remove addition of zero Z valued grid point

X.Z() never gets populated with a nonzero value besides it's initial construction value of 0. Thus this addition is extraneous. With the removal of this addition, dz is the same as depth and the dz variable is also eliminated. An older comment is moved closer to where it should be based on the newer code code after the waveParams null check. Co-authored-by: Jonathan <[email protected]>
osrf · Jul 19, 2022 · 117e48d · 117e48d
1 parent e5544ed
commit 117e48d
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc b/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
@@ -327,19 +327,16 @@ void UsvDynamicsPlugin::Update()
 
       // Compute the depth at the grid point.
       double simTime = kTimeNow.Double();
-      // double depth = WavefieldSampler::ComputeDepthDirectly(
-      //  *waveParams, X, simTime);
       double depth = 0.0;
       if (waveParams)
       {
+        // depth = WavefieldSampler::ComputeDepthDirectly(
+        // *waveParams, X, simTime);
         depth = WavefieldSampler::ComputeDepthSimply(*waveParams, X, simTime);
       }
 
-      // Vertical wave displacement.
-      double dz = depth + X.Z();
-
       // Total z location of boat grid point relative to water surface
-      double  deltaZ = (this->waterLevel + dz) - kDdz;
+      double  deltaZ = (this->waterLevel + depth) - kDdz;
       deltaZ = std::max(deltaZ, 0.0);  // enforce only upward buoy force
       deltaZ = std::min(deltaZ, this->paramHullRadius);
       // Buoyancy force at grid point