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Updating hydrodynamics plugin description #1502

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May 23, 2022
Merged

Updating hydrodynamics plugin description #1502

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2b796a9
typo
quarkytale May 19, 2022
214229e
damping terms in description
quarkytale May 19, 2022
1c0494b
fixing linters
quarkytale May 20, 2022
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2 changes: 1 addition & 1 deletion src/systems/hydrodynamics/Hydrodynamics.cc
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Expand Up @@ -251,7 +251,7 @@ void Hydrodynamics::Configure(

if (!_sdf->HasElement("link_name"))
{
ignerr << "You musk specify a <link_name> for the hydrodynamic"
ignerr << "You must specify a <link_name> for the hydrodynamic"
<< " plugin to act upon";
return;
}
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30 changes: 15 additions & 15 deletions src/systems/hydrodynamics/Hydrodynamics.hh
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Expand Up @@ -41,27 +41,27 @@ namespace systems
/// plugin), etc.
///
/// # System Parameters
/// The exact description of these parameters can be found on p. 37 of
/// Fossen's book. They are used to calculate added mass, linear and quadratic
/// drag and coriolis force.
/// The exact description of these parameters can be found on p. 37 and
/// p. 43 of Fossen's book. They are used to calculate added mass, linear and
/// quadratic drag and coriolis force.
/// * <xDotU> - Added mass in x direction [kg]
/// * <yDotV> - Added mass in y direction [kg]
/// * <zDotW> - Added mass in z direction [kg]
/// * <kDotP> - Added mass in roll direction [kgm^2]
/// * <mDotQ> - Added mass in pitch direction [kgm^2]
/// * <nDotR> - Added mass in yaw direction [kgm^2]
/// * <xUU> - Stability derivative, 2nd order, x component [kg/m]
/// * <xU> - Stability derivative, 1st order, x component [kg]
/// * <yVV> - Stability derivative, 2nd order, y component [kg/m]
/// * <yV> - Stability derivative, 1st order, y component [kg]
/// * <zWW> - Stability derivative, 2nd order, z component [kg/m]
/// * <zW> - Stability derivative, 1st order, z component [kg]
/// * <kPP> - Stability derivative, 2nd order, roll component [kg/m^2]
/// * <kP> - Stability derivative, 1st order, roll component [kg/m]
/// * <mQQ> - Stability derivative, 2nd order, pitch component [kg/m^2]
/// * <mQ> - Stability derivative, 1st order, pitch component [kg/m]
/// * <nRR> - Stability derivative, 2nd order, yaw component [kg/m^2]
/// * <nR> - Stability derivative, 1st order, yaw component [kg/m]
/// * <xUU> - Quadratic damping, 2nd order, x component [kg/m]
/// * <xU> - Linear damping, 1st order, x component [kg]
/// * <yVV> - Quadratic damping, 2nd order, y component [kg/m]
/// * <yV> - Linear damping, 1st order, y component [kg]
/// * <zWW> - Quadratic damping, 2nd order, z component [kg/m]
/// * <zW> - Linear damping, 1st order, z component [kg]
/// * <kPP> - Quadratic damping, 2nd order, roll component [kg/m^2]
/// * <kP> - Linear damping, 1st order, roll component [kg/m]
/// * <mQQ> - Quadratic damping, 2nd order, pitch component [kg/m^2]
/// * <mQ> - Linear damping, 1st order, pitch component [kg/m]
/// * <nRR> - Quadratic damping, 2nd order, yaw component [kg/m^2]
/// * <nR> - Linear damping, 1st order, yaw component [kg/m]
/// Additionally the system also supports the following parameters:
/// * <waterDensity> - The density of the fluid its moving in.
/// Defaults to 998kgm^-3. [kgm^-3, deprecated]
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