Shark: tr=tau_rest(veh,p) - File Exchange

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
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from Shark by Giampiero Campa
Nonlinear 6DOF Model of an Underwater Vehicle

tr=tau_rest(veh,p)

function tr=tau_rest(veh,p)

% tr=tau_rest(veh,p); calculates restoring forces from 
% vehicle variables and generalized position p

% Hydrostatic force and moment
FB_e=-veh.vol*veh.rho*veh.g_e;
FB_b=rpy2R_eb(p(4:6))*FB_e;
MB_b=vp(veh.B_b,FB_b);
tb=[FB_b;MB_b];

% Gravitational force and moment
FG_e=veh.m*veh.g_e;
FG_b=rpy2R_eb(p(4:6))*FG_e;
MG_b=vp(veh.G_b,FG_b);
tg=[FG_b;MG_b];

tr=tb+tg;

Highlights from Shark

Highlights from
Shark