Added Shaft Mechanical Power to Latent Data

buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp

@@ -44,7 +44,6 @@
 
 #include "ElectroHydraulicSoln.hpp"
 #include "ElectroHydraulicState.hpp"
-#include "ElectroHydraulicLoss.hpp"
 #include "BatteryState.hpp"
 
 #include <LatentData/LatentData.hpp>
@@ -265,18 +264,6 @@ void ElectroHydraulicPTO::PreUpdate(
     pto_state = buoy_gazebo::ElectroHydraulicState(pto_state_comp->Data());
   }
 
-  buoy_gazebo::ElectroHydraulicLoss pto_loss;
-  if (_ecm.EntityHasComponentType(
-      this->dataPtr->PrismaticJointEntity,
-      buoy_gazebo::components::ElectroHydraulicLoss().TypeId()))
-  {
-    auto pto_loss_comp =
-      _ecm.Component<buoy_gazebo::components::ElectroHydraulicLoss>(
-      this->dataPtr->PrismaticJointEntity);
-
-    pto_loss = buoy_gazebo::ElectroHydraulicLoss(pto_loss_comp->Data());
-  }
-
   buoy_gazebo::LatentData latent_data;
   if (_ecm.EntityHasComponentType(
       this->dataPtr->model.Entity(),
@@ -421,24 +408,22 @@ void ElectroHydraulicPTO::PreUpdate(
   pto_state.target_a = this->dataPtr->functor.I_Wind.I;
 
 
-  pto_loss.hydraulic_motor_loss += 1.0;
-  pto_loss.relief_valve_loss += 2.0;
-  pto_loss.motor_drive_i2r_loss =
-    this->dataPtr->functor.MotorDriveISquaredRLoss(this->dataPtr->functor.I_Wind.I);
-  pto_loss.motor_drive_switching_loss = this->dataPtr->functor.MotorDriveSwitchingLoss(VBus);
-  pto_loss.motor_drive_friction_loss = this->dataPtr->functor.MotorDriveFrictionLoss(N);
-  pto_loss.battery_i2r_loss = I_Batt * I_Batt * this->dataPtr->Ri;
-
   double piston_force = -deltaP * this->dataPtr->PistonArea * buoy_utils::NEWTONS_PER_LB;
 
   latent_data.electro_hydraulic.valid = true;
   latent_data.electro_hydraulic.inst_power = VBus * (I_Batt + I_Load);
+  latent_data.electro_hydraulic.shaft_mech_power = 
+    this->dataPtr->functor.ShaftMechPower;
   latent_data.electro_hydraulic.rpm = N;
   latent_data.electro_hydraulic.force = piston_force;
-  latent_data.electro_hydraulic.motor_drive_i2r_loss = pto_loss.motor_drive_i2r_loss;
-  latent_data.electro_hydraulic.motor_drive_switching_loss = pto_loss.motor_drive_switching_loss;
-  latent_data.electro_hydraulic.motor_drive_friction_loss = pto_loss.motor_drive_friction_loss;
-  latent_data.electro_hydraulic.battery_i2r_loss = pto_loss.battery_i2r_loss;
+  latent_data.electro_hydraulic.motor_drive_i2r_loss = 
+    this->dataPtr->functor.MotorDriveISquaredRLoss(this->dataPtr->functor.I_Wind.I);
+  latent_data.electro_hydraulic.motor_drive_switching_loss = 
+    this->dataPtr->functor.MotorDriveSwitchingLoss(VBus);	 
+  latent_data.electro_hydraulic.motor_drive_friction_loss = 
+    this->dataPtr->functor.MotorDriveFrictionLoss(N);	  
+  latent_data.electro_hydraulic.battery_i2r_loss =
+     I_Batt * I_Batt * this->dataPtr->Ri;
   latent_data.electro_hydraulic.eff_m = eff_m;
   latent_data.electro_hydraulic.eff_v = eff_v;
 
@@ -452,10 +437,6 @@ void ElectroHydraulicPTO::PreUpdate(
 
   auto stampMsg = gz::sim::convert<gz::msgs::Time>(_info.simTime);
 
-  _ecm.SetComponentData<buoy_gazebo::components::ElectroHydraulicLoss>(
-    this->dataPtr->PrismaticJointEntity,
-    pto_loss);
-
   _ecm.SetComponentData<buoy_gazebo::components::LatentData>(
     this->dataPtr->model.Entity(),
     latent_data);

buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicSoln.hpp

@@ -110,6 +110,7 @@ struct ElectroHydraulicSoln : Functor<double>
   mutable double BusPower;
   double Q;
 
+  mutable double ShaftMechPower;
 private:
   static const std::vector<double> Peff;       // psi
   static const std::vector<double> Neff;       // rpm
@@ -170,7 +171,7 @@ struct ElectroHydraulicSoln : Functor<double>
     const double T_applied =
       1.375 * this->I_Wind.TorqueConstantInLbPerAmp * WindCurr;
 
-    double ShaftMechPower = T_applied * buoy_utils::NM_PER_INLB *
+    ShaftMechPower = T_applied * buoy_utils::NM_PER_INLB *
       x[0U] * buoy_utils::RPM_TO_RAD_PER_SEC;
     BusPower = -ShaftMechPower - (
       MotorDriveFrictionLoss(x[0U]) +

buoy_gazebo/src/LatentData/LatentData/LatentData.hpp

@@ -107,6 +107,7 @@ struct AirSpring
 struct ElectroHydraulic
 {
   bool valid{false};
+  double shaft_mech_power{0.0};  // Watts
   double inst_power{0.0};  // Watts
   double rpm{0.0};
   double force{0.0};  // Newtons
@@ -120,6 +121,7 @@ struct ElectroHydraulic
   bool operator==(const ElectroHydraulic & that) const
   {
     bool equal = (this->valid == that.valid);
+    equal &= fabs(this->shaft_mech_power - that.shaft_mech_power) < 1e-7F;
     equal &= fabs(this->inst_power - that.inst_power) < 1e-7F;
     equal &= fabs(this->force - that.force) < 1e-7F;
     equal &= fabs(this->motor_drive_i2r_loss - that.motor_drive_i2r_loss) < 1e-7F;

buoy_gazebo/src/LatentData/LatentData/LatentDataPublisher.cpp

@@ -265,6 +265,8 @@ void LatentDataPublisher::PostUpdate(
   this->dataPtr->latent_data_.lower_spring.piston_velocity =
     latent_data.lower_spring.piston_velocity;
 
+  this->dataPtr->latent_data_.electro_hydraulic.shaft_mech_power =
+    latent_data.electro_hydraulic.shaft_mech_power;
   this->dataPtr->latent_data_.electro_hydraulic.inst_power =
     latent_data.electro_hydraulic.inst_power;
   this->dataPtr->latent_data_.electro_hydraulic.rpm =