Rigid ship with a mass and translational and angular velocity.

• All quantities are in Earth-fixed coordinate system if not stated otherwise.

Types

• using variables_type = typename state_vector_type::variables_type
• using inertia_tensor_type = vtb::geometry::Inertia_tensor< T, 3 >
• using mass_moments_type = vtb::geometry::Mass_moments< T, 3 >
• using quaternion_type = vtb::geometry::Quaternion< T >
• using basis_type = vtb::geometry::Basis< T, 3 >
• using rotation_matrix_type = vtb::geometry::Rotation_matrix< T, 3 >
• using quaternion_coordinate_system_type = vtb::geometry::Quaternion_coordinate_system< T >
• using coordinate_system_type = vtb::geometry::Coordinate_system< T, 3 >
• using matrix_type = blitz::TinyMatrix< T, 3, 3 >
• using mass_array_type = Mass_array< T >
• using mass_type = Mass< T >
• using propulsor_type = Propulsor< T >
• using room_array = Compartment_array< T >
• using room_type = Compartment< T >
• using hull_type = Hull< T >
• using vec3 = blitz::TinyVector< T, 3 >
• using scalar_type = T

Unions

• union vtb::core::Ship::state_vector_type

Methods

• dump(std::ostream & out) const -> void
• inertia_tensor() const -> const inertia_tensor_type &

  Inertia tensor in body-fixed coordinate system.

• volume() const -> scalar_type

  Total volume of the ship hull.

• abovewater_volume(scalar_type rhs) -> void
• underwater_volume(scalar_type rhs) -> void
• centre_of_wind(const vec3 & rhs) -> void
• centre_of_floatation(const vec3 & rhs) -> void
• centre_of_buoyancy(const vec3 & rhs) -> void
• abovewater_volume() const -> scalar_type

  The volume of the ship hull that is above the water. Computed with respect to centre of floatation.

• underwater_volume() const -> scalar_type

  The volume of the ship hull that is under the water. Computed with respect to centre of floatation.

• centre_of_wind() const -> const vec3 &

  A point of application of wind forces (a centre of buoyancy for air).

• centre_of_floatation() const -> const vec3 &

  A point around which the ship rotates. Computed as the centre of waterline 3-d polygon. All force moments are computed with respect to this point.

• centre_of_buoyancy() const -> const vec3 &

  A point of application of buoyant and Froude—Krylov forces.

• centre_of_gravity() const -> const vec3 &

  Centre of mass. Always equals ship position. A point of application of gravity force.

• rotation_matrix() const -> const rotation_matrix_type &
• body_fixed_coordinate_system() const -> quaternion_coordinate_system_type
• earth_fixed_coordinate_system() const -> coordinate_system_type
• draught(scalar_type rhs) -> void
• displacement() const -> scalar_type
• displacement(scalar_type rhs) -> void
• mass(scalar_type rhs) -> void
• flooded_mass() const -> T

  Total mass of all fluid volumes inside compartments.

• mass() const -> scalar_type
• propulsor(const propulsor_type & rhs) -> void
• propulsor() const -> const propulsor_type &
• compartments() const -> const room_array &
• compartments() -> room_array &
• compartments(const room_array & rhs) -> void
• hull(hull_type rhs) -> void
• hull() const -> const hull_type &
• reset() -> void
• state_vector() const -> state_vector_type

  Get state vector for ship motion equation.

  Date

  2018-07-31

  Author

  Ivan Gankevich

• state_vector(const variables_type & v, const variables_type & dv, T dt) -> void
• state_vector(const state_vector_type & v, const state_vector_type & dv, T dt) -> void

  Set ship position, orientation and velocities from a state vector.

  Date

  2018-07-19

  Author

  Ivan Gankevich

• angular_momentum(const vec3 & rhs) -> void

  Set angular momentum.

• angular_momentum() const -> const vec3 &

  Angular momentum.

• angular_acceleration() const -> const vec3 &

  Angular acceleration in Earth-fixed coordinate system.

• angular_velocity(const vec3 & rhs) -> void

  Set angular velocity in Earth-fixed coordinate system.

• angular_velocity() const -> const vec3 &

  Angular velocity in Earth-fixed coordinate system.

• heave(int i = 0) const -> T

  $z$ coordinate of the position.

  i

  derivative order (0 means no derivative).

  
  

• sway(int i = 0) const -> T

  $y$ coordinate of the position.

  i

  derivative order (0 means no derivative).

  
  

• surge(int i = 0) const -> T

  $x$ coordinate of the position.

  i

  derivative order (0 means no derivative).

  
  

• yaw() const -> T

  Counterclockwise rotation about $z$-axis in radians.

• pitch() const -> T

  Counterclockwise rotation about $y$-axis in radians.

• roll() const -> T

  Counterclockwise rotation about $x$-axis in radians.

• quaternion(const quaternion_type & q) -> void

  Set rotation quaternion and update rotation quaternion/matrix.

• euler_angles(const vec3 & rhs) -> void

  Set Euler angles and rotation quaternion/matrix.

• quaternion() const -> const quaternion_type &

  Get rotation quaternion.

• euler_angles() const -> vec3

  Get Euler angles or their derivatives.

• angular_displacement(int i = 0) const -> const vec3 &

  Get angular position or its time derivatives in Earth-fixed coordinate system.

  i

  derivative order (0 means no derivative).

  
  

• acceleration() const -> const vec3 &

  Acceleration in Earth-fixed coordinate system.

• velocity(const vec3 & rhs) -> void

  Set velocity in Earth-fixed coordinate system.

• velocity() const -> const vec3 &

  Get velocity in Earth-fixed coordinate system.

• position(int i, const vec3 & rhs) -> void

  Set position or its time derivatives in Earth-fixed coordinate system.

  i

  derivative order (0 means no derivative).

  
  

  rhs

  new value

  
  

• position(int i = 0) const -> const vec3 &

  Get position or its time derivatives in Earth-fixed coordinate system.

  i

  derivative order (0 means no derivative).

  
  

Friends

• template <class X>
  operator<<