FhSim  3.1.0
Marine systems simulation
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Classes | Public Types | Public Member Functions | Protected Member Functions | Static Protected Member Functions | List of all members
WaveHull Class Reference
+ Inheritance diagram for WaveHull:
+ Collaboration diagram for WaveHull:

Public Types

using Dof = std::array< double, 3 >
 Three generalized loads or coordinates: (heave, roll, pitch) or (surge, sway, yaw).
 
using Loads = std::array< double, 6 >
 Generalized loads on the six modes, ordered surge, sway, heave, roll, pitch, yaw [N, N m].
 

Public Member Functions

 WaveHull (std::string simObjectName, ISimObjectCreator *creator)
 
void FinalSetup (double T, const double *X, ISimObjectCreator *creator) override
 
void OdeFcn (double T, const double *X, double *XDot) const override
 
bool HasJacobians () const override
 
void OdeJacobian (double T, const double *X, double *J, int nStates) override
 
int GetJacobianSparsity (int, int *, int *) override
 
Dof RawWaveLoads (double T, const double *pose) const
 Unfiltered wave loads (Fz, Mphi, Mtheta) at time T for the hull at pose (N, E, psi).
 
const double * MotionPort (double T, const double *X)
 
const double * MotionRatePort (double T, const double *X)
 
const double * ExcitationPort (double T, const double *X)
 
const double * VelocityPort (double T, const double *X)
 
const double * PositionPort (double T, const double *X)
 
const double * RotationPort (double T, const double *X)
 

Protected Member Functions

virtual Loads ExtraLoads (double, const double *, const Dof &) const
 
virtual std::array< Dof, 6 > ExtraLoadsVelocityJacobian (const Dof &) const
 
virtual std::array< double, 3 > WaterVelocity (double, const double *) const
 
virtual std::array< double, 3 > HeldWaterVelocity () const
 The water velocity of the step [m/s], NED, which OdeJacobian holds fixed. The base: still water.
 
Dof VelocityThroughWater (double T, const double *X) const
 (u, v, r) through the water at time T for the model-global state X.
 
Dof HullDamping (const Dof &velocity) const
 The hull's damping X(u), Y(v), N(r) at the velocity through the water velocity (u, v, r), resisting it.
 
double Length () const
 
double Breadth () const
 
double Lcf () const
 
double Draught () const
 
double Rho () const
 
int MotionIndex () const
 
int RateIndex () const
 
int PoseIndex () const
 
int VelocityIndex () const
 

Static Protected Member Functions

static Dof InBodyFrame (const std::array< double, 3 > &water, double psi)
 The water velocity water (NED) in the body frame of heading psi: (u_c, v_c, 0).
 

Member Function Documentation

◆ ExtraLoads()

virtual Loads WaveHull::ExtraLoads ( double  ,
const double *  ,
const Dof &   
) const
inlineprotectedvirtual

Loads a derived model adds, at time T, for the model-global state X and the hull velocity velocity (u, v, r). The base adds none.

Reimplemented in WavePropulsionHull.

◆ ExtraLoadsVelocityJacobian()

virtual std::array< Dof, 6 > WaveHull::ExtraLoadsVelocityJacobian ( const Dof &  ) const
inlineprotectedvirtual

d(ExtraLoads)/d(u, v, r), one row per load, with the derived model's inputs held fixed. Called from OdeJacobian, which has no model-global state; the base adds none.

Reimplemented in WavePropulsionHull.

◆ HeldWaterVelocity()

virtual std::array< double, 3 > WaveHull::HeldWaterVelocity ( ) const
inlineprotectedvirtual

Reimplemented in WavePropulsionHull.

◆ WaterVelocity()

virtual std::array< double, 3 > WaveHull::WaterVelocity ( double  ,
const double *   
) const
inlineprotectedvirtual

The water velocity at the hull at time T for the model-global state X [m/s], NED: the hull's damping and a derived model's loads take the velocity through the water (MARE-0371). The base: still water.

Reimplemented in WavePropulsionHull.

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