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.

[codecov[bot]]

Codecov Report

Merging #1652 (b051ef0) into ign-gazebo6 (69e7757) will increase coverage by 0.03%. The diff coverage is 85.18%.

@@               Coverage Diff               @@
##           ign-gazebo6    #1652      +/-   ##
===============================================
+ Coverage        64.69%   64.73%   +0.03%     
===============================================
  Files              321      321              
  Lines            26062    26155      +93     
===============================================
+ Hits             16862    16931      +69     
- Misses            9200     9224      +24     

Impacted Files	Coverage Δ
src/systems/thruster/Thruster.cc	89.50% <85.18%> (-0.87%)	:arrow_down:
src/SimulationRunner.cc	90.93% <0.00%> (-0.96%)	:arrow_down:
src/gui/plugins/scene_manager/GzSceneManager.cc	17.58% <0.00%> (-0.60%)	:arrow_down:
.../systems/triggered_publisher/TriggeredPublisher.cc	83.28% <0.00%> (-0.38%)	:arrow_down:
.../systems/triggered_publisher/TriggeredPublisher.hh	100.00% <0.00%> (ø)
src/rendering/RenderUtil.cc	39.01% <0.00%> (+0.11%)	:arrow_up:

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[Crola1702]

:man_farmer: Hi there!

I was taking a look at this issue on the buildfarm and I noticed we have a new gcc warning.

• Gcc warning:

comparing floating point with == or != is unsafe [-Wfloat-equal] 247 | if (_calculateCoefficient && angularVelocity != 0) | ^

On thruster.cc:247.

Do you mind taking a look at how to solve/supress it? Thanks

[j-rivero]

Do you mind taking a look at how to solve/supress it? Thanks

I think that @ahcorde arrived to this https://github.com/gazebosim/gz-sim/pull/1754