Hydrodynamics

The hydrodynamics library provides a high-level API for storing/parsing hydrodynamic parameters and performing forward/inverse dynamics.

Installation

hydrodynamics supports ROS 2 Jazzy and Rolling. To install and use this library in your own project, clone this repository to your workspace:

cd path/to/ws_ros/src
git clone git@github.com:Robotic-Decision-Making-Lab/hydrodynamics.git

Getting Started

All parameters implemented in this project have been defined using Fossen's equations for hydrodynamics, i.e.,

$$M\dot{v}+C(v)v+D(v)v+g(\eta )=\tau ,$$

where $M$ is the mass matrix, including rigid body inertia and added mass; $C(v)$ is the matrix of Coriolis and centripetal effects; $D(v)$ is the drag matrix, including linear and quadratic drag; and $g(\eta )$ is the vector of restoring forces.

For more information regarding how to use the library, please see the project examples.

License

The hydrodynamics library has been released under the MIT license.