#include <HydroBody.h>

Public Attributes
const double *	pos_n = nullptr
	The position state, NED [m].

const double *	quater = nullptr
	The attitude quaternion state [q0, q1, q2, q3].

const double *	vel_d = nullptr
	The velocity state, body frame [m/s].

const double *	omega = nullptr
	The angular-rate state, body frame [rad/s].

double	R [3][3] = {}
	The body-to-NED rotation matrix.

double	vel_n [3] = {}
	The velocity of the body origin, NED [m/s].

double	waterVel_n [3] = {}
	The water velocity at the body origin, NED [m/s].

double	waterVel_d [3] = {}
	The water velocity at the body origin, body frame [m/s].

double	relVel_d [3] = {}
	The velocity of the body relative to the water, vel_d - waterVel_d, body frame [m/s].

Detailed Description

The flow frame of one state: what every load of the body is computed from.

The four state pointers point into the state vector the frame was taken from, so a frame is valid only while that vector is.

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

Public Attributes