Modified construction of rigid body inertia and coriolis matrices #8
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evan-palmer
requested changes
Oct 31, 2024
evan-palmer
requested changes
Nov 1, 2024
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Changes Made
Included the computation for the off-diagonal terms of the rigid body inertia and Coriolis matrices based on the equations presented in [1] and [2].
[1] Fossen, T.I., 2011. Handbook of marine craft hydrodynamics and motion control. John Willy & Sons Ltd.
[2] Antonelli, G., 2014. Underwater Robots, volume 96 of Springer Tracts in Advanced Robotics.