New thruster with configurable rotor dynamics and thrust conversions

patrykcieslak / stonefish

Stonefish - an advanced C++ simulation library designed for (but not limited to) marine robotics.

https://stonefish.readthedocs.io/

GNU General Public License v3.0

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Closed Rogerpi closed 4 months ago

Rogerpi commented 4 months ago

This pull requests adds a configurable thruster.

It allows to configure the following rotor dynamics:

And the following angular velocity to thrust conversions: