Inheritance diagram for CenterWeight:

Collaboration diagram for CenterWeight:

Public Member Functions
	CenterWeight (std::string simObjectName, ISimObjectCreator *creator)

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const
	Calculates the state derivatives.

void	FinalSetup (const double dT, const double const adX, ISimObjectCreator const creator)

void	PreOdeFcn (double T, const double X, IStateUpdater updater) override
	Rebuilds the weight's wake when due and takes the other objects' wakes at the weight.

virtual const double *	Position (const double dT, const double *const adX)

virtual const double *	Velocity (const double dT, const double *const adX)

Jacobian support for implicit integration
Partial analytical Jacobian. Bottom forces, input-port forces and the spatial gradient of the water velocity (wakes included) are excluded (treated as frozen inputs). Test with relTol ≥ 1e-2 to accommodate those omissions.
bool	HasJacobians () const override

void	OdeJacobian (double T, const double X, double J, int nStates) override

int	GetJacobianSparsity (int nStates, int rowPtr, int colIdx) override

bool	HasPortJacobians () const override

void	InputPortJacobian (const std::string &portName, double T, const double X, double dF_dInput, int portSize, int nStates) override

Protected Member Functions
void	waterVelocity (double T, const double *X, double velocity[3]) const
	The water velocity at the weight: the BodyWake's, without the weight's own wake.

Protected Attributes
ISignalPort *	m_inForce1
	A pointer to the input force 1.

ISignalPort *	m_inForce2
	A pointer to the input force 2.

ISignalPort *	m_inForce3
	A pointer to the input force 3.

int	m_IStatePos
	The index of the position state.

int	m_IStateVel
	The index of the velocity state.

double	m_mass

double	m_density

double	m_visualizationScale

double	m_radius

double	m_weight

double	m_rhoWater
	The water density `Rho` [kg/m^3].

environment::sphere_hydro::Sphere	m_sphere
	ρ, D = 2 r and C_d of the drag.

std::optional< environment::sphere_hydro::SphereCaster >	m_caster
	The sphere on its states, for the wake.

environment::wake::BodyWakeSettings	m_wakeSettings
	The wake parameters.

std::unique_ptr< environment::wake::BodyWake >	m_wake
	The wake the weight casts and receives, from FinalSetup.

environment::EnvironmentProvider *	m_environment

environment::SeafloorForcesInterface *	m_seafloor

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

Public Member Functions

Protected Member Functions