Simple trawl vessel

Simple vessel used for the trawl optimization tool.

Collaboration diagram for Simple trawl vessel:

Author

Karl-Johan Reite

Date

01.01.2006 KJR: Initial version.

Todo:

Fix missing resource "skrogUpdated", and change MeshName in example file.

Complete documentation, and fix example file.

Note

For the time being, the parameter Mesh needs to b set as "fhSpere", in the input file. The simple trawl vessel will be visualized as a white elliptical sphere.

Example configuration excerpt

<Lib 
   LibName                   = "fishery"
   SimObject                 = "Trawl/Vessel"
   Name                      = "V"
/>

Todo:

Add config details

Input Ports

Name	Width	Description
Heading	1	Heading of the vessel.
Vel	1	Velocity of the vessel.

Output Ports

Name	Width	Description
WarpPos1...WarpPos<NumWarps>	3	Description here.
WarpVel1...WarpVel<NumWarps>	3	Description here.
Pos	3	Description here.
Vel	3	Description here.
Heading	1	Description here.

Configuration parameters

Name	Width	Description
Length	1	Length of the vessel.
Breadth	1	Breadth of the vessel.
Draught	1	Draught/draft of the vessel.
ApSpeed	1	Description here.
NumWarps	1	Description here.
InitialSpeed	1	Initial speed of the vessel.
InitialHeading	1	Initial heading of the vessel.
LengthScale	1	Description here.
BreadthScale	1	Description here.
DepthScale	1	Description here.
MeshName	1	Name of the visualization mesh.
Pitch	1	Pitch of the vessel.
DeltaRenderPos	3	Description here.
WarpPosPrt	3	Description here.
WarpPosStb	3	Description here.

Initial conditions

Name	Width	Description
Pos	2	Initial position of the vessel.
Heading	1	Initial heading of the vessel.

Full example file

<Contents>
  <OBJECTS>
    <Lib
      LibName              = "base"
      SimObject            = "Environment/Basic"
      Name                 = "Environment"
      MeanDepth            = "190"
      BottomRoughness      = "5"
      SurfaceTextureScale  = "1000"
      BottomTextureScale   = "15"
      BottomStructureScale = "50"
      TerrainRadius        = "1000"
      SurfaceDepth         = "0"
      NumTerrainRings      = "170"
    />
    <Lib
      LibName              = "fishery"
      SimObject            = "Trawl/Vessel"
      Name                 = "V"
      MeshName             = "vessels/skrog01/skrog01"
       Length = "70"
       Breadth = "14"
       Depth = "7"
       LengthScale = "0.0014"
       BreadthScale = "0.007"
       DepthScale = "0.013"
    />
  </OBJECTS>
 
   <INTERCONNECTIONS>
    <Connection
      Environment.CurrentVel = "1, 0, 0"
      V.Heading              = "140"
      V.Vel                  = "10"
    />
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
      V.Pos     = "0,20"
      V.Heading = "140"
    />
  </INITIALIZATION>
 
  <INTEGRATION>
    <Engine
    IntegratorMethod           = "2"
    NumCores                   = "1"
    TOutput                    = "3000"
    LogStates                  = "0"
    stepsize                   = "0.01"
    HMax                       = "0.2"
    HMin                       = "0.00000001"
    AbsTol                     = "1e-3"
    RelTol                     = "1e-3"
    UseRSSNormInsteadOfInfNorm = "0"
    FileOutput                 = ""
    />
  </INTEGRATION>
</Contents>

This SimObject is referred to as Trawl/Vessel