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Merge pull request #11 from open-simulation-platform/10-using-ssp-con…
…nectors Making all configurations work with v0.6.0
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,73 @@ | ||
| <?xml version="1.0" encoding="utf-8" ?> | ||
| <OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription" | ||
| version="0.1"> | ||
| <UnitDefinitions> | ||
| <Unit name="m"> | ||
| <BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad"> | ||
| <BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="m/s"> | ||
| <BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad/s"> | ||
| <BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N"> | ||
| <BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N.m"> | ||
| <BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| </UnitDefinitions> | ||
| <VariableGroups> | ||
| <!-- INPUTS --> | ||
| <Generic name="vesselPosition"> | ||
| <LinearDisplacement name="linearVesselPosition"> | ||
| <Variable ref="x" unit="m"/> | ||
| <Variable ref="y" unit="m"/> | ||
| </LinearDisplacement> | ||
| <AngularDisplacement name="angularVesselPosition"> | ||
| <Variable ref="psi" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </Generic> | ||
| <Generic name="vesselVelocity"> | ||
| <LinearVelocity name="linearVesselVelocity"> | ||
| <Variable ref="dx" unit="m/s"/> | ||
| <Variable ref="dy" unit="m/s"/> | ||
| </LinearVelocity> | ||
| <AngularVelocity name="angularVesselVelocity"> | ||
| <Variable ref="dpsi" unit="rad/s"/> | ||
| </AngularVelocity> | ||
| </Generic> | ||
| <Generic name="vesselPositionReference"> | ||
| <LinearDisplacement name="linearVesselPositionReference"> | ||
| <Variable ref="x_ref" unit="m"/> | ||
| <Variable ref="y_ref" unit="m"/> | ||
| </LinearDisplacement> | ||
| <AngularDisplacement name="angularVesselPositionReference"> | ||
| <Variable ref="psi_ref" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </Generic> | ||
| <Generic name="vesselVelocityReference"> | ||
| <LinearVelocity name="linearVesselVelocityReference"> | ||
| <Variable ref="dx_ref" unit="m/s"/> | ||
| <Variable ref="dy_ref" unit="m/s"/> | ||
| </LinearVelocity> | ||
| <AngularVelocity name="angularVesselVelocityReference"> | ||
| <Variable ref="dpsi_ref" unit="rad/s"/> | ||
| </AngularVelocity> | ||
| </Generic> | ||
| <!-- OUTPUTS --> | ||
| <Generic name="ThrustCommand"> | ||
| <Force name="linearThrustCommand"> | ||
| <Variable ref="Controlx" unit="N"/> | ||
| <Variable ref="Controly" unit="N"/> | ||
| </Force> | ||
| <Torque name="angularThrustCommand"> | ||
| <Variable ref="ControlMz" unit="N.m"/> | ||
| </Torque> | ||
| </Generic> | ||
| </VariableGroups> | ||
| </OspModelDescription> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,64 @@ | ||
| <?xml version="1.0" encoding="utf-8" ?> | ||
| <OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription" | ||
| version="0.1"> | ||
| <UnitDefinitions> | ||
| <Unit name="m"> | ||
| <BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad"> | ||
| <BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="m/s"> | ||
| <BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad/s"> | ||
| <BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N"> | ||
| <BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N.m"> | ||
| <BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| </UnitDefinitions> | ||
| <VariableGroups> | ||
| <!-- INPUTS --> | ||
| <Generic name="vesselPosition"> | ||
| <LinearDisplacement name="linearVesselPosition"> | ||
| <Variable ref="y[1]" unit="m"/> | ||
| <Variable ref="y[2]" unit="m"/> | ||
| </LinearDisplacement> | ||
| <AngularDisplacement name="angularVesselPosition"> | ||
| <Variable ref="y[3]" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </Generic> | ||
| <Generic name="thrustForce"> | ||
| <Force name="linearThrustForce"> | ||
| <Variable ref="tau[1]" unit="N"/> | ||
| <Variable ref="tau[2]" unit="N"/> | ||
| </Force> | ||
| <Torque name="angularThrustForce"> | ||
| <Variable ref="tau[3]" unit="N.m"/> | ||
| </Torque> | ||
| </Generic> | ||
| <!-- OUTPUTS --> | ||
| <Generic name="filteredPosition"> | ||
| <LinearDisplacement name="linearFilteredPosition"> | ||
| <Variable ref="y_hat[1]" unit="m"/> | ||
| <Variable ref="y_hat[2]" unit="m"/> | ||
| </LinearDisplacement> | ||
| <AngularDisplacement name="angularFilteredPosition"> | ||
| <Variable ref="y_hat[3]" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </Generic> | ||
| <Generic name="filteredVelocity"> | ||
| <LinearVelocity name="linearFilteredVelocity"> | ||
| <Variable ref="v_hat[1]" unit="m/s"/> | ||
| <Variable ref="v_hat[2]" unit="m/s"/> | ||
| </LinearVelocity> | ||
| <AngularVelocity name="angularFilteredVelocity"> | ||
| <Variable ref="v_hat[3]" unit="rad/s"/> | ||
| </AngularVelocity> | ||
| </Generic> | ||
| </VariableGroups> | ||
| </OspModelDescription> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| <?xml version="1.0" encoding="utf-8" ?> | ||
| <OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription" | ||
| version="0.1"> | ||
| <UnitDefinitions> | ||
| <Unit name="m"> | ||
| <BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad"> | ||
| <BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N"> | ||
| <BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N.m"> | ||
| <BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| </UnitDefinitions> | ||
| <VariableGroups> | ||
| <!-- OUTPUTS --> | ||
| <Generic name="position"> | ||
| <LinearDisplacement name="linearPosition"> | ||
| <Variable ref="q[1]" unit="m"/> | ||
| <Variable ref="q[2]" unit="m"/> | ||
| </LinearDisplacement> | ||
| <AngularDisplacement name="angularPosition"> | ||
| <Variable ref="q[3]" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </Generic> | ||
| <!-- INPUTS --> | ||
| <Generic name="thrust"> | ||
| <Force name="thrustForce"> | ||
| <Variable ref="Thrust_d[1]" unit="N"/> | ||
| <Variable ref="Thrust_d[2]" unit="N"/> | ||
| </Force> | ||
| <Torque name="thrustTorque"> | ||
| <Variable ref="Thrust_d[3]" unit="N.m"/> | ||
| </Torque> | ||
| </Generic> | ||
| <AngularDisplacement name="azimuthAngle"> | ||
| <Variable ref="input[1]" unit="rad"/> | ||
| <Variable ref="input[2]" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </VariableGroups> | ||
| </OspModelDescription> |
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39 changes: 39 additions & 0 deletions
39
dp-ship/fmuproxy/ReferenceGenerator_OspModelDescription.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| <?xml version="1.0" encoding="utf-8" ?> | ||
| <OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription" | ||
| version="0.1"> | ||
| <UnitDefinitions> | ||
| <Unit name="m"> | ||
| <BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad"> | ||
| <BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="m/s"> | ||
| <BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad/s"> | ||
| <BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| </UnitDefinitions> | ||
| <VariableGroups> | ||
| <!-- OUTPUTS --> | ||
| <Generic name="positionReference"> | ||
| <LinearDisplacement name="linearPositionReference"> | ||
| <Variable ref="x_ref" unit="m"/> | ||
| <Variable ref="y_ref" unit="m"/> | ||
| </LinearDisplacement> | ||
| <AngularDisplacement name="angularPositionReference"> | ||
| <Variable ref="psi_ref" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </Generic> | ||
| <Generic name="velocityReference"> | ||
| <LinearVelocity name="linearVelocityReference"> | ||
| <Variable ref="dx_ref" unit="m/s"/> | ||
| <Variable ref="dy_ref" unit="m/s"/> | ||
| </LinearVelocity> | ||
| <AngularVelocity name="angularVelocityReference"> | ||
| <Variable ref="dpsi_ref" unit="rad/s"/> | ||
| </AngularVelocity> | ||
| </Generic> | ||
| </VariableGroups> | ||
| </OspModelDescription> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| <?xml version="1.0" encoding="utf-8" ?> | ||
| <OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription" | ||
| version="0.1"> | ||
| <UnitDefinitions> | ||
| <Unit name="m"> | ||
| <BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad"> | ||
| <BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="m/s"> | ||
| <BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="rad/s"> | ||
| <BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N"> | ||
| <BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| <Unit name="N.m"> | ||
| <BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/> | ||
| </Unit> | ||
| </UnitDefinitions> | ||
| <VariableGroups> | ||
| <!-- INPUTS --> | ||
| <Generic name="thrust"> | ||
| <Force name="linearThrust"> | ||
| <Variable ref="refx" unit="N"/> | ||
| <Variable ref="refy" unit="N"/> | ||
| </Force> | ||
| <Torque name="angularThrust"> | ||
| <Variable ref="refMz" unit="N.m"/> | ||
| </Torque> | ||
| </Generic> | ||
| <!-- OUTPUTS --> | ||
| <Generic name="thrustGlobalCommand"> | ||
| <Force name="linearThrustGlobalCommand"> | ||
| <Variable ref="Fxg" unit="N"/> | ||
| <Variable ref="Fyg" unit="N"/> | ||
| </Force> | ||
| <Torque name="angularThrustGlobalCommand"> | ||
| <Variable ref="Mzg" unit="N.m"/> | ||
| </Torque> | ||
| </Generic> | ||
| <Generic name="thrustLocalCommand"> | ||
| <Force name="linearThrustLocalCommand"> | ||
| <Variable ref="F1c" unit="N"/> | ||
| <Variable ref="F2c" unit="N"/> | ||
| </Force> | ||
| <Torque name="angularThrustLocalCommand"> | ||
| <Variable ref="F3c" unit="N.m"/> | ||
| </Torque> | ||
| </Generic> | ||
| <AngularDisplacement name="azimuthAngleCommand"> | ||
| <Variable ref="alpha1" unit="rad"/> | ||
| <Variable ref="alpha2" unit="rad"/> | ||
| </AngularDisplacement> | ||
| </VariableGroups> | ||
| </OspModelDescription> |
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