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Robotic-Decision-Making-Lab / hydrodynamics

A ROS 2 package providing a collection of interfaces for hydrodynamic parameters.
MIT License
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fixed restoring forces formulation #4

Closed edxmorgan closed 3 months ago

edxmorgan commented 3 months ago

Changes Made

The rotation matrix rot is now transposed before being applied to the force vectors fg and fb, ensuring correct force calculations as per guidelines in Thor Fossen's Handbook of Marine Craft.

Associated Issues

evan-palmer commented 3 months ago

Looks good! Thanks for contributing @Eddy-Morgan!