Removed current effects and fixed weird const refs in constructor

.clang-format

@@ -10,9 +10,8 @@ BraceWrapping:
   AfterNamespace: true
   AfterStruct: true
   AfterEnum: true
-ColumnLimit: 100
-BinPackParameters: false
-BinPackArguments: false
+ColumnLimit: 120
+BinPackParameters: true
 ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false

.clang-tidy

@@ -45,3 +45,7 @@ CheckOptions:
     value: lower_case
   - key: readability-identifier-naming.ClassMemberCase
     value: lower_case
+  - key: readability-identifier-naming.ProtectedMemberSuffix
+    value: "_"
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: "_"

.devcontainer/devcontainer.json

@@ -16,7 +16,7 @@
         "C_Cpp.codeAnalysis.clangTidy.enabled": true,
         "C_Cpp.codeAnalysis.clangTidy.runAutomatically": true,
         "clang-format.executable": "/usr/bin/clang-format-14",
-        "editor.rulers": [100],
+        "editor.rulers": [120],
         "editor.tabSize": 2,
         "[cpp]": {
           "editor.defaultFormatter": "xaver.clang-format"

include/eigen.hpp

@@ -21,7 +21,6 @@
 #pragma once
 
 #include <Eigen/Dense>
-#include <vector>
 
 namespace Eigen
 {

include/hydrodynamics.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023, Evan Palmer
+// Copyright 2024, Evan Palmer
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -21,35 +21,66 @@
 #pragma once
 
 #include <Eigen/Dense>
-#include <memory>
+#include <optional>
 
 #include "eigen.hpp"
 
 namespace hydrodynamics
 {
 
+/**
+ * @brief A wrapper for inertial parameters including added mass and rigid body inertia.
+ */
 class Inertia
 {
 public:
-  Inertia() = default;
-
-  Inertia(double mass,
-          double Ixx,
-          double Iyy,
-          double Izz,
-          double Xdu,
-          double Ydv,
-          double Zdw,
-          double Kdp,
-          double Mdq,
+  /**
+   * @brief Construct a new wrapper for inertial parameters including added mass and rigid body inertia.
+   *
+   * @param mass The mass of the vehicle.
+   * @param Ixx The moment of inertia about the x-axis.
+   * @param Iyy The moment of inertia about the y-axis.
+   * @param Izz The moment of inertia about the z-axis.
+   * @param Xdu The added mass coefficient in the surge direction.
+   * @param Ydv The added mass coefficient in the sway direction.
+   * @param Zdw The added mass coefficient in the heave direction.
+   * @param Kdp The added mass coefficient in the roll direction.
+   * @param Mdq The added mass coefficient in the pitch direction.
+   * @param Ndr The added mass coefficient in the yaw direction.
+   */
+  Inertia(double mass, double Ixx, double Iyy, double Izz, double Xdu, double Ydv, double Zdw, double Kdp, double Mdq,
           double Ndr);
 
-  Inertia(double mass, const Eigen::Vector3d & moments, const Eigen::Vector6d & added_mass);
-
+  /**
+   * @brief Construct a new wrapper for inertial parameters including added mass and rigid body inertia.
+   *
+   * @param mass The mass of the vehicle.
+   * @param moments The moments of inertia about the x, y, and z axes.
+   * @param added_mass The added mass coefficients in the surge, sway, heave, roll, pitch, and yaw directions.
+   */
+  Inertia(double mass, Eigen::Vector3d moments, Eigen::Vector6d added_mass);
+
+  /**
+   * @brief Get the rigid body inertia matrix.
+   *
+   * @return Eigen::Matrix6d
+   */
   [[nodiscard]] Eigen::Matrix6d getRigidBodyInertiaMatrix() const;
 
+  /**
+   * @brief Get the added mass matrix.
+   *
+   * @return Eigen::Matrix6d
+   */
   [[nodiscard]] Eigen::Matrix6d getAddedMassMatrix() const;
 
+  /**
+   * @brief Get the mass matrix.
+   *
+   * @note This is the sum of the rigid body and added mass matrices.
+   *
+   * @return Eigen::Matrix6d
+   */
   [[nodiscard]] Eigen::Matrix6d getMassMatrix() const;
 
 private:
@@ -58,30 +89,62 @@ class Inertia
   Eigen::Matrix6d mass_mat_;
 };
 
+/**
+ * @brief A wrapper for Coriolis and centripetal force parameters.
+ */
 class Coriolis
 {
 public:
-  Coriolis() = default;
-
-  Coriolis(double mass,
-           double Ixx,
-           double Iyy,
-           double Izz,
-           double Xdu,
-           double Ydv,
-           double Zdw,
-           double Kdp,
-           double Mdq,
+  /**
+   * @brief Construct a new wrapper for the Coriolis and centripetal force parameters.
+   *
+   * @param mass The mass of the vehicle.
+   * @param Ixx The moment of inertia about the x-axis.
+   * @param Iyy The moment of inertia about the y-axis.
+   * @param Izz The moment of inertia about the z-axis.
+   * @param Xdu The added mass coefficient in the surge direction.
+   * @param Ydv The added mass coefficient in the sway direction.
+   * @param Zdw The added mass coefficient in the heave direction.
+   * @param Kdp The added mass coefficient in the roll direction.
+   * @param Mdq The added mass coefficient in the pitch direction.
+   * @param Ndr The added mass coefficient in the yaw direction.
+   */
+  Coriolis(double mass, double Ixx, double Iyy, double Izz, double Xdu, double Ydv, double Zdw, double Kdp, double Mdq,
            double Ndr);
 
-  Coriolis(double mass, const Eigen::Vector3d & moments, Eigen::Vector6d added_mass);
-
-  [[nodiscard]] Eigen::Matrix6d calculateRigidBodyCoriolisMatrix(
-    const Eigen::Vector3d & angular_velocity) const;
-
-  [[nodiscard]] Eigen::Matrix6d calculateAddedCoriolisMatrix(
-    const Eigen::Vector6d & velocity) const;
-
+  /**
+   * @brief Construct a new wrapper for the Coriolis and centripetal force parameters.
+   *
+   * @param mass The mass of the vehicle.
+   * @param moments The moments of inertia about the x, y, and z axes.
+   * @param added_mass The added mass coefficients in the surge, sway, heave, roll, pitch, and yaw directions.
+   */
+  Coriolis(double mass, Eigen::Vector3d moments, Eigen::Vector6d added_mass);
+
+  /**
+   * @brief Calculate the rigid body Coriolis matrix.
+   *
+   * @param angular_velocity The angular velocity of the vehicle.
+   * @return Eigen::Matrix6d
+   */
+  [[nodiscard]] Eigen::Matrix6d calculateRigidBodyCoriolisMatrix(const Eigen::Vector3d & angular_velocity) const;
+
+  /**
+   * @brief Calculate the added mass Coriolis matrix.
+   *
+   * @param velocity The velocity of the vehicle.
+   * @return Eigen::Matrix6d
+   */
+  [[nodiscard]] Eigen::Matrix6d calculateAddedCoriolisMatrix(const Eigen::Vector6d & velocity) const;
+
+  /**
+   * @brief Calculate the Coriolis matrix.
+   *
+   * @note This is the sum of the rigid body and added mass Coriolis matrices.
+   *
+   * @param velocity The velocity of the vehicle.
+   * @return Eigen::Matrix6d
+   */
   [[nodiscard]] Eigen::Matrix6d calculateCoriolisMatrix(const Eigen::Vector6d & velocity) const;
 
 private:
@@ -90,44 +153,76 @@ class Coriolis
   Eigen::Vector6d added_mass_coeff_;
 };
 
+/**
+ * @brief A wrapper for the damping forces acting on the vehicle, including linear and quadratic damping coefficients.
+ */
 class Damping
 {
 public:
-  Damping() = default;
-
-  Damping(double Xu,
-          double Yv,
-          double Zw,
-          double Kp,
-          double Mq,
-          double Nr,
-          double Xuu,
-          double Yvv,
-          double Zww,
-          double Kpp,
-          double Mqq,
-          double Nrr);
-
+  /**
+   * @brief Construct a new wrapper for the damping coefficients.
+   *
+   * @param Xu The linear damping coefficient in the surge direction.
+   * @param Yv The linear damping coefficient in the sway direction.
+   * @param Zw The linear damping coefficient in the heave direction.
+   * @param Kp The linear damping coefficient in the roll direction.
+   * @param Mq The linear damping coefficient in the pitch direction.
+   * @param Nr The linear damping coefficient in the yaw direction.
+   * @param Xuu The quadratic damping coefficient in the surge direction.
+   * @param Yvv The quadratic damping coefficient in the sway direction.
+   * @param Zww The quadratic damping coefficient in the heave direction.
+   * @param Kpp The quadratic damping coefficient in the roll direction.
+   * @param Mqq The quadratic damping coefficient in the pitch direction.
+   * @param Nrr The quadratic damping coefficient in the yaw direction.
+   */
+  Damping(double Xu, double Yv, double Zw, double Kp, double Mq, double Nr, double Xuu, double Yvv, double Zww,
+          double Kpp, double Mqq, double Nrr);
+
+  /**
+   * @brief Construct a new wrapper for the damping coefficients.
+   *
+   * @param linear The linear damping coefficients.
+   * @param quadratic The quadratic damping coefficients.
+   */
   Damping(Eigen::Vector6d linear, Eigen::Vector6d quadratic);
 
+  /**
+   * @brief Calculate the damping matrix.
+   *
+   * @param velocity The current velocity of the vehicle.
+   * @return Eigen::Matrix6d
+   */
   [[nodiscard]] Eigen::Matrix6d calculateDampingMatrix(const Eigen::Vector6d & velocity) const;
 
 private:
   Eigen::Vector6d linear_coeff_;
   Eigen::Vector6d quadratic_coeff_;
 };
 
+/**
+ * @brief A wrapper for the restoring forces acting on the vehicle, including gravity and bouyancy.
+ */
 class RestoringForces
 {
 public:
-  RestoringForces() = default;
-
-  RestoringForces(double weight,
-                  double buoyancy,
-                  Eigen::Vector3d center_of_buoyancy,
+  /**
+   * @brief Construct a wrapper for restoring force parameters.
+   *
+   * @param weight The weight of the vehicle.
+   * @param buoyancy The buoyancy of the vehicle.
+   * @param center_of_buoyancy The center of buoyancy of the vehicle.
+   * @param center_of_gravity The center of gravity of the vehicle.
+   */
+  RestoringForces(double weight, double buoyancy, Eigen::Vector3d center_of_buoyancy,
                   Eigen::Vector3d center_of_gravity);
 
-  [[nodiscard]] Eigen::Vector6d calculateRestoringForcesVector(const Eigen::Matrix3d & rot) const;
+  /**
+   * @brief Calculate the restoring forces acting on the vehicle.
+   *
+   * @param rotation The current rotation of the vehicle with respect to the inertial frame.
+   * @return Eigen::Vector6d
+   */
+  [[nodiscard]] Eigen::Vector6d calculateRestoringForcesVector(const Eigen::Matrix3d & rotation) const;
 
 private:
   double weight_;
@@ -136,45 +231,4 @@ class RestoringForces
   Eigen::Vector3d center_of_gravity_;
 };
 
-class CurrentEffects
-{
-public:
-  CurrentEffects() = default;
-
-  explicit CurrentEffects(Eigen::Vector6d velocity);
-
-  [[nodiscard]] Eigen::Vector6d calculateCurrentEffectsVector(const Eigen::Matrix3d & rot) const;
-
-private:
-  Eigen::Vector6d current_;
-};
-
-struct HydrodynamicParameters
-{
-  Inertia inertia;
-  Coriolis coriolis;
-  Damping damping;
-  RestoringForces restoring_forces;
-  CurrentEffects current_effects;
-
-  HydrodynamicParameters() = default;
-
-  HydrodynamicParameters(Inertia inertia,
-                         Coriolis coriolis,
-                         Damping damping,
-                         RestoringForces restoring_forces,
-                         CurrentEffects current_effects);
-
-  HydrodynamicParameters(double mass,
-                         double weight,
-                         double buoyancy,
-                         const Eigen::Vector3d & moments,
-                         const Eigen::Vector6d & added_mass,
-                         Eigen::Vector6d linear_damping,
-                         Eigen::Vector6d quadratic_damping,
-                         Eigen::Vector3d center_of_buoyancy,
-                         Eigen::Vector3d center_of_gravity,
-                         Eigen::Vector6d current_velocity);
-};
-
 }  // namespace hydrodynamics