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Adds support for ocean currents #800

Merged
merged 16 commits into from
May 21, 2021
Merged

Adds support for ocean currents #800

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7eabd88
Adds support for ocean currents
arjo129 May 3, 2021
260d34b
Docs update
arjo129 May 3, 2021
377bb5f
Code style
arjo129 May 3, 2021
717ef02
fix broken image
arjo129 May 3, 2021
5b08625
Fix tutorial metadata.
arjo129 May 4, 2021
20b57f9
Minor changes.
caguero May 6, 2021
b8e2fbe
Merge branch 'ign-gazebo5' into arjo/ocean_currents
caguero May 6, 2021
04471fb
Add currents
arjo129 May 7, 2021
84027a7
Merge branch 'arjo/ocean_currents' of github.com:ignitionrobotics/ign…
arjo129 May 7, 2021
58cb078
Fix default current
arjo129 May 9, 2021
4f73f2a
Add `water_density` an option instead of <waterDensity>
arjo129 May 10, 2021
e671381
style fix
arjo129 May 14, 2021
b4b3723
Add warning
arjo129 May 18, 2021
4f964a4
Address @mabelzhang's feedback.
arjo129 May 18, 2021
15397c5
Merge branch 'ign-gazebo5' into arjo/ocean_currents
mabelzhang May 19, 2021
4038640
Update Hydrodynamics.cc
caguero May 20, 2021
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5 changes: 5 additions & 0 deletions src/systems/hydrodynamics/Hydrodynamics.cc
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Expand Up @@ -263,6 +263,11 @@ void Hydrodynamics::Configure(
return;
}

if(_sdf->HasElement("defaultCurrent"))
{
this->dataPtr->currentVector= _sdf->Get<math::Vector3d>("defaultCurrent");
}

this->dataPtr->prevState = Eigen::VectorXd::Zero(6);

AddWorldPose(this->dataPtr->linkEntity, _ecm);
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2 changes: 2 additions & 0 deletions src/systems/hydrodynamics/Hydrodynamics.hh
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Expand Up @@ -72,6 +72,8 @@ namespace systems
/// separately. If no namespace is given then the plugin listens on
/// the `/ocean_current` topic for a `Vector3d` message. Otherwise it
/// listens on `/model/{namespace name}/ocean_current`.[String, Optional]
/// <defaultCurrent> - A generic current.
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/// [vector3d m/s, optional, default = [0,0,0]m/s]
///
/// # Example
/// An example configuration is provided in the examples folder. The example
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