#include <ParametricBathymetry.h>

Inheritance diagram for environmentmodels::ParametricBathymetry:

Collaboration diagram for environmentmodels::ParametricBathymetry:

Public Member Functions
	ParametricBathymetry (parametric::Spec spec)

marenv::Status	GetDepth (const double pos[2], double &depthOut) override

marenv::Status	ComputeSurfaceUnitNormal (const double pos[2], double unitNormalOut[3]) override

marenv::Status	GetSeabedSigma (const double pos[3], double &sigmaOut) override

marenv::Status	GetSeabedTau (const double pos[3], double &tauOut) override

marenv::Status	GetSeabedRho (const double pos[3], double &rhoOut) override

marenv::Status	ComputeRayIntersection (const double origin[3], const double direction[3], double &distanceOut, double maxSearchDistance=100.0, double startSearchDistance=-1.0, double stepSize=1.0, double convergenceTolerance=0.01) override

double	DepthAt (double x, double y) const

Public Member Functions inherited from marenv::seafloor::BathymetryField
virtual	~BathymetryField ()=default
	Virtual destructor.

Static Public Member Functions
static std::shared_ptr< ParametricBathymetry >	FromJsonString (const std::string &jsonText)

static std::shared_ptr< ParametricBathymetry >	FromFile (const std::string &path)

Additional Inherited Members
Protected Member Functions inherited from marenv::seafloor::BathymetryField
	BathymetryField ()=default
	Constructor is empty.

Detailed Description

Configurable, parameterised seabed bathymetry.

Evaluates a seabed depth field from a declarative specification of an along-track profile sequence (track) and/or general composition layers of primitive shapes with spatial validity intervals and blend operators. Intended for control-tracking reference bathymetries (constant depth, transversal incline, valley, peak, and blends thereof), but general enough for arbitrary parametric seabeds.

The depth field GetDepth is evaluated analytically; the surface normal is obtained by central finite differences, matching the convention used by the other seafloor implementations (n = (-dz/dx, -dz/dy, 1), normalised, z down). Seabed material properties are spatially constant.

Frame: SNAME (x = North, y = East, z = Down; depth positive downward).

Constructor & Destructor Documentation

◆ ParametricBathymetry()

environmentmodels::ParametricBathymetry::ParametricBathymetry ( parametric::Spec spec )

explicit

Construct from a fully-populated specification.

Parameters

[in] spec Parametric seabed specification.

Member Function Documentation

◆ ComputeRayIntersection()

marenv::Status environmentmodels::ParametricBathymetry::ComputeRayIntersection	(	const double	origin[3],
		const double	direction[3],
		double &	distanceOut,
		double	maxSearchDistance = `100.0`,
		double	startSearchDistance = `-1.0`,
		double	stepSize = `1.0`,
		double	convergenceTolerance = `0.01`
	)

overridevirtual

Returns the distance a ray must travel before intercepting the seafloor.

Parameters

[in]	origin	Position (x,y,z) of the origin of the ray
[in]	direction	The unit direction (x,y,z) of the ray
[out]	distanceOut	The distance the beam travelled before reaching the seabed.
[in]	maxSearchDistance	The maximum distance from the origin to search for an intersection.
[in]	startSearchDistance	The distance from the origin to start searching for an intersection (initial guess). If less then zero, the algorithm will coarsely estimate the crossing assuming a flat seabed and search from there.
[in]	stepSize	The search step size.
[in]	convergenceTolerance	The vertical error tolerance between a computed point on the ray and a point on the seafloor to consider an intersection found.

Returns: marenv::Status::OK on success. See marenv::Status for other values.

Implements marenv::seafloor::BathymetryField.

◆ ComputeSurfaceUnitNormal()

marenv::Status environmentmodels::ParametricBathymetry::ComputeSurfaceUnitNormal	(	const double	pos[2],
		double	unitNormalOut[3]
	)

overridevirtual

Returns the unit normal vector of the seafloor at a specific position.

Parameters

[in]	pos	Position (x,y) for which the unit normal surface vector is desired.
[out]	unitNormalOut	The unit normal surface vector at pos.

Returns: marenv::Status::OK on success. See marenv::Status for other values.flag

Implements marenv::seafloor::BathymetryField.

◆ DepthAt()

double environmentmodels::ParametricBathymetry::DepthAt	(	double	x,
		double	y
	)		const

Direct depth query used internally and by tests.

Parameters

[in]	x	North coordinate [m].
[in]	y	East coordinate [m].

Returns: Seabed depth [m] (positive downward).

◆ FromFile()

static std::shared_ptr< ParametricBathymetry > environmentmodels::ParametricBathymetry::FromFile ( const std::string & path )

static

Build from a JSON configuration file.

Parameters

[in] path Path to the JSON document.

Returns: Shared instance.

Exceptions

std::runtime_error if the file cannot be read or is invalid.

◆ FromJsonString()

static std::shared_ptr< ParametricBathymetry > environmentmodels::ParametricBathymetry::FromJsonString ( const std::string & jsonText )

static

Build from a JSON configuration string.

Parameters

[in] jsonText JSON document describing the seabed.

Returns: Shared instance.

Exceptions

std::runtime_error on invalid or malformed configuration.

◆ GetDepth()

marenv::Status environmentmodels::ParametricBathymetry::GetDepth	(	const double	pos[2],
		double &	depthOut
	)

overridevirtual

Returns the seafloor depth at a specific position.

Parameters

[in]	pos	Position (x,y) for which depth is desired.
[out]	depthOut	Depth at pos.

Returns: marenv::Status::OK on success. See marenv::Status for other values.flag

Implements marenv::seafloor::BathymetryField.

◆ GetSeabedRho()

marenv::Status environmentmodels::ParametricBathymetry::GetSeabedRho	(	const double	pos[3],
		double &	rhoOut
	)

overridevirtual

Returns seabed density (ρ) in kg/m³.

Parameters

[in]	pos	The position in question.
[out]	rhoOut	Density in the specified position.

Returns: marenv::Status::OK on success. See marenv::Status for other values.flag

Implements marenv::seafloor::BathymetryField.

◆ GetSeabedSigma()

marenv::Status environmentmodels::ParametricBathymetry::GetSeabedSigma	(	const double	pos[3],
		double &	sigmaOut
	)

overridevirtual

Returns seabed σ in Pascals (Pa).

Parameters

[in]	pos	The position in question.
[out]	sigmaOut	Sigma in the specified position.

Returns: marenv::Status::OK on success. See marenv::Status for other values.flag

Implements marenv::seafloor::BathymetryField.

◆ GetSeabedTau()

marenv::Status environmentmodels::ParametricBathymetry::GetSeabedTau	(	const double	pos[3],
		double &	tauOut
	)

overridevirtual

Returns seabed shear stress τ.

Parameters

[in]	pos	The position in question.
[out]	tauOut	Shear stress in the specified position.

Returns: marenv::Status::OK on success. See marenv::Status for other values.flag

Implements marenv::seafloor::BathymetryField.

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

/update_root/webfhsim/reloadrepos/fhsim_environment/src/environment/ParametricBathymetry.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ParametricBathymetry()

Member Function Documentation

◆ ComputeRayIntersection()

◆ ComputeSurfaceUnitNormal()

◆ DepthAt()

◆ FromFile()

◆ FromJsonString()

◆ GetDepth()

◆ GetSeabedRho()

◆ GetSeabedSigma()

◆ GetSeabedTau()