Gazebo Sim: HydrodynamicsUtils.hh File Reference

#include <cmath>
#include <Eigen/Eigen>
#include "gz/sim/config.hh"

Namespaces
namespace	gz
	This library is part of the Gazebo project.

namespace	gz::sim
	Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.

namespace	gz::sim::systems
	Namespace for all System plugins. Refer to the System class for more information about systems.

namespace	gz::sim::systems::hydrodynamics

Functions
Eigen::Matrix< double, 6, 6 >	buildCoriolisMatrix (const Eigen::Matrix< double, 6, 6 > &_Ma, const Eigen::Matrix< double, 6, 1 > &_state)
	Build the negated added-mass Coriolis matrix (-C_A) per Fossen (2011) Theorem 6.2, eq 6.43.

Eigen::Matrix< double, 6, 6 >	buildDampingMatrix (const double(&_linearTerms)[36], const double(&_quadAbsDerivs)[216], const double(&_quadDerivs)[216], const Eigen::Matrix< double, 6, 1 > &_state)
	Build the hydrodynamic damping matrix from linear and quadratic stability derivatives.

Eigen::Matrix< double, 6, 6 >	buildFullCoriolisMatrix (const Eigen::Matrix< double, 6, 6 > &_Ma, const Eigen::Matrix< double, 6, 1 > &_state)
	Build the added-mass Coriolis matrix C_A(v) for a full (non-diagonal) 6x6 added mass matrix, per Fossen (2011) eq. 6.43.

Eigen::Matrix3d	skew3 (const Eigen::Vector3d &_v)
	3x3 skew-symmetric (cross-product) matrix from a 3-vector.

Namespaces