diff --git a/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc b/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc index 8128488f..82a68572 100644 --- a/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc +++ b/gz-waves/src/systems/linear_wave_body/LinearWaveBody.cc @@ -181,7 +181,7 @@ class gz::sim::systems::LinearWaveBodyPrivate /// /// 12. Use math::eigen3::convert for converting Matrix and Vector types. /// - /// + /// 13. Review use of Eigen. /// /// \brief WEC-Sim BEMIO hydro data structure (read from HDF5 file) @@ -1344,7 +1344,7 @@ void LinearWaveBody::Configure(const Entity &_entity, if (this->dataPtr->forceFlags.radiationAddedMassOn) { // parameters - auto& A = this->dataPtr->hydroForceCoeffs.A; + Eigen::Matrix6d& A = this->dataPtr->hydroForceCoeffs.A; // convert from Eigen to gz gz::math::Matrix6d gzA; @@ -1843,9 +1843,9 @@ void LinearWaveBodyPrivate::UpdateLinkState(const UpdateInfo &_info, this->linkState.X_WBcm.Rot().RotateVector(this->linkState.p_BcmBwp_Bcm); // position vector of body center of buoyancy - auto& cb = this->hydroData.cb; - auto& cg = this->hydroData.cg; - auto p_BcmBcb = cb - cg; + Eigen::Vector3d& cb = this->hydroData.cb; + Eigen::Vector3d& cg = this->hydroData.cg; + Eigen::Vector3d p_BcmBcb = cb - cg; // position vector of body CoB wrt body CoM in body/world frame this->linkState.p_BcmBcb_B = @@ -1990,7 +1990,7 @@ void LinearWaveBodyPrivate::UpdateHydrostaticForces(const UpdateInfo &_info, double g = this->simParams.g; double rho = this->simParams.rho; double Vo = this->geometry.Vo; - auto& K_hs = this->hydroForceCoeffs.K_hs; + Eigen::Matrix6d& K_hs = this->hydroForceCoeffs.K_hs; /// \todo check whether to add correction - in WEC-Sim buoyancy force is /// applied at CoB not CoM, so there is an additional moment. This @@ -1998,9 +1998,9 @@ void LinearWaveBodyPrivate::UpdateHydrostaticForces(const UpdateInfo &_info, /// which seems to apply all forces at the origin of the waterplane? // center of buoyancy in link frame (i.e. wrt link origin) - // auto& cb = this->hydroData.cb; - // auto& cg = this->hydroData.cg; - // auto p_BcmBcb = cb - cg; + // Eigen::Vector3d& cb = this->hydroData.cb; + // Eigen::Vector3d& cg = this->hydroData.cg; + // Eigen::Vector3d p_BcmBcb = cb - cg; // link properties gz::sim::Link baseLink(this->linkEntity); @@ -2124,7 +2124,7 @@ void LinearWaveBodyPrivate::UpdateRadiationDampingForces( return; // parameters - auto& B = this->hydroForceCoeffs.B; + Eigen::Matrix6d& B = this->hydroForceCoeffs.B; // link properties gz::sim::Link baseLink(this->linkEntity); @@ -2221,7 +2221,7 @@ void LinearWaveBodyPrivate::UpdateRadiationAddedMassForces( (currentTime - this->prevTime) < updatePeriod) { // parameters - auto& A = this->hydroForceCoeffs.A; + Eigen::Matrix6d& A = this->hydroForceCoeffs.A; // link properties gz::sim::Link baseLink(this->linkEntity); @@ -2320,12 +2320,12 @@ void LinearWaveBodyPrivate::UpdateExcitationForces(const UpdateInfo &_info, double height = this->waves.height; double phase = this->waves.phase; double omega = this->simParams.w; - auto& ex_re = this->hydroForceCoeffs.ex_re; - auto& ex_im = this->hydroForceCoeffs.ex_im; - auto& fk_re = this->hydroForceCoeffs.fk_re; - auto& fk_im = this->hydroForceCoeffs.fk_im; - auto& sc_re = this->hydroForceCoeffs.sc_re; - auto& sc_im = this->hydroForceCoeffs.sc_im; + Eigen::Vector6d& ex_re = this->hydroForceCoeffs.ex_re; + Eigen::Vector6d& ex_im = this->hydroForceCoeffs.ex_im; + Eigen::Vector6d& fk_re = this->hydroForceCoeffs.fk_re; + Eigen::Vector6d& fk_im = this->hydroForceCoeffs.fk_im; + Eigen::Vector6d& sc_re = this->hydroForceCoeffs.sc_re; + Eigen::Vector6d& sc_im = this->hydroForceCoeffs.sc_im; // link properties gz::sim::Link baseLink(this->linkEntity);