Added a single wrapping data class and updated README

.clang-tidy

@@ -27,13 +27,21 @@ Checks: >
   -clang-diagnostic-error,
   -bugprone-exception-escape
 CheckOptions:
-  - { key: readability-identifier-naming.NamespaceCase,         value: lower_case }
-  - { key: readability-identifier-naming.ClassCase,             value: CamelCase  }
-  - { key: readability-identifier-naming.GlobalFunctionCase,    value: camelBack }
-  - { key: readability-identifier-naming.StructCase,            value: CamelCase }
-  - { key: readability-identifier-naming.FunctionCase,          value: CamelCase }
-  - { key: readability-identifier-naming.ParameterPrefix,       value: _ }
-  - { key: readability-identifier-naming.VariableCase,          value: camelBack }
-  - { key: readability-identifier-naming.MemberCase,            value: camelBack }
-  - { key: readability-identifier-naming.GlobalConstantPrefix,  value: k }
-  - { key: readability-identifier-naming.GlobalConstantCase,    value: CamelCase }
+  - key: readability-braces-around-statements.ShortStatementLines
+    value: "2"
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.TemplateParameterCase,
+    value: CamelCase,
+  - key: readability-identifier-naming.FunctionCase
+    value: camelBack
+  - key: readability-identifier-naming.MethodCase
+    value: camelBack
+  - key: readability-identifier-naming.VariableCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassMemberCase
+    value: lower_case

.devcontainer/devcontainer.json

@@ -11,7 +11,7 @@
         "files.insertFinalNewline": true,
         "files.trimTrailingWhitespace": true,
         "editor.formatOnSave": true,
-        "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
+        "C_Cpp.default.intelliSenseMode": "linux-gcc-x64",
         "C_Cpp.clang_format_fallbackStyle": "Google",
         "C_Cpp.codeAnalysis.clangTidy.enabled": true,
         "C_Cpp.codeAnalysis.clangTidy.runAutomatically": true,
@@ -32,7 +32,8 @@
         "cschlosser.doxdocgen",
         "ms-vscode.cpptools",
         "josetr.cmake-language-support-vscode",
-        "xaver.clang-format"
+        "xaver.clang-format",
+        "esbenp.prettier-vscode"
       ]
     }
   }

README.md

@@ -1,4 +1,36 @@
 # Hydrodynamics
 
-This project provides a collection of C++ data classes for common hydrodynamic parameters. All
-parameters have been defined using Fossen's equations for hydrodynamics.
+The hydrodynamics library provides a collection of C++ data classes for hydrodynamic parameters
+(i.e., inertia, added mass, coriolis, damping, etc.). The goal of this project is to abstract away
+hydrodynamic equations and representations so that you can instead focus on writing underwater
+robotics algorithms.
+
+## Installation
+
+The hydrodynamics library has been implemented as a ROS 2 package with support for ROS 2 Humble,
+Iron, and Rolling. To install and use this library in your own ROS 2 project, simply clone this
+repository to your ROS 2 workspace:
+
+```bash
+cd path/to/ws_ros/src
+git clone git@github.com:Robotic-Decision-Making-Lab/hydrodynamics.git
+```
+
+## Getting Started
+
+All hydrodynamic parameters implemented in this project have been defined using Fossen's equations
+for hydrodynamics. The hydrodynamic parameters implemented include:
+
+- Mass: rigid body inertia and added mass
+- Coriolis: centripetal, coriolis, and added coriolis
+- Damping: linear and quadratic damping
+- Restoring forces: buoyancy and gravitational forces
+- Current effects: fluid velocity
+
+Each of the aforementioned parameters provide their own distinct data class for independent use
+or can be managed altogether within the `HydrodynamicParameters` class. For further
+information regarding the interfaces available, please refer to the [library header](https://github.com/Robotic-Decision-Making-Lab/hydrodynamics/blob/main/include/hydrodynamics.hpp).
+
+## License
+
+The hydrodynamics library has been released under the MIT license.

include/hydrodynamics.hpp

@@ -138,14 +138,43 @@ class RestoringForces
 
 class CurrentEffects
 {
+public:
   CurrentEffects() = default;
 
-  CurrentEffects(Eigen::Vector6d velocity);
+  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

src/hydrodynamics.cpp

@@ -204,4 +204,35 @@ Eigen::Vector6d CurrentEffects::calculateCurrentEffectsVector(const Eigen::Matri
   return rotated_current_effects;
 }
 
+HydrodynamicParameters::HydrodynamicParameters(Inertia inertia,
+                                               Coriolis coriolis,
+                                               Damping damping,
+                                               RestoringForces restoring_forces,
+                                               CurrentEffects current_effects)
+: inertia(std::move(inertia)),
+  coriolis(std::move(coriolis)),
+  damping(std::move(damping)),
+  restoring_forces(std::move(restoring_forces)),
+  current_effects(std::move(current_effects))
+{
+}
+
+HydrodynamicParameters::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)
+{
+  inertia = Inertia(mass, moments, added_mass);
+  coriolis = Coriolis(mass, moments, added_mass);
+  damping = Damping(linear_damping, quadratic_damping);
+  restoring_forces = RestoringForces(weight, buoyancy, center_of_buoyancy, center_of_gravity);
+  current_effects = CurrentEffects(current_velocity);
+}
+
 }  // namespace hydrodynamics