Adding thrust coefficient calculation

[marcoag]

Signed-off-by: Marco A. Gutierrez [email protected]

🎉 New feature

Work towards https://github.com/osrf/lrauv/issues/225

Summary

Thrust coefficient in Thruster plugin can only be set to a fixed number, by default 1. This PR adds a calculation that makes it depend on the velocity of the vehicle. The calculation implemented here is based Fossen's equations described in "Guidance and Control of Ocean Vehicles".

Test it

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [x] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[chapulina]

It would be ideal to target this PR at Fortress and merge it forward from there. There are many maritime projects on Fortress that could leverage this addition. We should also add a test case that exercises the new parameter.

[marcoag]

This got messed up, opened a new one here against Fortress as suggested.