Norrbin Tanker

A 3DOF vessel.

Collaboration diagram for Norrbin Tanker:

Todo:

Add description.

Bug:

tanker.scene Ogre resource is missing

Author

Karl Gunnar Aarsæther

Example configuration excerpt

<Lib
  LibName     = "fhsim_base"
  SimObject   = "Vessels/Tanker"
  Name        = "A"
  Scale       = "1.0"
  Mass        = "1.0"
  Material    = "Simple/Red"
  InertiaRadi = "1,1,1"
  ModelType   = "lb-series"
  DataSet     = "20000dwt"
  RudderType  = "small"
/>
...
<Connection
  A.Force     = "0,0,0"
  A.Torque    = "0,0,0"
  A.Engine    = "0,0,0"
  A.Rudder    = "0,0,0"
/>
...
<InitialCondition
  A.Position    = "0,0,-500"
  A.Velocity    = "0,0,0"
  A.Rotation    = "1,0,0"
  A.Omega       = "0,0,0"
  A.EngineRPM   = "0"
  A.RudderAngle = "0"
/>

Input Ports

Todo:

Add inputs details

Name	Width	Description
In	1	Description here

Output Ports

Todo:

Add outputs details

Name	Width	Description
Out	1	Description here

Configuration parameters

Todo:

Add configs details This SimObject does not contain any configuration parameters.

Name	Width	Description
Conf	1	Description here

Initial conditions

Todo:

Add initial conditions.

Full example file

<Contents>
  <OBJECTS>
    <Lib
        LibName="base" 
        SimObject="Vessels/Tanker"  
        Name="A" 
        Scale="1.0"
        Mass="1.0"
        Material="Simple/Red"
        InertiaRadi="1,1,1"
        ModelType="lb-series"
        DataSet="20000dwt" 
        RudderType="small"
    />
  </OBJECTS>
  
  <INTERCONNECTIONS>
    <Connection
        A.Force="0,0,0"
        A.Torque="0,0,0"
        A.Engine="0,0,0"
        A.Rudder="0,0,0"
    />
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
        A.Position="0,0,-500"
        A.Velocity="0,0,0"
        A.Rotation="1,0,0"
        A.Omega="0,0,0"
        A.EngineRPM="0"
        A.RudderAngle="0"
    />
  </INITIALIZATION>
 
  <INTEGRATION>
    <Engine
    IntegratorMethod="2"
    NumCores="1"
    TOutput="0,0:1:59,60"
    LogStates ="1"  
    stepsize ="0"
    HMax="0.002"
    HMin="0.00000001"
    AbsTol="1e-3" RelTol="1e-3"
    UseRSSNormInsteadOfInfNorm="0"
    FileOutput="objects:all"
    />
  </INTEGRATION>
</Contents>

This SimObject is referred to as Vessels/Tanker