Linear potential wave-body model demo #70

srmainwaring · 2022-10-09T16:26:01Z

This PR adds a demonstration of a prototype linear potential wave-body model (regular waves).

See #69 for further details.

Ellipsoid Buoy: add model for an ellipsoid buoy - Add test model for hydrodynamics models. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add plugin for testing linear wave-body interaction models - Initial version of plugin with hydrostatic restoring forces. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - add contributions to moments from hydrostatic equilibrium term (centre of buoyancy). Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - update comments and disable debug output Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update models for testing linear wave-body interaction model - set wave amplitudes to zero and compare the two hydrostatic models Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add hydro data file and load into plugin - Add BEM hydro data .hdf5 file for ellipsoid (generated by capytaine / bemio) - Add dependency on Eigen. HDF5 and HighFive to read data file (HighFive should be cloned into to workspace) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Store loaded hydro data in a struct and replace hardcoded data. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Clean up. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: load remaining hydro data - Complete loading of all hydro data (except for state space model data) - Load routines can be factored out and consolidated (2nd pass) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: split update into contributions by force type - Split out hydrostatic force calculation. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameter for hydro data file - Add parameter <hydrodata> for specifying HDF5 file. - Move model specific config under model folder. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: document the hydrostatics calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use waterplane origin as reference point for displacements Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add radiation damping test case - Update variable labelling for pose and vectors - Add radiation damping test case example (hardcoded) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameters to control which forces are calculated - Add flags to control which force contributions are included - Format hdf5 file reader - Make hydrostatics forces switchable Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add force control parameters to ellipsoid example Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: initial version of radiation added mass force - Reorganise code to enable switching forces on / off - Outline added mass calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: updated version of radiation added mass force - Investigate a couple of methods - both approaches to capture acceleration in the force contribution are unstable. - Alternative methods is to use the SetFluidAddedMass method of the inertial. - This can be set on the component attached to the link entity in the plugin config, and this appears to propagate to the physics engine. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded added mass override with parameters - Allow the added mass and radiation damping to be set in parameters - Remove added mass calculation from update and set inertial in config - Add example parameters to demo world Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded radiation damping override with parameters - Allow the radiation damping to be set in parameters Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: - Add aliases for Vector6d and Matrix6d - Add gravity calculation to use instead of global physics engine gravity when enabling added mass - Update added mass calculation to use gazebosim/gz-physics#384 Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: update added mass example - Clean and symmetrise matrix Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add code to symmetrise added mass (disabled) Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add flags for additional debug info Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: cleanup Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: add parameters for constant coefficient overrides - Add parameters for storing wave excitation force coefficients - Add template specialisation to read Eigen::Vector6d - Add example data to sdf model - Remove stale code for added mass adjustments from class declaration Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation force for regular waves - Add overrides for wave period, height and phase - Update documentation describing added mass calculation - Implement constant coefficient excitation calculation for regular waves - Update wave model to used trochoids with steepness = 0 (direction not implemented for sinusoids) - Rename elements for wave excitation force components Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: correct buoyancy moment calculation - Correct the buoyancy moment calculation for larger displacements. - Add missing parameter read for the flag to enable / disable the excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation Froude-Krylov and scattering force components - Add example coefficients for excitation Froude-Krylove and scattering components. - Read parameters in Config. - Implement force calculations for new components. - Initialise vectors and matrices to zero. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: rename variables using Kane/monogram notation - Rename pose, vectors using Kane/monogram notation described in the Drake docs. - Fix gravity calculation. - Factor out common link state updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: update example model and add notes Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add force publishers - Publish force and torque if enabled - Add parameters to enable force publishing - Update launch script to enable ROS bridge for forces Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: configure buoy example to use all forces - Set initial position to origin for linear potential model example - Update document with references Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor flags and publishers - Group flags into structs to reduce clutter. - Move debug flags into their own SDF element. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor hydro coefficient overrides - Group coefficients into structs to reduce clutter. - Reorganise hydro coefficient elements in SDF. - Move waves and sim environment params into separate structs. - Add override for hydrostatic linear restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add geometry overrides - Add section for geometry overrides. - Rename the initial pose the body waterplane. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add wave models for test cases - Add regular wave models with different periods and amplitudes. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: fix geometry overrides - Fix issue with parsing SDF and ensure SDF example valid. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: use waves test model Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: revert waves.sdf to original - Move ellipsoid test to new world file. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add world for ellipsoid test case Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add spheroid test case - Add spheroid for added mass Test1a Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: update spheroid test case - Add ROS launch file for tests. - Update BEM coeffs from WEC-Sim example Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 1 - Rename hydro coefficient class. - Handle override for hydrostatic restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 2 - Move HDF5 reader to separate function. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: fix error in torque calculation - Fix indexing error in torque lookup. - Shorten spatial force names. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Hydrostatics: update treatment of CoB offset from CoM - Use the initial offset of the CoB from CoM in updates - tricky as CoB is dynamic but linear model appears to rely on this being at initial position. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 3 - Refactor duplicated code in array read functions. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 4 - Refactor SDF element names. - Change <hydrodata> to <hdf5_file> as the element is a file name. - Move <waves> up a level. - Change <environment> to <simulation_parameters> - Shorten <force_publishers> to <publishers> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 5 - Add notes on model and WEC-Sim data structures and modelling. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 6 - Name refactoring - preparation for introducing new structs for data that will be used in updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 7 - Add improved handling of overrides. - Remove all override decision making from update loops. - Add separate data structure to contain the hydro force coefficients used in the update loop. - Document the load and override policy. Signed-off-by: Rhys Mainwaring <[email protected]>

Signed-off-by: Rhys Mainwaring <[email protected]> ROS: add node to publish body response labelled using maritime conventions - Add body_response_publisher - Update launch file Signed-off-by: Rhys Mainwaring <[email protected]> ROS: update README Signed-off-by: Rhys Mainwaring <[email protected]> ROS: correct topic name for excitation force Signed-off-by: Rhys Mainwaring <[email protected]>

* Wave Body: Add linear potential wave-body model Ellipsoid Buoy: add model for an ellipsoid buoy - Add test model for hydrodynamics models. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add plugin for testing linear wave-body interaction models - Initial version of plugin with hydrostatic restoring forces. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - add contributions to moments from hydrostatic equilibrium term (centre of buoyancy). Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - update comments and disable debug output Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update models for testing linear wave-body interaction model - set wave amplitudes to zero and compare the two hydrostatic models Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add hydro data file and load into plugin - Add BEM hydro data .hdf5 file for ellipsoid (generated by capytaine / bemio) - Add dependency on Eigen. HDF5 and HighFive to read data file (HighFive should be cloned into to workspace) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Store loaded hydro data in a struct and replace hardcoded data. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Clean up. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: load remaining hydro data - Complete loading of all hydro data (except for state space model data) - Load routines can be factored out and consolidated (2nd pass) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: split update into contributions by force type - Split out hydrostatic force calculation. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameter for hydro data file - Add parameter <hydrodata> for specifying HDF5 file. - Move model specific config under model folder. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: document the hydrostatics calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use waterplane origin as reference point for displacements Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add radiation damping test case - Update variable labelling for pose and vectors - Add radiation damping test case example (hardcoded) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameters to control which forces are calculated - Add flags to control which force contributions are included - Format hdf5 file reader - Make hydrostatics forces switchable Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add force control parameters to ellipsoid example Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: initial version of radiation added mass force - Reorganise code to enable switching forces on / off - Outline added mass calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: updated version of radiation added mass force - Investigate a couple of methods - both approaches to capture acceleration in the force contribution are unstable. - Alternative methods is to use the SetFluidAddedMass method of the inertial. - This can be set on the component attached to the link entity in the plugin config, and this appears to propagate to the physics engine. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded added mass override with parameters - Allow the added mass and radiation damping to be set in parameters - Remove added mass calculation from update and set inertial in config - Add example parameters to demo world Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded radiation damping override with parameters - Allow the radiation damping to be set in parameters Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: - Add aliases for Vector6d and Matrix6d - Add gravity calculation to use instead of global physics engine gravity when enabling added mass - Update added mass calculation to use gazebosim/gz-physics#384 Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: update added mass example - Clean and symmetrise matrix Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add code to symmetrise added mass (disabled) Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add flags for additional debug info Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: cleanup Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: add parameters for constant coefficient overrides - Add parameters for storing wave excitation force coefficients - Add template specialisation to read Eigen::Vector6d - Add example data to sdf model - Remove stale code for added mass adjustments from class declaration Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation force for regular waves - Add overrides for wave period, height and phase - Update documentation describing added mass calculation - Implement constant coefficient excitation calculation for regular waves - Update wave model to used trochoids with steepness = 0 (direction not implemented for sinusoids) - Rename elements for wave excitation force components Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: correct buoyancy moment calculation - Correct the buoyancy moment calculation for larger displacements. - Add missing parameter read for the flag to enable / disable the excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation Froude-Krylov and scattering force components - Add example coefficients for excitation Froude-Krylove and scattering components. - Read parameters in Config. - Implement force calculations for new components. - Initialise vectors and matrices to zero. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: rename variables using Kane/monogram notation - Rename pose, vectors using Kane/monogram notation described in the Drake docs. - Fix gravity calculation. - Factor out common link state updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: update example model and add notes Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add force publishers - Publish force and torque if enabled - Add parameters to enable force publishing - Update launch script to enable ROS bridge for forces Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: configure buoy example to use all forces - Set initial position to origin for linear potential model example - Update document with references Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor flags and publishers - Group flags into structs to reduce clutter. - Move debug flags into their own SDF element. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor hydro coefficient overrides - Group coefficients into structs to reduce clutter. - Reorganise hydro coefficient elements in SDF. - Move waves and sim environment params into separate structs. - Add override for hydrostatic linear restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add geometry overrides - Add section for geometry overrides. - Rename the initial pose the body waterplane. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add wave models for test cases - Add regular wave models with different periods and amplitudes. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: fix geometry overrides - Fix issue with parsing SDF and ensure SDF example valid. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: use waves test model Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: revert waves.sdf to original - Move ellipsoid test to new world file. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add world for ellipsoid test case Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add spheroid test case - Add spheroid for added mass Test1a Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: update spheroid test case - Add ROS launch file for tests. - Update BEM coeffs from WEC-Sim example Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 1 - Rename hydro coefficient class. - Handle override for hydrostatic restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 2 - Move HDF5 reader to separate function. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: fix error in torque calculation - Fix indexing error in torque lookup. - Shorten spatial force names. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Hydrostatics: update treatment of CoB offset from CoM - Use the initial offset of the CoB from CoM in updates - tricky as CoB is dynamic but linear model appears to rely on this being at initial position. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 3 - Refactor duplicated code in array read functions. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 4 - Refactor SDF element names. - Change <hydrodata> to <hdf5_file> as the element is a file name. - Move <waves> up a level. - Change <environment> to <simulation_parameters> - Shorten <force_publishers> to <publishers> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 5 - Add notes on model and WEC-Sim data structures and modelling. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 6 - Name refactoring - preparation for introducing new structs for data that will be used in updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 7 - Add improved handling of overrides. - Remove all override decision making from update loops. - Add separate data structure to contain the hydro force coefficients used in the update loop. - Document the load and override policy. Signed-off-by: Rhys Mainwaring <[email protected]> * ROS: add a project to publish gazebo messages to ros2 Signed-off-by: Rhys Mainwaring <[email protected]> ROS: add node to publish body response labelled using maritime conventions - Add body_response_publisher - Update launch file Signed-off-by: Rhys Mainwaring <[email protected]> ROS: update README Signed-off-by: Rhys Mainwaring <[email protected]> ROS: correct topic name for excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]>

Linear potential wave-body model demo (#70) * Wave Body: Add linear potential wave-body model Ellipsoid Buoy: add model for an ellipsoid buoy - Add test model for hydrodynamics models. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add plugin for testing linear wave-body interaction models - Initial version of plugin with hydrostatic restoring forces. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - add contributions to moments from hydrostatic equilibrium term (centre of buoyancy). Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - update comments and disable debug output Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update models for testing linear wave-body interaction model - set wave amplitudes to zero and compare the two hydrostatic models Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add hydro data file and load into plugin - Add BEM hydro data .hdf5 file for ellipsoid (generated by capytaine / bemio) - Add dependency on Eigen. HDF5 and HighFive to read data file (HighFive should be cloned into to workspace) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Store loaded hydro data in a struct and replace hardcoded data. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Clean up. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: load remaining hydro data - Complete loading of all hydro data (except for state space model data) - Load routines can be factored out and consolidated (2nd pass) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: split update into contributions by force type - Split out hydrostatic force calculation. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameter for hydro data file - Add parameter <hydrodata> for specifying HDF5 file. - Move model specific config under model folder. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: document the hydrostatics calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use waterplane origin as reference point for displacements Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add radiation damping test case - Update variable labelling for pose and vectors - Add radiation damping test case example (hardcoded) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameters to control which forces are calculated - Add flags to control which force contributions are included - Format hdf5 file reader - Make hydrostatics forces switchable Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add force control parameters to ellipsoid example Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: initial version of radiation added mass force - Reorganise code to enable switching forces on / off - Outline added mass calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: updated version of radiation added mass force - Investigate a couple of methods - both approaches to capture acceleration in the force contribution are unstable. - Alternative methods is to use the SetFluidAddedMass method of the inertial. - This can be set on the component attached to the link entity in the plugin config, and this appears to propagate to the physics engine. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded added mass override with parameters - Allow the added mass and radiation damping to be set in parameters - Remove added mass calculation from update and set inertial in config - Add example parameters to demo world Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded radiation damping override with parameters - Allow the radiation damping to be set in parameters Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: - Add aliases for Vector6d and Matrix6d - Add gravity calculation to use instead of global physics engine gravity when enabling added mass - Update added mass calculation to use gazebosim/gz-physics#384 Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: update added mass example - Clean and symmetrise matrix Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add code to symmetrise added mass (disabled) Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add flags for additional debug info Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: cleanup Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: add parameters for constant coefficient overrides - Add parameters for storing wave excitation force coefficients - Add template specialisation to read Eigen::Vector6d - Add example data to sdf model - Remove stale code for added mass adjustments from class declaration Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation force for regular waves - Add overrides for wave period, height and phase - Update documentation describing added mass calculation - Implement constant coefficient excitation calculation for regular waves - Update wave model to used trochoids with steepness = 0 (direction not implemented for sinusoids) - Rename elements for wave excitation force components Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: correct buoyancy moment calculation - Correct the buoyancy moment calculation for larger displacements. - Add missing parameter read for the flag to enable / disable the excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation Froude-Krylov and scattering force components - Add example coefficients for excitation Froude-Krylove and scattering components. - Read parameters in Config. - Implement force calculations for new components. - Initialise vectors and matrices to zero. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: rename variables using Kane/monogram notation - Rename pose, vectors using Kane/monogram notation described in the Drake docs. - Fix gravity calculation. - Factor out common link state updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: update example model and add notes Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add force publishers - Publish force and torque if enabled - Add parameters to enable force publishing - Update launch script to enable ROS bridge for forces Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: configure buoy example to use all forces - Set initial position to origin for linear potential model example - Update document with references Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor flags and publishers - Group flags into structs to reduce clutter. - Move debug flags into their own SDF element. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor hydro coefficient overrides - Group coefficients into structs to reduce clutter. - Reorganise hydro coefficient elements in SDF. - Move waves and sim environment params into separate structs. - Add override for hydrostatic linear restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add geometry overrides - Add section for geometry overrides. - Rename the initial pose the body waterplane. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add wave models for test cases - Add regular wave models with different periods and amplitudes. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: fix geometry overrides - Fix issue with parsing SDF and ensure SDF example valid. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: use waves test model Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: revert waves.sdf to original - Move ellipsoid test to new world file. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add world for ellipsoid test case Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add spheroid test case - Add spheroid for added mass Test1a Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: update spheroid test case - Add ROS launch file for tests. - Update BEM coeffs from WEC-Sim example Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 1 - Rename hydro coefficient class. - Handle override for hydrostatic restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 2 - Move HDF5 reader to separate function. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: fix error in torque calculation - Fix indexing error in torque lookup. - Shorten spatial force names. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Hydrostatics: update treatment of CoB offset from CoM - Use the initial offset of the CoB from CoM in updates - tricky as CoB is dynamic but linear model appears to rely on this being at initial position. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 3 - Refactor duplicated code in array read functions. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 4 - Refactor SDF element names. - Change <hydrodata> to <hdf5_file> as the element is a file name. - Move <waves> up a level. - Change <environment> to <simulation_parameters> - Shorten <force_publishers> to <publishers> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 5 - Add notes on model and WEC-Sim data structures and modelling. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 6 - Name refactoring - preparation for introducing new structs for data that will be used in updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 7 - Add improved handling of overrides. - Remove all override decision making from update loops. - Add separate data structure to contain the hydro force coefficients used in the update loop. - Document the load and override policy. Signed-off-by: Rhys Mainwaring <[email protected]> * ROS: add a project to publish gazebo messages to ros2 Signed-off-by: Rhys Mainwaring <[email protected]> ROS: add node to publish body response labelled using maritime conventions - Add body_response_publisher - Update launch file Signed-off-by: Rhys Mainwaring <[email protected]> ROS: update README Signed-off-by: Rhys Mainwaring <[email protected]> ROS: correct topic name for excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 8 (#71) - Remove hardcoded frequency index used to lookup hydro coeffs from hdf5 data. - Coefficients from hdf5 are linearly interpolated and scaled given the frequency in the simulation params. Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: use model:// URI to specify BEM file location (#72) - Use model://<model_path_to_config> URI syntax to locate BEM data files. Signed-off-by: Rhys Mainwaring <[email protected]> Update example regular wave models (#73) * Wave Body: rename regular wave example models to refer to wave height rather than amplitude - Use wave height in linear wave-body model SDF and in the names of the example regular wave models. Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body: add extra regular wave models to cover spectrum - Add low and high frequency examples. Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body: reset wave model used by examples - Set examples to use regular_waves_6s_2m model - this matches the override hydro coefficients. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add checks when reading the hdf5 file (#74) * Wave Body: add checks when reading the hdf5 file - Check that datasets are present before loading. - Check that data is not empty before attempting to display. Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body: update comments to clarify scaled means non-dimensioned Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add publisher for added mass force (#75) - Add publisher for estimated added mass force. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body MBARI: add MBARI buoy example for testing (#76) - Add test model for the MBARI WEC buoy (float only) Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body MBARI: add collision mesh and change default BEM file (#77) * Wave Body MBARI: add collision mesh for buoy - Add simplified collision meshes for the buoy at different levels of refinement. - Use the mesh with 316 faces in the model. - Add BEM file generated using Capytaine and the 5548 face mesh. Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body MBARI: change default the BEM data file - The excitation data in the hdf5 file generated from WAMIT data has the wrong sign, use Capytaine / bemio generated file in the meanwhile. - Simplify ramp function. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body MBARI: fix ramp function missing bracket (#78) Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: don't use auto with Eigen (#79) Signed-off-by: Rhys Mainwaring <[email protected]> Merge (#80) into demo/linear-wave-body (#81) * Waves: enable wave direction in the sinusoid wave model (#80) * Waves: enable wave direction in the sinusoid wave model - Allow wave direction to be set for regular waves. - Add test for a wave direction not parallel to the x-axis Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: rename monochromatic_waves model - Rename to regular waves. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update regular wave model descriptions Signed-off-by: Rhys Mainwaring <[email protected]> Merge branch 'master' into demo/linear-wave-body (#83) * Waves: enable wave direction in the sinusoid wave model (#80) * Waves: enable wave direction in the sinusoid wave model - Allow wave direction to be set for regular waves. - Add test for a wave direction not parallel to the x-axis Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: rename monochromatic_waves model - Rename to regular waves. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves simulation optimisation - part 1 (#82) * Waves: add classes for spreading functions - Add classes for directional spreading functions. - Add vectorised calculations using Eigen. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update classes for spreading functions - Update classes for directional spreading functions - use Eigen::MatrixXd rather than VectorXd. - Update tests including broadcasting to arrays. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add classes for omni-directional spectrum functions - Add classes for omni-directional wave spectra. - Add test case for vectorised spectrum calculation using Eigen. - Add regression test and check limits (k = 0, u19 = 0) Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update classes for omni-directional spectrum functions - Implement ECVK omni-directional spectra. - Add test case for vectorised spectrum calculation using Eigen. - Add regression test and check limits (k = 0, u10 = 0) Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add regression tests for spectra. - Add regression test against spectrum calculation used in FFT2. - Make spectrum functions in FFT2 static. - Add ECKV spectrum tests. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: fix spreading function test. - Fix segfault caused by missing arg. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove unused wave simulation classes - Remove FFTW and OpenCL simulation classes. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: reset test values after physical constant updates. - Update buoyancy regression values after fluid density and gravity value update. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: fix failing static test in gz_waves_bridge - Disable flake8 and fix docstring. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: replace std::vector with Eigen in WaveSimulation - Migration from std::vector to Eigen::VectorXf. Not efficient as involved heap allocation each update. - Replace std::vector for interface calls in OceanTile. - Remove unused code from WaveSpectrum. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: fixes post cherry-pick - Revert interface change in WaveSimulation. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: replace std::vector with Eigen in WaveSimulation - Remove interface using std::vector<double> from WaveSimulation classes. - Update waves plugin classes to use new interfaces. - Update test Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: replace std::vector with Eigen in WaveSimulation - Remove internal interface using std::vector<double> from WaveSimulation classes. - Update tests Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: replace std::vector with Eigen in FFT WaveSimulation - Remove internal interface using std::vector<double> from WaveSimulation classes. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: correct typos in derivative calculations for sinusoid and trochoid waves - Ensure Eigen vector workspace is initialised in WavesVisual. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: visual lighting workaround - Tangent space calculation not correct - environment mapping looks incorrect unless dhdx <---> dhdx? Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update sinusoid wave interface - Allow x and y to be set independently in wave grid. - Streamline class declarations. - Update tests. - Add vectorise option for sinusoid waves. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove unused functions. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add tests for vectorised sinusoid wave sim - Cross check vectorised code against non-vectorised version. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove unused include from WaveSimulationSinusoid Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: refactor WaveSimulation method names. - Rename ComputeHeights to ComputeElevation. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: refactor update indentation formatting. - Add vectorisation method to FFT wave simulation. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: refactor update member variable names in FFT wave simulation - Standardise caps convention for naming member variables (using underscores). - Update interface to allow different nx and ny for grid. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: temp workaround for wave derivatives used in lighting tangent space - Workaround mixed conventions for matrix-ij vs matrix-xy storage in tangent space calcs. Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> * Waves simulation optimisation - part 2 (#84) * Waves: update FFT wave simulation tests for non-square grids (nx != ny) Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: apply google coding standards Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: apply google coding standards Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: apply google coding standards Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: apply google coding standards Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: apply google coding standards Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: apply google coding standards Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update FFT test namesWaves Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: preparation for vectorising FFT wave simulation update - Add placeholders for vectorised versions of functions - Replace hardcoded gravity constants with params. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: preparation for vectorising FFT wave simulation update - Add cross-check tests for vectorised versions of base and current amplitude calculations. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: progress vectorising FFT wave simulation update - Change capitalisation of Cos2sSpreadingFunction. - Update comments in WaveSpectrum. - WaveSimulationFFT - Consolidate initialisation code. - Update variable names (nyquist) - Delay allocation of storage for Eigen member variables. - Update tests to use nearest for cross checks on vectorised version. - Remove use of auto for Eigen references (use Eigen::Ref instead) - Factor out wavenumber initialisation. - Partial vectorisation. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: vectorise base amplitude calc for FFT wave simulation - Leave initialisation of IID random normals un-vectorised for testing against original versions. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add unit test for Eigen and FFTW - Add test skeleton. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add unit test for Eigen and FFTW - Add examples using different storage choices. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add unit test for Eigen and FFTW - Add examples for row vs column major storage. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add Eigen alignment macro Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use Eigen types for FFTW storage - reduce copies - Use Eigen types instead of fftw_complex* for FFT workspace. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove unused code from FFWT wave simulation Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use row-major Eigen matrix storage for FFT wave simulation - Intermediate step moving from Eigen::VectorXcd to Eigen::MatrixXcdRowMajor. - FFTW requires row-major ordering, Eigen is column major by default. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use row-major Eigen matrix storage for FFT wave simulation - Change to matrix indexing in FFT wave storage (from a single column). Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update output mapping from row to col major storage in FFT wave simulation - Replace loops with vector calls using reshaped to flatten. Signed-off-by: Rhys Mainwaring <[email protected]> * Set up CI using GitHub Actions (#85) - CI: remove travis integration - Add codeowners and gazebo ci.yml - Minimal version - checkout only. - Change checkout actions/checkout@v3 - Add CI workflows for ubuntu and macos - Rename and split macOS into separate workflow. - Install Gazebo Garden. - Test caching - Add brew install script. - Add build script. - Update macos-ci - Add test step. - Add GitHub Actions status badge, remove travis badges. - Update ci install scripts - Update the brew installation script to force relinking on all dependencies of the installed packages. - Fix relink step. - Update ubunti-ci workflow. - Add install, build and test steps. - Rename macos scripts. - Update ubunti-ci workflow. - Install additional build dependencies. - Update ubunti-ci workflow. - Fix colcon build command line. - Move macOS to colcon build. - Update workflow for ubuntu 20.04 - Ensure cgal etc are linked as well as deps. - Split Ubuntu jobs to separate workflow - Update macos workflow - add build tools - Fix EigenFFTW breaking on Ubuntu. - Update macos workflow - reenable build and test - Fix timer in CGAL test and disable triangulation tests failing on Ubuntu. - Fix errors in WaveSimulationFFT2 tests and set tolerances for variance comparisons. - Check colcon install on macOS workflow - Disable trochoid wave test - Investigate why colcon not found in macOS CI workflow - Add workflow to check build tools are installed. - Use pip3 - Use full path to colcon - Add pip install checks - Update path to Python scripts - Update path to Python scripts - Pip install colcon and vcstool with --user flag Signed-off-by: Rhys Mainwaring <[email protected]> * Waves simulation optimisation - part 3 (#87) * Waves: optimise current amplitude calculation for FFT wave simulation - Investigate optimisation options for the current amplitude calculation. - vectorised assignment to fft worlspace is not faster than a single loop. - pre-calculate the fourier amplitude coefficients (reduce index lookup) - marginal gain? Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: label indices in ocean tile to distinguish between vertex indices and wave indices - Vertex array index: v_idx_cm: v - vertex, cm - column major - Wave array index: w_idx_cm: v - vertex, cm - column major - Wave array index: w_idx_rm: v - vertex, rm - row major Signed-off-by: Rhys Mainwaring <[email protected]> * CI: only run macOS workflow on PR Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: rename FFT wave simulation class Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: duplicate FFT wave simulation class to factor out reference version Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: duplicate FFT wave simulation class to factor out reference version - Complete split of reference implementation into separate class. - Remove unused code from the separated FFT wave simulation classes. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove commented code - Remove code referring to reference versions of the spectrum calculations. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add performance checks for spectrum and FFT amplitude calculations - Initial performance tests. Contain debugging and timing info. - Eigen component-wise array versions are not performant... Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: replace slow array versions of spectrum calcs. - Eigen component-wise array versions are not performant - replace with calls using std::transform on unary / binary versions. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: refactor wave simulation and spectrum test names - Functions are not truly vectorised - use Eigen array type to label tests instead. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: satisfy Eigen check that range iterators in STL algorithms are from the same expression. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves simulation optimisation - part 4 (#88) * Waves: restructure wave spectrum performance test for instrumenting - Move initialisation into test fixture Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove c-wise amplitude update - Remove inefficient component wise amplitude update and associated data. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove c-wise cos / sin update in current amplitude calc - Remove inefficient component wise amplitude update. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: restructure FFT wave amplitude performance test for instrumenting - Move initialisation into test fixture. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: update FFT wave simulation - Consolidate storage (shape depends whether loop is flattened or not). - Make test fixture class names consistent. - Remove array allocation in current amplitude update Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use previously calculated wave numbers Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove two loops from FFT base amplitude calculation Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove component-wise array amplitude calculations - Abandon using c-wise amplitude calculations as the loop based update has better performance. - Remove unnecessary storage from the FFT class to reduce memory footprint. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: remove WaveSimulationFFTRef from public interface Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: add performance checks for elevation and displacement calculations - Add performance check for main update loop - elevations, displacements and derivatives. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves simulation optimisation - part 5 (#89) * Waves: update FFTW check - Modify check to transform hermitian amplitudes back to real values. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: create FFTW plans before initialising arrays - FFTW may overwrite data in arrays while planning. Allocate, plan, initialise. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use complex to real version of FFTW - Change outputs to real arrays. - Change size of input complex arrays to nx * ny/2+1 - Output in Compute* functions is now real. - Add example in the Eigen FFTW test using a c2r plan. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use complex to real version of FFTW - Flattened index must be calculated as loops do not cover full range. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: use complex to real version of FFTW - Disable hermitian tests for optimised FFT wave sim (arrays truncated using symmetry) Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: temp disable tests broken because of switch to real DFT The following tests require further review - restructuring - ParsevalsIdentityTimeZero - ParsevalsIdentityTimeNonZero - Displacement Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: additional Hermitian tests - Add placeholder tests to check derivative and displacement amplitudes are Hermitian. Signed-off-by: Rhys Mainwaring <[email protected]> * Waves: fix Hermitian symmetry for derivatives (#90) - Correct Nyquist term in derivative amplitudes (must be zero). - Enable tests to check derivative and displacement amplitudes are Hermitian. Signed-off-by: Rhys Mainwaring <[email protected]> * CI: clean build warnings (#91) * CI: enable all warnings and enforce as errors - Clean build of all warnings. - Disable unused variables from tests (primarily present for printing info). - Comment unused parameters in function sigs. - Fix int type comparison warnings in loops. - Fix initialisation order errors in constructors. Signed-off-by: Rhys Mainwaring <[email protected]> * CI: enable all warnings and enforce as errors - Remove GZ_ASSERT raising a warning on Ubuntu Signed-off-by: Rhys Mainwaring <[email protected]> * CI: enable all warnings and enforce as errors - Renaming shadowing variables. Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body: update cmake dependencies - Use FetchContent to retrieve dependency HighFive. - Fix typo in documentation. - Remove cpp style header for mlinterp Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body: update ci workflow - Add build flag for HighFive dependency Signed-off-by: Rhys Mainwaring <[email protected]> * Wave Body: update waves bridge tests - Remove breaking tests inherited from ROS project template. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: post rebase fixes. Signed-off-by: Rhys Mainwaring <[email protected]>

* Wave Body: Add linear potential wave-body model Ellipsoid Buoy: add model for an ellipsoid buoy - Add test model for hydrodynamics models. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add plugin for testing linear wave-body interaction models - Initial version of plugin with hydrostatic restoring forces. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - add contributions to moments from hydrostatic equilibrium term (centre of buoyancy). Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update linear wave-body interaction model - update comments and disable debug output Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: update models for testing linear wave-body interaction model - set wave amplitudes to zero and compare the two hydrostatic models Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add hydro data file and load into plugin - Add BEM hydro data .hdf5 file for ellipsoid (generated by capytaine / bemio) - Add dependency on Eigen. HDF5 and HighFive to read data file (HighFive should be cloned into to workspace) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Store loaded hydro data in a struct and replace hardcoded data. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use loaded hydro data in calculations - Clean up. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: load remaining hydro data - Complete loading of all hydro data (except for state space model data) - Load routines can be factored out and consolidated (2nd pass) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: split update into contributions by force type - Split out hydrostatic force calculation. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameter for hydro data file - Add parameter <hydrodata> for specifying HDF5 file. - Move model specific config under model folder. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: document the hydrostatics calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: use waterplane origin as reference point for displacements Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add radiation damping test case - Update variable labelling for pose and vectors - Add radiation damping test case example (hardcoded) Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add parameters to control which forces are calculated - Add flags to control which force contributions are included - Format hdf5 file reader - Make hydrostatics forces switchable Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: add force control parameters to ellipsoid example Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: initial version of radiation added mass force - Reorganise code to enable switching forces on / off - Outline added mass calculation Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: updated version of radiation added mass force - Investigate a couple of methods - both approaches to capture acceleration in the force contribution are unstable. - Alternative methods is to use the SetFluidAddedMass method of the inertial. - This can be set on the component attached to the link entity in the plugin config, and this appears to propagate to the physics engine. Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded added mass override with parameters - Allow the added mass and radiation damping to be set in parameters - Remove added mass calculation from update and set inertial in config - Add example parameters to demo world Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: replace hardcoded radiation damping override with parameters - Allow the radiation damping to be set in parameters Signed-off-by: Rhys Mainwaring <[email protected]> Wave-Body: - Add aliases for Vector6d and Matrix6d - Add gravity calculation to use instead of global physics engine gravity when enabling added mass - Update added mass calculation to use gazebosim/gz-physics#384 Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: update added mass example - Clean and symmetrise matrix Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add code to symmetrise added mass (disabled) Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: add flags for additional debug info Signed-off-by: Rhys Mainwaring <[email protected]> Fluid added mass: cleanup Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: add parameters for constant coefficient overrides - Add parameters for storing wave excitation force coefficients - Add template specialisation to read Eigen::Vector6d - Add example data to sdf model - Remove stale code for added mass adjustments from class declaration Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation force for regular waves - Add overrides for wave period, height and phase - Update documentation describing added mass calculation - Implement constant coefficient excitation calculation for regular waves - Update wave model to used trochoids with steepness = 0 (direction not implemented for sinusoids) - Rename elements for wave excitation force components Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: correct buoyancy moment calculation - Correct the buoyancy moment calculation for larger displacements. - Add missing parameter read for the flag to enable / disable the excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: implement excitation Froude-Krylov and scattering force components - Add example coefficients for excitation Froude-Krylove and scattering components. - Read parameters in Config. - Implement force calculations for new components. - Initialise vectors and matrices to zero. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: rename variables using Kane/monogram notation - Rename pose, vectors using Kane/monogram notation described in the Drake docs. - Fix gravity calculation. - Factor out common link state updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: update example model and add notes Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add force publishers - Publish force and torque if enabled - Add parameters to enable force publishing - Update launch script to enable ROS bridge for forces Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: configure buoy example to use all forces - Set initial position to origin for linear potential model example - Update document with references Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor flags and publishers - Group flags into structs to reduce clutter. - Move debug flags into their own SDF element. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: refactor hydro coefficient overrides - Group coefficients into structs to reduce clutter. - Reorganise hydro coefficient elements in SDF. - Move waves and sim environment params into separate structs. - Add override for hydrostatic linear restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add geometry overrides - Add section for geometry overrides. - Rename the initial pose the body waterplane. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add wave models for test cases - Add regular wave models with different periods and amplitudes. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: fix geometry overrides - Fix issue with parsing SDF and ensure SDF example valid. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: use waves test model Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: revert waves.sdf to original - Move ellipsoid test to new world file. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: add world for ellipsoid test case Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: add spheroid test case - Add spheroid for added mass Test1a Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Tests: update spheroid test case - Add ROS launch file for tests. - Update BEM coeffs from WEC-Sim example Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 1 - Rename hydro coefficient class. - Handle override for hydrostatic restoring. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 2 - Move HDF5 reader to separate function. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Excitation: fix error in torque calculation - Fix indexing error in torque lookup. - Shorten spatial force names. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body Hydrostatics: update treatment of CoB offset from CoM - Use the initial offset of the CoB from CoM in updates - tricky as CoB is dynamic but linear model appears to rely on this being at initial position. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 3 - Refactor duplicated code in array read functions. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 4 - Refactor SDF element names. - Change <hydrodata> to <hdf5_file> as the element is a file name. - Move <waves> up a level. - Change <environment> to <simulation_parameters> - Shorten <force_publishers> to <publishers> Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 5 - Add notes on model and WEC-Sim data structures and modelling. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 6 - Name refactoring - preparation for introducing new structs for data that will be used in updates. Signed-off-by: Rhys Mainwaring <[email protected]> Wave Body: improve overrides - 7 - Add improved handling of overrides. - Remove all override decision making from update loops. - Add separate data structure to contain the hydro force coefficients used in the update loop. - Document the load and override policy. Signed-off-by: Rhys Mainwaring <[email protected]> * ROS: add a project to publish gazebo messages to ros2 Signed-off-by: Rhys Mainwaring <[email protected]> ROS: add node to publish body response labelled using maritime conventions - Add body_response_publisher - Update launch file Signed-off-by: Rhys Mainwaring <[email protected]> ROS: update README Signed-off-by: Rhys Mainwaring <[email protected]> ROS: correct topic name for excitation force Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]>

This is squashed history of the linear potential wave-body model. 1. Linear potential wave-body model demo (#70) 1.1. Wave Body: Add linear potential wave-body model - Add model for an ellipsoid buoy - Add test model for hydrodynamics models. 1.2. Wave-Body: add plugin for testing linear wave-body interaction models - Initial version of plugin with hydrostatic restoring forces. 1.3. Wave-Body: update linear wave-body interaction model - Add contributions to moments from hydrostatic equilibrium term (centre of buoyancy). 1.4. Wave-Body: update linear wave-body interaction model - Update comments and disable debug output 1.5. Wave-Body: update models for testing linear wave-body interaction model - Set wave amplitudes to zero and compare the two hydrostatic models 1.6. Wave-Body: add hydro data file and load into plugin - Add BEM hydro data .hdf5 file for ellipsoid (generated by capytaine / bemio) - Add dependency on Eigen. HDF5 and HighFive to read data file (HighFive should be cloned into to workspace) 1.7. Wave-Body: use loaded hydro data in calculations - Store loaded hydro data in a struct and replace hardcoded data. 1.8. Wave-Body: use loaded hydro data in calculations - Clean up. 1.9. Wave-Body: load remaining hydro data - Complete loading of all hydro data (except for state space model data) - Load routines can be factored out and consolidated (2nd pass) 1.10. Wave-Body: split update into contributions by force type - Split out hydrostatic force calculation. 1.11. Wave-Body: add parameter for hydro data file - Add parameter <hydrodata> for specifying HDF5 file. - Move model specific config under model folder. 1.12. Wave-Body: document the hydrostatics calculation 1.13. Wave-Body: use waterplane origin as reference point for displacements 1.14. Wave-Body: add radiation damping test case - Update variable labelling for pose and vectors - Add radiation damping test case example (hardcoded) 1.15. Wave-Body: add parameters to control which forces are calculated - Add flags to control which force contributions are included - Format hdf5 file reader - Make hydrostatics forces switchable 1.16. Wave-Body: add force control parameters to ellipsoid example 1.17. Wave-Body: initial version of radiation added mass force - Reorganise code to enable switching forces on / off - Outline added mass calculation 1.18. Wave-Body: updated version of radiation added mass force - Investigate a couple of methods - both approaches to capture acceleration in the force contribution are unstable. - Alternative methods is to use the SetFluidAddedMass method of the inertial. - This can be set on the component attached to the link entity in the plugin config, and this appears to propagate to the physics engine. 1.19. Wave-Body: replace hardcoded added mass override with parameters - Allow the added mass and radiation damping to be set in parameters - Remove added mass calculation from update and set inertial in config - Add example parameters to demo world 1.20. Wave-Body: replace hardcoded radiation damping override with parameters - Allow the radiation damping to be set in parameters 1.21. Wave-Body: add gravity calculation - Add aliases for Vector6d and Matrix6d - Add gravity calculation to use instead of global physics engine gravity - Required when enabling added mass - Update added mass calculation to use gazebosim/gz-physics#384 1.22. Fluid added mass: update added mass example - Clean and symmetrise matrix 1.23. Fluid added mass: add code to symmetrise added mass (disabled) 1.24. Fluid added mass: add flags for additional debug info 1.25. Fluid added mass: cleanup 1.26. Wave Excitation: add parameters for constant coefficient overrides - Add parameters for storing wave excitation force coefficients - Add template specialisation to read Eigen::Vector6d - Add example data to sdf model - Remove stale code for added mass adjustments from class declaration 1.27. Wave Excitation: implement excitation force for regular waves - Add overrides for wave period, height and phase - Update documentation describing added mass calculation - Implement constant coefficient excitation calculation for regular waves - Update wave model to used trochoids with steepness = 0 (direction not implemented for sinusoids) - Rename elements for wave excitation force components 1.28. Wave Excitation: correct buoyancy moment calculation - Correct the buoyancy moment calculation for larger displacements. - Add missing parameter read for the flag to enable / disable the excitation force 1.29. Wave Excitation: implement excitation Froude-Krylov and scattering force components - Add example coefficients for excitation Froude-Krylove and scattering components. - Read parameters in Config. - Implement force calculations for new components. - Initialise vectors and matrices to zero. 1.30. Wave Excitation: rename variables using Kane/monogram notation - Rename pose, vectors using Kane/monogram notation described in the Drake docs. - Fix gravity calculation. - Factor out common link state updates. 1.31. Wave Body: update example model and add notes 1.32. Wave Body: add force publishers - Publish force and torque if enabled - Add parameters to enable force publishing - Update launch script to enable ROS bridge for forces 1.33. Wave Body: configure buoy example to use all forces - Set initial position to origin for linear potential model example - Update document with references 1.34. Wave Body: refactor flags and publishers - Group flags into structs to reduce clutter. - Move debug flags into their own SDF element. 1.35. Wave Body: refactor hydro coefficient overrides - Group coefficients into structs to reduce clutter. - Reorganise hydro coefficient elements in SDF. - Move waves and sim environment params into separate structs. - Add override for hydrostatic linear restoring. 1.36. Wave Body: add geometry overrides - Add section for geometry overrides. - Rename the initial pose the body waterplane. 1.37. Wave Body Tests: add wave models for test cases - Add regular wave models with different periods and amplitudes. 1.38. Wave Body: fix geometry overrides - Fix issue with parsing SDF and ensure SDF example valid. 1.39. Wave Body: use waves test model 1.40. Wave Body: revert waves.sdf to original - Move ellipsoid test to new world file. 1.41. Wave Body: add world for ellipsoid test case 1.42. Wave Body Tests: add spheroid test case - Add spheroid for added mass Test1a 1.42. Wave Body Tests: update spheroid test case - Add ROS launch file for tests. - Update BEM coeffs from WEC-Sim example 1.43. Wave Body: improve overrides - 1 - Rename hydro coefficient class. - Handle override for hydrostatic restoring. 1.44. Wave Body: improve overrides - 2 - Move HDF5 reader to separate function. 1.45. Wave Excitation: fix error in torque calculation - Fix indexing error in torque lookup. - Shorten spatial force names. 1.46. Wave Body Hydrostatics: update treatment of CoB offset from CoM - Use the initial offset of the CoB from CoM in updates - tricky as CoB is dynamic but linear model appears to rely on this being at initial position. 1.47 Wave Body: improve overrides - 3 - Refactor duplicated code in array read functions. 1.48. Wave Body: improve overrides - 4 - Refactor SDF element names. - Change <hydrodata> to <hdf5_file> as the element is a file name. - Move <waves> up a level. - Change <environment> to <simulation_parameters> - Shorten <force_publishers> to <publishers> 1.49. Wave Body: improve overrides - 5 - Add notes on model and WEC-Sim data structures and modelling. 1.50. Wave Body: improve overrides - 6 - Name refactoring - preparation for introducing new structs for data that will be used in updates. 1.51. Wave Body: improve overrides - 7 - Add improved handling of overrides. - Remove all override decision making from update loops. - Add separate data structure to contain the hydro force coefficients used in the update loop. - Document the load and override policy. 1.52. ROS: add a project to publish gazebo messages to ros2 1.53. ROS: add node to publish body response labelled using maritime conventions - Add body_response_publisher - Update launch file 1.54. ROS: update README 1.55. ROS: correct topic name for excitation force Signed-off-by: Rhys Mainwaring <[email protected]> 2. Wave Body: improve overrides - 8 (#71) - Remove hardcoded frequency index used to lookup hydro coeffs from hdf5 data. - Coefficients from hdf5 are linearly interpolated and scaled given the frequency in the simulation params. Signed-off-by: Rhys Mainwaring <[email protected]> 3. Wave Body: use model:// URI to specify BEM file location (#72) - Use model://<model_path_to_config> URI syntax to locate BEM data files. Signed-off-by: Rhys Mainwaring <[email protected]> 4. Wave Body: Update example regular wave models (#73) 4.1 Wave Body: rename regular wave example models to refer to wave height rather than amplitude - Use wave height in linear wave-body model SDF and in the names of the example regular wave models. 4.2 Wave Body: add extra regular wave models to cover spectrum - Add low and high frequency examples. 4.3. Wave Body: reset wave model used by examples - Set examples to use regular_waves_6s_2m model - this matches the override hydro coefficients. Signed-off-by: Rhys Mainwaring <[email protected]> 5. Wave Body: add checks when reading the hdf5 file (#74) 5.1. Wave Body: add checks when reading the hdf5 file - Check that datasets are present before loading. - Check that data is not empty before attempting to display. 5.2. Wave Body: update comments to clarify scaled means non-dimensioned Signed-off-by: Rhys Mainwaring <[email protected]> 6. Wave Body: add publisher for added mass force (#75) - Add publisher for estimated added mass force. Signed-off-by: Rhys Mainwaring <[email protected]> 7. Wave Body MBARI: add MBARI buoy example for testing (#76) - Add test model for the MBARI WEC buoy (float only) Signed-off-by: Rhys Mainwaring <[email protected]> 8. Wave Body MBARI: add collision mesh and change default BEM file (#77) 8.1. Wave Body MBARI: add collision mesh for buoy - Add simplified collision meshes for the buoy at different levels of refinement. - Use the mesh with 316 faces in the model. - Add BEM file generated using Capytaine and the 5548 face mesh. 8.2. Wave Body MBARI: change default the BEM data file - The excitation data in the hdf5 file generated from WAMIT data has the wrong sign, use Capytaine / bemio generated file in the meanwhile. - Simplify ramp function. Signed-off-by: Rhys Mainwaring <[email protected]> 9. Wave Body MBARI: fix ramp function missing bracket (#78) Signed-off-by: Rhys Mainwaring <[email protected]> 10. Wave Body: don't use auto with Eigen (#79) Signed-off-by: Rhys Mainwaring <[email protected]> 11. Wave Body: update cmake dependencies - Use FetchContent to retrieve dependency HighFive. - Fix typo in documentation. - Remove cpp style header for mlinterp 11.1 Wave Body: update ci workflow - Add build flag for HighFive dependency 11.2. Wave Body: update waves bridge tests - Remove breaking tests inherited from ROS project template. 11.3.Wave Body: post rebase fixes. 11.4. Wave-Body: fix config of regular_waves_3s_1m 11.5. Wave-Body: revert changes to regular_waves model Signed-off-by: Rhys Mainwaring <[email protected]>

srmainwaring added 2 commits October 9, 2022 16:54

srmainwaring added the enhancement New feature or request label Oct 9, 2022

srmainwaring self-assigned this Oct 9, 2022

srmainwaring merged commit 1c66141 into demo/linear-wave-body Oct 9, 2022

srmainwaring deleted the feature/lwb_v0.2.0_squashed branch October 9, 2022 16:35

srmainwaring mentioned this pull request Oct 10, 2022

Linear potential wave-body model #69

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Linear potential wave-body model demo #70

Linear potential wave-body model demo #70

srmainwaring commented Oct 9, 2022

Linear potential wave-body model demo #70

Linear potential wave-body model demo #70

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srmainwaring commented Oct 9, 2022