Class modelling a simple vessel used for the trawl optimization tool. More...

Inheritance diagram for TrawlVessel:

Collaboration diagram for TrawlVessel:

Public Member Functions
	TrawlVessel (std::string simObjectName, ISimObjectCreator *creator)

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const

virtual double	DesiredSpeed (const double dT, const double *const adX) const

virtual double	DesiredHeading (const double dT, const double *const adX) const
	The commanded heading at (dT, adX), as DesiredSpeed: `InitialHeading` here.

Jacobian support for implicit integration
Complete analytical Jacobian for the 3-state vessel kinematics. dXDot[pos+0]/dheading = -desiredSpeed * sin(heading) dXDot[pos+1]/dheading = desiredSpeed * cos(heading) dXDot[heading]/dheading = -apSpeed
bool	HasJacobians () const override

void	OdeJacobian (double T, const double X, double J, int nStates) override

int	GetJacobianSparsity (int nStates, int rowPtr, int colIdx) override

Protected Member Functions
const double *	OutHeading (const double dT, const double *const adX)
	Output ports.

const double *	OutPos (const double dT, const double *const adX)

const double *	OutVel (const double dT, const double *const adX)

const double *	OutWarpPos (const double dT, const double *const adX, int warp)

const double *	OutWarpVel (const double dT, const double *const adX, int warp)

void	CalcOutput (const double dT, const double *const adX)

void	CalcOutputCommon (const double dT, const double *const adX) const

virtual void	DoDerivedOutputUpdate (const double dT, const double *const adX)

Protected Attributes
double	m_apSpeed
	The speed of the autopilot.

double	m_out_Pos [3]

double	m_out_Vel [3]

double *	m_out_WarpPos

double *	m_out_WarpVel

ICommonComputation *	m_commonCalc
	Calculations necessary for more than one output port.

int	m_IStatePos

int	m_IStateHeading

double	m_Breadth

double	m_Draught

double	m_Length

double	m_WarpPosPrt [3]

double	m_WarpPosStb [3]

double	m_pitch

std::vector< std::array< double, 3 > >	m_warpPos
	The warp fastenings in the body frame, port to starboard.

int	m_numWarps

double	m_initialSpeed
	InitialSpeed: the speed command of a vessel without a `Vel` input.

double	m_initialHeading
	InitialHeading: the heading command of a vessel without a `Heading` input.

Detailed Description

Member Function Documentation

virtual double TrawlVessel::DesiredHeading	(	const double	dT,
		const double *const	adX
	)		const

virtual

Reimplemented in VesselDeploy, and ToVessel.

virtual double TrawlVessel::DesiredSpeed	(	const double	dT,
		const double *const	adX
	)		const

virtual

The commanded speed at (dT, adX), adX the model-global states: InitialSpeed here; a subclass reads its Vel input.

Reimplemented in VesselDeploy, and ToVessel.

The documentation for this class was generated from the following file: