/** \file * * Contains the SimInitStruct class declaration. * * Copyright (c) 2007,2008,2009 MBARI * MBARI Proprietary Information. All Rights Reserved */ #ifndef SIMINITSTRUCT_H_ #define SIMINITSTRUCT_H_ #include #include #include /** * A struct of values that is passed from the LRAUV to the Simulator, to * initialize the simulator. * * \ingroup modules_simulator */ struct SimInitStruct { // Initial Position Vector double initLat_; // arcdeg // Initial latitude double initLon_; // arcdeg // Initial longitude float initZ_; // m // Initial depth float initPitch_; // rad // Pitch wrto LV float initRoll_; // rad // Roll wrto LV float initHeading_; // rad // Yaw wrto LV // Initial Vehicle configuration float initMassPosition_; // m float initBuoyancyPosition_; // m3 // Initial Rate Vector float initU_; // m/s // vel x wrto B float initV_; // m/s // vel y wrto B float initW_; // m/s // vel z wrto B float initP_; // rad/s // Pitch rate wrto LV float initQ_; // rad/s // Roll rate wrto LV float initR_; // rad/s // Yaw rate wrto LV // Optional environmental parameters float northCurrent_; // m/s // vel x wrto LV float eastCurrent_; // m/s // vel y wrto LV float vertCurrent_; // m/s // vel w wrto LV float magneticVariation_; // rad // if not specified, calculated from lat & lon float soundSpeed_; // m/s // if not specified, calculated from density, pressure float density_; // kg/m3 // sea water density. float sst_; // degK // sea surface temperature. Extends to the mixed layer depth float tMixed_; // degK // temperature at mixed layer depth. Linear change from surface float t300_; // degK // temperature at 300 meters. Linear change from mixed layer depth float sss_; // ppt // sea surface salinity. Extends to the mixed layer depth float sMixed_; // ppt // salinity at mixed layer depth. Linear change from surface float s300_; // ppt // salinity at 300 meters. Linear change from mixed layer depth uint8_t oceanModelData_[512]; // path to ocean model data output, optionally followed by extra variables and units float mixedLayerDepth_; // meter // depth of mixed layer // Recommended environmental parameter float defaultDensity_; // kg/m3 // Always specify: used outside of 4D model // Variable buoyancy setting float buoyancyNeutral_; // cc // volume in buoyancy "bag" at neutral trim ///* translational and rotational body mass */ // float mass_; float movableMass_; float volume_; float centerOfMassX_; float centerOfMassY_; float centerOfMassZ_; float centerOfMovableMassX_; float centerOfMovableMassY_; float centerOfMovableMassZ_; float centerOfBuoyX_; float centerOfBuoyY_; float centerOfBuoyZ_; float momentXX_; float momentYY_; float momentZZ_; // ///* hydrodynamic parameters ----------------------------------------------*/ // // /* added mass */ float kpDot_; float mqDot_; float nrDot_; float xuDot_; float yvDot_; float zwDot_; /* added mass cross terms */ float kvDot_; float mwDot_; float nvDot_; float yrDot_; float ypDot_; float zqDot_; // /* quadratic drag */ float kpabp_; // Kp|p| , kg-m^2 float mqabq_; // Mq|q| , kg-m^2 float nrabr_; // Nr|r| , kg-m^2 float xuabu_; float yvabv_; // Yv|v| , kg/m float zwabw_; // Zw|w| , kg/m // // /* quadratic drag cross terms */ float mwabw_; // Mw|w| , kg float nvabv_; // Nv|v| , kg float yrabr_; // Yr|r| , ? float zqabq_; // Zq|q| , ? // // /* in-line lift and drag */ float muq_; // Muq , kg-m float muw_; // Muw , kg float mpr_; // Mpr , kg-m^2 // float nur_; // Nur , kg-m float nuv_; // Nuv , kg float npq_; // Npq , kg-m^2 // float xvv_; // Xvv , kg/m float xww_; // Xww , kg/m float xvr_; // Xvr , kg float xwq_; // Xwq , kg float xrr_; // Xrr , kg-m float xqq_; // Xqq , kg-m float yur_; // Yur , kg float yuv_; // Yuv , kg/m float ywp_; // Ywp , kg-m float zuq_; // Zuq , kg float zuw_; // Zuw , kg/m float zvp_; // Zvp , kg float kvt2_; // ? , ? float aspectRatio_; // , Unitless float stallAngle_; // , Deg. float rudderHystWidth_; // , rad float rudderHystCenter_; // , rad float rudderSpeed_; // , rad/s float elevatorHystWidth_; // , rad float elevatorHystCenter_; // , rad float elevatorSpeed_; // , rad/s float movableMassHystWidth_; // , meter float movableMassHystCenter_; // , meter float movableMassSpeed_; // , meter/s float buoyancyHystWidth_; // , m^3 float buoyancyHystCenter_; // , m^3 float buoyancySpeed_; // , m^3/s float finArea_; // , m^2 float coeffDrag_; // Coef. of Drag , Unitless float coeffLift_; // Coef. of Lift , Unitless float lowerRudX_; float lowerRudY_; float lowerRudZ_; float upperRudX_; float upperRudY_; float upperRudZ_; float portElevX_; float portElevY_; float portElevZ_; float stbdElevX_; float stbdElevY_; float stbdElevZ_; float designSpeed_; float designPropEff_; float designOmega_; float designThrust_; float designTorque_; float dropWt1Volume_; float dropWt1Mass_; float dropWt1X_; float dropWt1Y_; float dropWt1Z_; float cylinderLength_; float cylinderRadius_; double time_; /// Constructor SimInitStruct() : // Initial Position Vector initLat_( 36.737845 ), // arcdeg // Initial latitude initLon_( -121.8804227 ), // arcdeg // Initial longitude initZ_( 0.000000 ), // m // Initial depth initPitch_( 000.0000 ), // rad // Pitch wrto LV initRoll_( 000.0000 ), // rad // Roll wrto LV initHeading_( 0.0 ), // rad // Yaw wrto LV // Initial Vehicle Configuration initMassPosition_( 0.0 ), // m initBuoyancyPosition_( 0.0 ), // m3 // Initial Rate Vector initU_( 0.000000 ), // m/s // vel x wrto B initV_( 0.000000 ), // m/s // vel y wrto B initW_( 0.000000 ), // m/s // vel z wrto B initP_( 000.0000 ), // rad/s // Pitch rate wrto LV initQ_( 000.0000 ), // rad/s // Roll rate wrto LV initR_( 000.0000 ), // rad/s // Yaw rate wrto LV northCurrent_( nanf( "" ) ), // m/s // vel x wrto LV eastCurrent_( nanf( "" ) ), // m/s // vel y wrto LV vertCurrent_( nanf( "" ) ), // m/s // vel z wrto LV magneticVariation_( nanf( "" ) ), // rad // if not specified, calculated from lat & lon soundSpeed_( nanf( "" ) ), // m/s // if not specified, calculated from density, pressure density_( nanf( "" ) ), // kg/m3 // sea water density. sst_( nanf( "" ) ), // degK // sea surface temperature. Extends to the mixed layer depth tMixed_( nanf( "" ) ), // degK // temperature at mixed layer depth. Linear change from surface t300_( nanf( "" ) ), // degK // temperature at 300 meters. Linear change from mixed layer depth sss_( nanf( "" ) ), // ppt // sea surface salinity. Extends to the mixed layer depth sMixed_( nanf( "" ) ), // ppt // salinity at mixed layer depth. Linear change from surface s300_( nanf( "" ) ), // ppt // salinity at 300 meters. Linear change from mixed layer depth mixedLayerDepth_( nanf( "" ) ), // meter // depth of mixed layer // Recommended environmental parameter defaultDensity_( 1025.00 ), // kg/m3 // Always specify: used outside of 4D model // Variable buoyancy setting buoyancyNeutral_( nanf( "" ) ), // cc // volume in buoyancy "bag" at neutral trim mass_( nanf( "" ) ), movableMass_( nanf( "" ) ), volume_( nanf( "" ) ), centerOfMassX_( nanf( "" ) ), centerOfMassY_( nanf( "" ) ), centerOfMassZ_( nanf( "" ) ), centerOfMovableMassX_( nanf( "" ) ), centerOfMovableMassY_( nanf( "" ) ), centerOfMovableMassZ_( nanf( "" ) ), centerOfBuoyX_( nanf( "" ) ), centerOfBuoyY_( nanf( "" ) ), centerOfBuoyZ_( nanf( "" ) ), momentXX_( nanf( "" ) ), momentYY_( nanf( "" ) ), momentZZ_( nanf( "" ) ), // ///* hydrodynamic parameters ----------------------------------------------*/ // // /* added mass */ kpDot_( nanf( "" ) ), mqDot_( nanf( "" ) ), nrDot_( nanf( "" ) ), xuDot_( nanf( "" ) ), yvDot_( nanf( "" ) ), zwDot_( nanf( "" ) ), /* added mass cross terms */ kvDot_( nanf( "" ) ), mwDot_( nanf( "" ) ), nvDot_( nanf( "" ) ), yrDot_( nanf( "" ) ), ypDot_( nanf( "" ) ), zqDot_( nanf( "" ) ), // /* quadratic drag */ kpabp_( nanf( "" ) ), // Kp|p| , kg-m^2 mqabq_( nanf( "" ) ), // Mq|q| , kg-m^2 nrabr_( nanf( "" ) ), // Nr|r| , kg-m^2 xuabu_( nanf( "" ) ), yvabv_( nanf( "" ) ), // Yv|v| , kg/m zwabw_( nanf( "" ) ), // Zw|w| , kg/m // // /* quadratic drag cross terms */ mwabw_( nanf( "" ) ), // Mw|w| , kg nvabv_( nanf( "" ) ), // Nv|v| , kg yrabr_( nanf( "" ) ), // Yr|r| , ? zqabq_( nanf( "" ) ), // Zq|q| , ? // // /* in-line lift and drag */ muq_( nanf( "" ) ), // Muq , kg-m muw_( nanf( "" ) ), // Muw , kg mpr_( nanf( "" ) ), // Mpr , kg-m^2 // nur_( nanf( "" ) ), // Nur , kg-m nuv_( nanf( "" ) ), // Nuv , kg npq_( nanf( "" ) ), // Npq , kg-m^2 // xvv_( nanf( "" ) ), // Xvv , kg/m xww_( nanf( "" ) ), // Xww , kg/m xvr_( nanf( "" ) ), // Xvr , kg xwq_( nanf( "" ) ), // Xwq , kg xrr_( nanf( "" ) ), // Xrr , kg-m xqq_( nanf( "" ) ), // Xqq , kg-m yur_( nanf( "" ) ), // Yur , kg yuv_( nanf( "" ) ), // Yuv , kg/m ywp_( nanf( "" ) ), // Ywp , kg-m zuq_( nanf( "" ) ), // Zuq , kg zuw_( nanf( "" ) ), // Zuw , kg/m zvp_( nanf( "" ) ), // Zvp , kg kvt2_( nanf( "" ) ), // ? , ? aspectRatio_( nanf( "" ) ), // , Unitless stallAngle_( nanf( "" ) ), // , Deg. rudderHystWidth_( nanf( "" ) ), // , rad rudderHystCenter_( nanf( "" ) ), // , rad rudderSpeed_( nanf( "" ) ), // , rad elevatorHystWidth_( nanf( "" ) ), // , rad elevatorHystCenter_( nanf( "" ) ), // , rad elevatorSpeed_( nanf( "" ) ), // , rad/sec movableMassHystWidth_( nanf( "" ) ), // , meter movableMassHystCenter_( nanf( "" ) ), // , meter movableMassSpeed_( nanf( "" ) ), // , meter/sec buoyancyHystWidth_( nanf( "" ) ), // , m^3 buoyancyHystCenter_( nanf( "" ) ), // , m^3 buoyancySpeed_( nanf( "" ) ), // , m^3/sec finArea_( nanf( "" ) ), // , m^2 coeffDrag_( nanf( "" ) ), // Coef. of Drag , Unitless coeffLift_( nanf( "" ) ), // Coef. of Lift , Unitless lowerRudX_( nanf( "" ) ), lowerRudY_( nanf( "" ) ), lowerRudZ_( nanf( "" ) ), upperRudX_( nanf( "" ) ), upperRudY_( nanf( "" ) ), upperRudZ_( nanf( "" ) ), portElevX_( nanf( "" ) ), portElevY_( nanf( "" ) ), portElevZ_( nanf( "" ) ), stbdElevX_( nanf( "" ) ), stbdElevY_( nanf( "" ) ), stbdElevZ_( nanf( "" ) ), designSpeed_( nanf( "" ) ), designPropEff_( nanf( "" ) ), designOmega_( nanf( "" ) ), designThrust_( nanf( "" ) ), designTorque_( nanf( "" ) ), dropWt1Volume_( nanf( "" ) ), dropWt1Mass_( nanf( "" ) ), dropWt1X_( nanf( "" ) ), dropWt1Y_( nanf( "" ) ), dropWt1Z_( nanf( "" ) ), cylinderLength_( nanf( "" ) ), cylinderRadius_( nanf( "" ) ), time_( nanf( "" ) ) { memset( oceanModelData_, 0, sizeof( oceanModelData_ ) ); } }; #endif /* SIMINITSTRUCT_H_ */