Added 'mass' and 'inertia' attributes to BoatProperties class.

Update the BOAT_PROPERTIES instance to include mass and inertia values.

Replaced second and third parameters in the initialization of self.__boat_state with BOAT_PROPERTIES.

Author: arynrosh

src/boat_simulator/boat_simulator/common/constants.py

@@ -5,6 +5,8 @@
 from enum import Enum
 from typing import Dict
 
+import numpy as np
+
 
 # Class declarations for constants. These are not meant to be accessed directly.
 @dataclass
@@ -41,6 +43,8 @@ class BoatProperties:
     sail_dist: float  # Meters
     rudder_dist: float  # Meters
     hull_drag_factor: float  # Dimensionless
+    mass: float  # Kilograms
+    inertia: np.ndarray  # Kilogram meter squared
 
 
 # Directly accessible constants
@@ -92,4 +96,6 @@ class BoatProperties:
     sail_dist=5.0,
     rudder_dist=1.5,
     hull_drag_factor=0.05,
+    mass=200.0,
+    inertia=np.array([[10, 0, 0], [0, 30, 0], [0, 0, 20]], dtype=np.float32),
 )

src/boat_simulator/boat_simulator/nodes/physics_engine/physics_engine_node.py

@@ -111,7 +111,7 @@ def __init_private_attributes(self):
         self.__sail_trim_tab_angle = 0
         self.__desired_heading = None
         self.__boat_state = BoatState(
-            0.5, 1, np.array([[0.5, 0.5, 0.5], [0.0, 0.5, 0.5], [0.0, 0.0, 0.5]], dtype=np.float32)
+            0.5, Constants.BOAT_PROPERTIES.mass, Constants.BOAT_PROPERTIES.inertia
         )
         self.__wind_generator = FluidGenerator(
             generator=MVGaussianGenerator(np.array([5, 5]), np.array([[2, 1], [1, 2]]))