us
 
uint64_t last_wall_time_us
 
uint8_t instance
 
const char * autotest_dir
 
const char * frame
 
bool use_time_sync = true
 
float last_speedup = -1.0f
 
AP_Int8 * ahrs_orientation
 
enum SITL::Aircraft:: { ... }  ground_behavior
 
bool use_smoothing
 
AP_Terrain * terrain
 
const float FEET_TO_METERS = 0.3048f
 
const float KNOTS_TO_METERS_PER_SECOND = 0.51444f
 

Detailed Description

Definition at line 29 of file SIM_Gazebo.h.

Constructor & Destructor Documentation

◆ Gazebo()

SITL::Gazebo::Gazebo ( const char *  home_str,
const char *  frame_str 
)

Definition at line 30 of file SIM_Gazebo.cpp.

Referenced by create().

Here is the call graph for this function:
Here is the caller graph for this function:

Member Function Documentation

◆ create()

static Aircraft* SITL::Gazebo::create ( const char *  home_str,
const char *  frame_str 
)
inlinestatic

Definition at line 37 of file SIM_Gazebo.h.

Here is the call graph for this function:

◆ drain_sockets()

void SITL::Gazebo::drain_sockets ( )
private

Definition at line 138 of file SIM_Gazebo.cpp.

Referenced by update().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ recv_fdm()

void SITL::Gazebo::recv_fdm ( const struct sitl_input &  input)
private

Definition at line 79 of file SIM_Gazebo.cpp.

Referenced by update().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ send_servos()

void SITL::Gazebo::send_servos ( const struct sitl_input &  input)
private

Definition at line 63 of file SIM_Gazebo.cpp.

Referenced by recv_fdm(), and update().

Here is the caller graph for this function:

◆ set_interface_ports()

void SITL::Gazebo::set_interface_ports ( const char *  address,
const int  port_in,
const int  port_out 
)
virtual

Reimplemented from SITL::Aircraft.

Definition at line 44 of file SIM_Gazebo.cpp.

Referenced by create().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ update()

void SITL::Gazebo::update ( const struct sitl_input &  input)
virtual

Implements SITL::Aircraft.

Definition at line 161 of file SIM_Gazebo.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ _gazebo_address

const char* SITL::Gazebo::_gazebo_address = "127.0.0.1"
private

Definition at line 72 of file SIM_Gazebo.h.

Referenced by send_servos(), and set_interface_ports().

◆ _gazebo_port

int SITL::Gazebo::_gazebo_port = 9002
private

Definition at line 73 of file SIM_Gazebo.h.

Referenced by send_servos(), and set_interface_ports().

◆ GAZEBO_TIMEOUT_US

const uint64_t SITL::Gazebo::GAZEBO_TIMEOUT_US = 5000000
staticprivate

Definition at line 74 of file SIM_Gazebo.h.

Referenced by recv_fdm().

◆ last_timestamp

double SITL::Gazebo::last_timestamp
private

Definition at line 69 of file SIM_Gazebo.h.

Referenced by recv_fdm().

◆ socket_sitl

SocketAPM SITL::Gazebo::socket_sitl
private

Definition at line 71 of file SIM_Gazebo.h.

Referenced by drain_sockets(), recv_fdm(), send_servos(), and set_interface_ports().

The documentation for this class was generated from the following files:
Generated on Sun Jun 17 2018 14:19:04 for APM:Libraries by   doxygen 1.8.13