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Added Cmat in hydrodynamic forces equation #466

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Added Cmat in hydrodynamic forces equation #466

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272c0b7
Added Cmat in hydrodynamic forces equation
rmvanarse Jul 3, 2022
22ffb0f
Merge branch 'master' into rmvanarse/add_cmat_hydrodymanics
M1chaelM Jul 18, 2022
3f733fb
Merge branch 'gazebo_classic' into rmvanarse/add_cmat_hydrodymanics
caguero Jan 6, 2023
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3 changes: 2 additions & 1 deletion usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -256,6 +256,7 @@ void UsvDynamicsPlugin::Update()
Cmat(1, 5) = this->paramXdotU * kVelLinearBody.X();
Cmat(5, 0) = this->paramYdotV * kVelLinearBody.Y();
Cmat(5, 1) = this->paramXdotU * kVelLinearBody.X();
const Eigen::VectorXd kCmat = Cmat * state;

// Drag
Dmat(0, 0) = this->paramXu + this->paramXuu * std::abs(kVelLinearBody.X());
Expand All @@ -277,7 +278,7 @@ void UsvDynamicsPlugin::Update()
tf2::Transform xformV = tf2::Transform(vq);

// Sum all forces - in body frame
const Eigen::VectorXd kForceSum = kAmassVec + kDvec;
const Eigen::VectorXd kForceSum = kAmassVec + kCmat + kDvec;

// Forces in fixed frame
ROS_DEBUG_STREAM_THROTTLE(1.0, "forceSum :\n" << kForceSum);
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