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Fix added mass contribution. #59

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merged 12 commits into from
Mar 16, 2022
Merged

Fix added mass contribution. #59

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4aa88de
Fix added mass contribution.
arjo129 Nov 3, 2021
d8dbf63
Merge branch 'main' into arjo/fix/added_mass
chapulina Nov 5, 2021
151ed78
Merge branch 'main' into arjo/fix/added_mass
chapulina Nov 16, 2021
5ac10ac
fic buoyancy action test
arjo129 Nov 17, 2021
063d969
Merge branch 'arjo/fix/added_mass' of github.com:osrf/lrauv into arjo…
arjo129 Nov 17, 2021
4873ba2
Merge branch 'main' into arjo/fix/added_mass
chapulina Nov 24, 2021
0dc24c8
Merge branch 'main' into arjo/fix/added_mass
arjo129 Nov 30, 2021
543198a
Merge branch 'main' into arjo/fix/added_mass
chapulina Dec 8, 2021
24296c1
Merge branch 'main' into arjo/fix/added_mass
chapulina Dec 18, 2021
6b04642
Merge branch 'main' into arjo/fix/added_mass
arjo129 Mar 11, 2022
c28986b
Because added mass now opposes the direction of acceleration, the veh…
arjo129 Mar 11, 2022
7bf0eee
Merge branch 'arjo/fix/added_mass' of github.com:osrf/lrauv into arjo…
arjo129 Mar 11, 2022
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2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc
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Expand Up @@ -274,7 +274,7 @@ void HydrodynamicsPlugin::PreUpdate(
Ma(3,3) = this->dataPtr->paramKdotP;
Ma(4,4) = this->dataPtr->paramMdotQ;
Ma(5,5) = this->dataPtr->paramNdotR;
const Eigen::VectorXd kAmassVec = Ma * stateDot;
const Eigen::VectorXd kAmassVec = - Ma * stateDot;

// Coriollis and Centripetal forces for under water vehicles (Fossen P. 37)
// Note: this is significantly different from VRX because we need to account
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4 changes: 2 additions & 2 deletions lrauv_ignition_plugins/test/test_mission_depth_vbs.cc
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Expand Up @@ -60,7 +60,7 @@ TEST_F(LrauvTestFixture, DepthVBS)

// Run enough iterations (chosen empirically) to reach steady state, then kill
// the controller
int targetIterations{50000};
int targetIterations{100000};
int maxSleep{100};
int sleep{0};
for (; sleep < maxSleep && lrauvRunning && this->iterations < targetIterations; ++sleep)
Expand All @@ -76,7 +76,7 @@ TEST_F(LrauvTestFixture, DepthVBS)

ignmsg << "Logged [" << this->tethysPoses.size() << "] poses" << std::endl;

int maxIterations{28000};
int maxIterations{50000};
ASSERT_LT(maxIterations, this->tethysPoses.size());

ignition::math::Vector3d maxVel(0, 0, 0);
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4 changes: 2 additions & 2 deletions lrauv_ignition_plugins/test/test_state_msg.cc
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Expand Up @@ -248,10 +248,10 @@ TEST_F(LrauvTestFixture, State)
EXPECT_NEAR(0.0002, latest.buoyancyposition_(), 1e-3);

// Position
EXPECT_LT(0.3, latest.depth_());
EXPECT_LT(0.2, latest.depth_());

// NED world frame: higher Z is deeper
EXPECT_LT(0.3, latest.pos_().z());
EXPECT_LT(0.2, latest.pos_().z());

// Velocity
// NED world frame: sinking to higher Z
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