bartboogmans / TurtleBoat

Compact vessel simulator on a single ROS node
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Accuracy of simulator results - coriolis added terms #6

Open bartboogmans opened 1 year ago

bartboogmans commented 1 year ago

In the current state the added mass has been simplified to be omnidirectionally constant. For some reason the directional dependent terms gave volatile simulation results.

As of exactly why, this is yet to be determined. For now the vessel looks and feels like a titoNeri vessel, with identical input/output which serves the purpose of this project, although discrepancy with measurements and ability to parameterize as we like is desired in the future.