Code covered by the BSD License
Highlights from
Shark
-
J=rpy2J(rpy)
J=rpy2J(rpy); computes generalised Jacobian matrix which
-
R_eb=rpy2R_eb(rpy)
R_eb=rpy2R_eb(rpy), computes the rotation matrix of e-frame wrt b-frame,
-
[Cl,Cd,xcp]=a2clcdxc(alfa)
[Cl,Cd,xcp]=a2clcdxc(alfa) computes hydrodynamic coefficients Cl and Cd
-
[v1,v2,v3]=vehicle()
-
a2clcd(alfa)
[Cl, Cd] = a2clcd(alfa) computes hydrodynamic coefficients Cl and Cd
-
demos
DEMOS Demo list for Shark.
-
shark()
(the function shark adds the needed folders to the matlab path)
-
tc=tau_cor(veh,v,vr)
tc=tau_cor(veh,v,vr) calculates coriolis forces from
-
td=tau_damp(veh,vr,de)
td=tau_damp(veh,vr,de); calculates damping forces from
-
tr=tau_rest(veh,p)
tr=tau_rest(veh,p); calculates restoring forces from
-
xdot=vxdot(xu)
computes state derivatives as a function of state and input
-
z=vp(x,y)
-
contents.m
-
linattk.m
-
NLKSF
-
OPLOOP
-
xtrlmod
-
View all files
from
Shark
by Giampiero Campa
Nonlinear 6DOF Model of an Underwater Vehicle
|
| shark()
|
function shark()
% (the function shark adds the needed folders to the matlab path)
sharkpath=which('shark');
path(path,[ sharkpath(1:length(sharkpath)-8) ]);
path(path,[ sharkpath(1:length(sharkpath)-7) 'Demos' ]);
v=ver('Matlab');n=fix(str2num(v.Version(1)));
p5=[ sharkpath(1:length(sharkpath)-7) 'mex5' ];
p6=[ sharkpath(1:length(sharkpath)-7) 'mex6' ];
pt=path;
le=length(p5);
lp=length(pt);
if n==5,
i6=findstr(pt,p6);
if ~isempty(i6),
path([pt(1:i6-1) pt(i6+le:lp)]);
end
path(path,p5);
else
i5=findstr(pt,p5);
if ~isempty(i5),
path([pt(1:i5-1) pt(i5+le:lp)]);
end
path(path,p6);
end
|
|
Contact us at files@mathworks.com