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Contents.m
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% Marine Systems Simulator (MSS)
%
% Reference: T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and
% Motion Control. John Wiley & Sons Ltd., 2nd edition
%
% Book examples: >> help mssExamples
%
% -------------------------------------------------------------------------
%
% GNCDemo - Demonstration menu for:
% 1) KinDemo - Euler angle and quaternion kinematics.
% 2) ManDemo - Maneuvering trials.
% 3) StabDemo - Straight-line, directional and positional motion stability
% 4) WaveDemo - Wave spectra demonstrations
%
% Conversions:
% conversion - defines the conversion factors R2D, D2R, MS2KNOTS, KNOTS2MS
% ssa(angle,'deg') - maps an angle in deg to the interval [-180, 180)
% ssa(angle,'rad') - maps an angle in rad to the interval [-pi pi)
%
% Control allocation and propeller models:
% ucalloc - Unconstrained control allocation for tau = T*K*u (T=K=constant)
% wageningen - Thrust and torque models for Wageningen B-series propellers
%
% Control systems:
% lqtracker - Computes the LQ tracker gain matrices for LTI systems
%
% Guidance systems:
% ALOSpsi - ALOS guidance law for heading autopilot control
% crosstrack - computes the crosstrack error and origin of the path-tangential frame
% crosstrackWpt - computes the crosstrack error between two waypoints
% ILOSpsi - ILOS guidance law for heading autopilot control
% LOSchi - LOS guidance law for course autopilot control
%
% Kinematics:
% eulerang - Euler angle transformation matrices J, J1 and J2
% ecef2llh - ECEF xyz-coordinates to longitude-lattitude-height
% euler2q - Euler angles (roll-pitch-yaw) to quaternions
% flat2llh - Flat Earth (NED) to longitude-lattitude-height
% quest - QUEST algorithm for attitude determination
% quest6DOF - 6-DOF position/attitude vector from 3 position measurements
% llh2ecef - longitude-lattitude-height to ECEF xyz-coordinates
% llh2flat - Longitude-lattitude-height to flat Earth (NED)
% euler2q - Computes the Euler angles from the unit quaternions.
% rad2pipi - Converts an angle in rad to the interval [-pi pi)
% Rll - Euler angle rotation matrix (longitude-lattitude)
% Rquat - Quaternion rotation matrix
% Rzyx - Euler angle rotation matrix (roll-pitch-yaw)
% Smtrx - skew-symmetric matrix for vector cross products: a x b = S(a)b
% Tquat - Quaternion transformation matrix for attitude
% Tzyx - Euler angle transformation matrix for attitude (roll-pitch-yaw)
% q2euler - Quaternions to Euler angles (roll-pitch-yaw)
% R2euler - Rotation matrix to Euler angles (roll-pitch-yaw)
% vex - Inverse vex(S(a))=a for the skew-symmetric matrix S(a)
% quatern - Quaternion transformation matrices J, J1 and J2
% quatprod - Quaternion product
%
% Navigation systems:
% acc2rollpitch - computes the static roll-pitch angles from specific force
% EKF_5states - estimation of SOG and COG from positions or latitude-longitude
% gravity - acceleration of gravity as a function lattitude (WGS-84)
% ins_ahrs - INS error-state Kalman filter using AHRS
% ins_mekf - INS error-state MEKF (quaternion representation)
% ins_mekf_psi - INS error-state MEKF using compass measurement
% insSignal - basic INS signal generator
%
% Numerical integration:
% euler2 - 2nd-order Euler integration, fixed step
% rk4 - 4th-order Runge Kutta method, fixed step
%
% Path generation:
% hybridPath - Generate a smooth hybrid path between thw waypoints
% order3 - Path generation using cubic (3rd-order) polynominals
% order5 - Path generation using 5th order polynominals
%
% Time-series simulations:
% SIMclarke83 - Simulate clarke.m under PD control
% SIMcontainer - Simulate container.m and Lcontainer.m under PD control
% SIMmariner - Simulate mariner.m under PD control
% SIMnavalvessel - Smulate navnalvessel.m under PD control
% SIMotter - Simulate otter.m under PD control
% SIMremus100 - Simulate remus100.m under PD control
% SIMrig - Simulate rig.m under PD control
%
% Maneuvering trials/Bode plots:
% nomoto - Bode plots of Nomoto's 1st- and 2nd-order models
% TurnCircle - performs a turning circle for a given ship model
% ZigZag - performs a zig-zag maneuver for a given ship model
% Pullout - performs a pullout maneuver for a given ship model
%
% Model transformations and conversion factors:
% conversion - loads a set of useful conversion factors to workspace, D2R, R2D, MS2KNOTS etc.
% coeffLiftDrag - lift/drag coefficients as a function of angle of attack of a submerged "wing profile"
% forceLiftDrag - lift and drag forces as a function of angle of attack of a submerged "wing profile"
% forceSurgeDamping - linear and quadratic damping forces in surge
% crossFlowDrag - crossflow drag computed from strip theory integrals
% Dmtrx - Lnear damping matrix for marine craft (submerged and floating)
% Hmtrx - system transformation matrix
% Gmtrx - Gravitational-buoyancy matrix (floating vessels)
% gvect - Gravitational-buoyancy vector, Euler angle inputs (submerged vehicles)
% gRvect - Gravitational-buoyancy vector, rotation matrix inputs (submerged vehicles)
% imlay61 - Hydrodynamic added mass and Coriolis-centripetal matrices MA and CA for a prolate spheroid
% m2c - System inertia to Coriolis-centripetal transformation matrix
% rbody - Computes MRB and CRB(nu) for a general rigid body
% spheriod - Computes MRB and CRB(nu) for a spheroid-shaped body
%
% Ships models:
% clarke83 - Ship maneuvering model parametrized using L, B and T
% frigate - Frigate, L = 100 m (nonlinear autopilot model)
% mariner - Mariner class vessel, L=160 m (nonlinear maneuvering model)
% tanker - Esso Osaka tanker, L=304 m (nonlinear course unstable maneuvering model)
% container - Container ship, L=175 m (nonlinear maneuvering model including the roll mode)
% Lcontainer - Container ship, L=175 m (LINEAR maneuvering model including the roll mode)
% navalvessel - Multipurpose naval vessel, L = 51.5 m (nonlinear manneuvering model)
% ROVzefakkel - Boat, L = 45 m (nonlinear autopilot model)
% supply - Supply vessel, L = 76.2 m (linear low-speed DP model)
%
% Underwater vehicle models:
% DSRV - Deep submergence rescue vehicle (DSRV), L = 5.0 m
% npsauv - Naval Postgraduate School autnomous underwater vehicle (AUV), L = 5.3 m
% remus100 - Remus 100 AUV, L = 1.9 m
%
% Semisubmersible models:
% rig - Semisub (mass-damper-spring) model, L = 84.6 m
%
% USV models:
% otter - Small autonomous USV, L = 2.0 m
%
% Wave response:
% waveresponse345 - heave, roll and pitch respnoses of ships in regular waves
%
% Wave Spectra, encounter frequency and Motion Sickness Incidence (MSI):
% encounter - Computes the encounter frequency
% ww2we - Computes the encounter frequency (vector; no abs value)
% HMmsi - Motion Sickness Incidence using the criterion of O'Hanlon and McCauley
% ISOmsi - Motion Sickness Incidence using the ISO 2631-1 criterion
% wavespec - Different wave spectra can be evaualted
% rand_phases - Generate vector of random phases
% hs2vw - Convert from Hs to wind speed
% vw2hs - Convert from wind speed to Hs
%
% Wind forces and moments:
% blendermann94 - Wind coeffcients using the data of Blendermann (1994)
% isherwood72 - Wind coefficients using the data of Isherwood (1972)
%
% See the help of each individual function for further information