Rigid ship with a mass and translational and angular velocity. More...

#include <ship.hh>

Classes
union	state_vector_type

Public Types
using	scalar_type = T

using	vec3 = blitz::TinyVector< T, 3 >

using	hull_type = Hull< T >

using	room_type = Compartment< T >

using	room_array = Compartment_array< T >

using	propulsor_type = Propulsor< T >

using	mass_type = Mass< T >

using	mass_array_type = Mass_array< T >

using	matrix_type = blitz::TinyMatrix< T, 3, 3 >

using	coordinate_system_type = vtb::geometry::Coordinate_system< T, 3 >

using	quaternion_coordinate_system_type = vtb::geometry::Quaternion_coordinate_system< T >

using	rotation_matrix_type = vtb::geometry::Rotation_matrix< T, 3 >

using	basis_type = vtb::geometry::Basis< T, 3 >

using	quaternion_type = vtb::geometry::Quaternion< T >

using	variables_type = typename state_vector_type::variables_type

Public Member Functions
const vec3 &	position (int i=0) const
	Get position or its time derivatives in Earth-fixed coordinate system. More...

void	position (int i, const vec3 &rhs)
	Set position or its time derivatives in Earth-fixed coordinate system. More...

const vec3 &	velocity () const
	Get velocity in Earth-fixed coordinate system.

void	velocity (const vec3 &rhs)
	Set velocity in Earth-fixed coordinate system.

const vec3 &	acceleration () const
	Acceleration in Earth-fixed coordinate system.

const vec3 &	angular_displacement (int i=0) const
	Get angular position or its time derivatives in Earth-fixed coordinate system. More...

vec3	euler_angles () const
	Get Euler angles or their derivatives. More...

const quaternion_type &	quaternion () const
	Get rotation quaternion.

void	euler_angles (const vec3 &rhs)
	Set Euler angles and rotation quaternion/matrix.

void	quaternion (const quaternion_type &q)
	Set rotation quaternion and update rotation quaternion/matrix.

T	roll () const
	Counterclockwise rotation about \(x\)-axis in radians. More...

T	pitch () const
	Counterclockwise rotation about \(y\)-axis in radians. More...

T	yaw () const
	Counterclockwise rotation about \(z\)-axis in radians. More...

T	surge (int i=0) const
	\(x\) coordinate of the position. More...

T	sway (int i=0) const
	\(y\) coordinate of the position. More...

T	heave (int i=0) const
	\(z\) coordinate of the position. More...

const vec3 &	angular_velocity () const
	Angular velocity in Earth-fixed coordinate system.

void	angular_velocity (const vec3 &rhs)
	Set angular velocity in Earth-fixed coordinate system.

const vec3 &	angular_acceleration () const
	Angular acceleration in Earth-fixed coordinate system.

const vec3 &	angular_momentum () const
	Angular momentum.

void	angular_momentum (const vec3 &rhs)
	Set angular momentum.

void	state_vector (const state_vector_type &v, const state_vector_type &dv, T dt)
	Set ship position, orientation and velocities from a state vector. More...

void	state_vector (const variables_type &v, const variables_type &dv, T dt)

state_vector_type	state_vector () const
	Get state vector for ship motion equation. More...

void	reset ()

const hull_type &	hull () const

void	hull (hull_type &&rhs)

void	hull (const hull_type &rhs)

void	compartments (const room_array &rhs)

room_array &	compartments ()

const room_array &	compartments () const

const propulsor_type &	propulsor () const

void	propulsor (const propulsor_type &rhs)

scalar_type	mass () const

T	flooded_mass () const
	Total mass of all fluid volumes inside compartments.

void	mass (scalar_type rhs)

void	displacement (scalar_type rhs)

scalar_type	displacement () const

void	draught (scalar_type rhs)

coordinate_system_type	earth_fixed_coordinate_system () const

quaternion_coordinate_system_type	body_fixed_coordinate_system () const

const rotation_matrix_type &	rotation_matrix () const

const rotation_matrix_type &	inertia_matrix () const
	Inertia matrix in body-fixed coordinate system. More...

void	dump (std::ostream &out) const

Friends
template<class X >
std::ostream &	operator<< (std::ostream &out, const Ship< X > &rhs)

template<class X >
bstream &	operator<< (bstream &out, const Ship< X > &rhs)

template<class X >
bstream &	operator>> (bstream &in, Ship< X > &rhs)

Detailed Description

template<class T>
class vtb::core::Ship< T >

Rigid ship with a mass and translational and angular velocity.

Date: 2018-07-18

Author: Ivan Gankevich

All quantities are in Earth-fixed coordinate system if not stated otherwise.

Definition at line 186 of file core/ship.hh.

Member Function Documentation

◆ angular_displacement()

template<class T>

const vec3& vtb::core::Ship< T >::angular_displacement ( int i = 0 ) const

inline

Get angular position or its time derivatives in Earth-fixed coordinate system.

Parameters

i	derivative order (0 means no derivative).

Definition at line 272 of file core/ship.hh.

Referenced by vtb::core::Ship< T >::angular_acceleration(), and vtb::core::Ship< T >::angular_velocity().

◆ euler_angles()

template<class T>

vec3 vtb::core::Ship< T >::euler_angles ( ) const

inline

Get Euler angles or their derivatives.

Parameters

i	derivative order (0 means no derivative).

Definition at line 278 of file core/ship.hh.

Referenced by vtb::core::Ship< T >::pitch(), vtb::core::Ship< T >::roll(), and vtb::core::Ship< T >::yaw().

◆ heave()

template<class T>

T vtb::core::Ship< T >::heave ( int i = 0 ) const

inline

\(z\) coordinate of the position.

Parameters

i	derivative order (0 means no derivative).

Definition at line 311 of file core/ship.hh.

◆ inertia_matrix()

template<class T>

const rotation_matrix_type& vtb::core::Ship< T >::inertia_matrix ( ) const

inline

Inertia matrix in body-fixed coordinate system.

Inertia matrix \(\mathcal{I}\) is calculated from inertia tensor \(I\) as follows:

\[ \mathcal{I} = \begin{array}{ccc} I_x & -I_{xy} & -I_{xz} \\ -I_{yx} & -I_y & -I_{yz} \\ -I_{zx} & -I_{zy} & -I_z \end{array}. \]

Definition at line 418 of file core/ship.hh.

◆ pitch()

template<class T>

T vtb::core::Ship< T >::pitch ( ) const

inline

Counterclockwise rotation about \(y\)-axis in radians.

Parameters

i	derivative order (0 means no derivative).

Definition at line 295 of file core/ship.hh.

References vtb::core::Ship< T >::euler_angles().

◆ position() [1/2]

template<class T>

const vec3& vtb::core::Ship< T >::position ( int i = 0 ) const

inline

Get position or its time derivatives in Earth-fixed coordinate system.

Parameters

i	derivative order (0 means no derivative).

Definition at line 253 of file core/ship.hh.

Referenced by vtb::core::Ship< T >::acceleration(), vtb::core::Gerstner_solver_openmp< T >::generate_field(), and vtb::core::Ship< T >::velocity().

◆ position() [2/2]

template<class T>

void vtb::core::Ship< T >::position	(	int	i,
		const vec3 &	rhs
	)

inline

Set position or its time derivatives in Earth-fixed coordinate system.

Parameters

i	derivative order (0 means no derivative).

Definition at line 257 of file core/ship.hh.

◆ roll()

template<class T>

T vtb::core::Ship< T >::roll ( ) const

inline

Counterclockwise rotation about \(x\)-axis in radians.

Parameters

i	derivative order (0 means no derivative).

Definition at line 291 of file core/ship.hh.

References vtb::core::Ship< T >::euler_angles().

◆ state_vector() [1/2]

template<class T >

void vtb::core::Ship< T >::state_vector	(	const state_vector_type &	v,
		const state_vector_type &	dv,
		T	dt
	)

Set ship position, orientation and velocities from a state vector.

Date: 2018-07-19

Author: Ivan Gankevich

Definition at line 73 of file core/ship.cc.

◆ state_vector() [2/2]

template<class T >

auto vtb::core::Ship< T >::state_vector ( ) const

Get state vector for ship motion equation.

Date: 2018-07-31

Author: Ivan Gankevich

Definition at line 62 of file core/ship.cc.

◆ surge()

template<class T>

T vtb::core::Ship< T >::surge ( int i = 0 ) const

inline

\(x\) coordinate of the position.

Parameters

i	derivative order (0 means no derivative).

Definition at line 303 of file core/ship.hh.

◆ sway()

template<class T>

T vtb::core::Ship< T >::sway ( int i = 0 ) const

inline

\(y\) coordinate of the position.

Parameters

i	derivative order (0 means no derivative).

Definition at line 307 of file core/ship.hh.

◆ yaw()

template<class T>

T vtb::core::Ship< T >::yaw ( ) const

inline

Counterclockwise rotation about \(z\)-axis in radians.

Parameters

i	derivative order (0 means no derivative).

Definition at line 299 of file core/ship.hh.

References vtb::core::Ship< T >::euler_angles().

Classes

Public Types

Public Member Functions

Friends

Detailed Description

template<class T> class vtb::core::Ship< T >

Member Function Documentation

◆ angular_displacement()

◆ euler_angles()

◆ heave()

◆ inertia_matrix()

◆ pitch()

◆ position() [1/2]

◆ position() [2/2]

◆ roll()

◆ state_vector() [1/2]

◆ state_vector() [2/2]

◆ surge()

◆ sway()

◆ yaw()

template<class T>
class vtb::core::Ship< T >