Frequency dependent parameters
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What
The 6DOF DP simulation model of CSAD has a fixed frequency when selecting the hydrodynamic parameters. Based on Fossen (2011), the hydrodynamic parameters should (at least for DOFs = 3, 4, and 5) be selected for the peak frequency of the sea state. Therefore, we want to add functionality for selecting the hydrodynamic parameters based on peak frequency.
How
We can continue using the fixed frequency (currently index 41) for the initialization of CSAD_DP_6DOF objects. Instead of changing it directly, create a set_hydroparams() method for the class.
The function should only take in a frequency (used correctly, it should be the peak frequency) and select the index which corresponds to the frequency closest to that of the sea state.