rigid-body transformations

[janerikhy]

What?

In order to calculate the motion of points different from the centre of gravity, we need to implement rigid-body transformations.

How?

Assuming small angles, we can define the rigid-body transformation as follows

$$s = \eta_{(1,2,3)} + \eta_{(4,5,6)} \times r$$

where $\eta$ is the vessel position and $r$ is the lever arm to the point of interest defined w.r.t COG.

Note

The implementation should be done in the utils.py module.

• inputs: r and $\eta$
• outputs: s