Added Cmat in hydrodynamic forces equation #466
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acxz
approved these changes
Jul 13, 2022
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This PR modifies the hydrodynamic forces equation in
usv_gazebo_dynamics_plugin.ccto include the Coriolis centripetal matrix for added mass,Cmat.As mentioned in #441, the model used in the code does not match the Theory of operation (see eq. 1).
Note: There also seem to be differences in the terms present in
Cmatin Theory of operation, this paper and this definition. These differences have not been addressed in this PR.Need to verify if switching to this model is causing any unexpected behaviour in the USV. Do you remember if
Cmatwas purposely omitted, and if so, the reason for doing so?