Hydrodynamics

The hydrodynamics library provides a collection of C++ data classes for hydrodynamic parameters (i.e., inertia, added mass, coriolis, damping, etc.). The goal of this project is to abstract away hydrodynamic equations and representations so that you can instead focus on writing underwater robotics algorithms.

Installation

The hydrodynamics library has been implemented as a ROS 2 package with support for ROS 2 Humble, Iron, and Rolling. To install and use this library in your own ROS 2 project, simply clone this repository to your ROS 2 workspace:

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

Getting Started

All hydrodynamic parameters implemented in this project have been defined using Fossen's equations for hydrodynamics. The hydrodynamic parameters implemented include:

• Mass: rigid body inertia and added mass
• Coriolis: centripetal, coriolis, and added coriolis
• Damping: linear and quadratic damping
• Restoring forces: buoyancy and gravitational forces
• Current effects: fluid velocity

Each of the aforementioned parameters provide their own distinct data class for independent use or can be managed altogether within the HydrodynamicParameters class. For further information regarding the interfaces available, please refer to the library header.

License

The hydrodynamics library has been released under the MIT license.