AuvHullLaw.h

 
#pragma once
 
#include "AuvFoil.h"
 
namespace auv_hull
{
struct Hull
{
   double radius      = 0.0; 
   double volume      = 0.0; 
   double frontalArea = 0.0; 
   double mass        = 0.0; 
   double ixx         = 0.0; 
   double iyy         = 0.0; 
   double izz         = 0.0; 
};
 
enum class RudderPlane
{
   Dive, 
   Yaw   
};
 
struct Rudder
{
   AuvFoilProperties foil;                              
   double            rho           = 1025.0;            
   double            area          = 0.016;             
   double            pos[3]        = {-0.85, 0.0, 0.0}; 
   double            maxDeflection = 0.35;              
};
 
Hull HullPropertiesOf(double length, double diameter, double averageDensity);
 
void AxialDragWrench(const double relVel_d[3], double rho, double frontalArea,
      double axialDragCoeff, double wrench_d[6]);
 
double AxialDragDerivative(double surge, double rho, double frontalArea, double axialDragCoeff);
 
constexpr int kSectionCount = 3;
 
double DefaultCrossFlowDragCoeff();
 
constexpr double kCrossFlowSpeedEpsilon = 1.0e-12;
 
struct Sections
{
   double x[kSectionCount]        = {}; 
   double diameter[kSectionCount] = {}; 
   double length[kSectionCount]   = {}; 
};
 
struct Coefficients
{
   double rho                  = 1025.0; 
   double axialDrag            = 0.0;    
   double crossFlowDrag        = 0.0;    
   double rollDampingLinear    = 0.0;    
   double rollDampingQuadratic = 0.0;    
};
 
void CrossFlowStripWrench(const double relVel_d[3], const double omega_d[3],
      double rho, double crossFlowDragCoeff, int sectionCount, const double* sectionX,
      const double* sectionDiameter, const double* sectionLength, double wrench_d[6]);
 
void AddCrossFlowStripDerivative(const double relVel_d[3], const double omega_d[3], double rho,
      double crossFlowDragCoeff, int sectionCount, const double* sectionX,
      const double* sectionDiameter, const double* sectionLength, double dWrench_dVelocity[6][6]);
 
void SlenderBodyLiftWrench(const double relVel_d[3], const double omega_d[3], double rho,
      int sectionCount, const double* sectionX, const double* sectionDiameter,
      const double* sectionLength, double wrench_d[6], double (*dWrench_dVelocity)[6] = nullptr);
 
double RollDampingMoment(double rollRate, double linear, double quadratic);
 
double RollDampingDerivative(double rollRate, double linear, double quadratic);
 
constexpr double kInflowSpeedEpsilon = 1.0e-12;
 
void RudderWrench(RudderPlane plane, const double relVel_d[3], const double omega_d[3],
      double deflection, const Rudder& rudder, double wrench_d[6]);
 
void RudderWrenchJacobian(RudderPlane plane, const double relVel_d[3],
      const double omega_d[3], double deflection, const Rudder& rudder,
      double dWrench_dVelocity[6][6], double dWrench_dDeflection[6]);
 
void HullLoadDerivative(const Hull& hull, const Sections& sections, const Rudder& rudder,
      const Coefficients& c, const double relVel_d[3], const double omega_d[3],
      double rudderDive, double rudderYaw, double dWrench_dVelocity[6][6]);
 
void AddHullLoad(const Hull& hull, const Sections& sections, const Rudder& rudder, const Coefficients& c,
      const double relVel_d[3], const double omega_d[3], double rudderDive, double rudderYaw,
      double wrench[6]);
} // namespace auv_hull