From 117e48dec08513b1c3f1d245741791f350c9d5a1 Mon Sep 17 00:00:00 2001 From: Akash Patel <17132214+acxz@users.noreply.github.com> Date: Tue, 19 Jul 2022 14:58:29 -0400 Subject: [PATCH] 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 --- usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc b/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc index 05aae52bc..c3bd38d2e 100644 --- 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