Pull Dev into Master for v6.0 release (WEC-Sim#53)

* Adding load mitigating controls and OWC (WEC-Sim#39) * Adding load mitigating controls * adding OWC applications case example * adding 2020b version * adding hydroData source * update readmes, linting * adding OWC orifice data * add h5 file, mod gitignore, add testOWC * add LMC and OWC tests to CI * add LMC and OWC tests * remove R2020b simulink file, remove last LTI block * remove extra library file * fix some paths, toolboxes required by the tests * fix issue from merging dev, remove paraview tests * add OWC MCR case to tests --------- Co-authored-by: akeeste <[email protected]> * Common input files (WEC-Sim#50) * common RM3 hydroData and geometry * common OSWEC hydroData and geometry files * multiple wave headings * update input files * consolidate sphere hydrodata * update input files * revert nonlinear hydro files back to original * fix tests * remove outdated comments from input files * Increase test tolerance (WEC-Sim#51) * Increase test tolerance * Change to relative tolerances * Increase relative tolerance for tower * Update README.md (WEC-Sim#52) Co-authored-by: Kelley Ruehl <[email protected]> --------- Co-authored-by: dforbush2 <[email protected]> Co-authored-by: akeeste <[email protected]> Co-authored-by: Adam Keester <[email protected]> Co-authored-by: Kelley Ruehl <[email protected]>
jtgrasb · Dec 1, 2023 · f6b094f · f6b094f
1 parent cd19b9f
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diff --git a/.github/workflows/run-tests-dev.yml b/.github/workflows/run-tests-dev.yml
@@ -31,13 +31,15 @@ jobs:
                  End_Stops,
                  Free_Decay,
                  Generalized_Body_Modes,
+                 Load_Mitigating_Controls,
                  Mean_Drift,
                  Morison_Element,
                  MOST,
                  Multiple_Condition_Runs,
                  Multiple_Wave_Headings,
                  Nonhydro_Body,
                  Nonlinear_Hydro,
+                 OWC,
                  Passive_Yaw,
                  PTO-Sim,
                  Radiation_Force_Options,
@@ -50,8 +52,12 @@ jobs:
             products: Simulink Simscape Simscape_Multibody Simscape_Fluids
           - folder: Controls
             products: Simulink Simscape Simscape_Multibody Control_System_Toolbox Optimization_Toolbox System_Identification_Toolbox Statistics_and_Machine_Learning_Toolbox Symbolic_Math_Toolbox
+          - folder: Load_Mitigating_Controls
+            products: Simulink Simscape Simscape_Multibody DSP_System_Toolbox
+          - folder: OWC
+            products: Simulink Simscape Simscape_Multibody Control_System_Toolbox
           - folder: WECCCOMP
-            products: Simulink Simscape Simscape_Multibody Control_System_Toolbox Optimization_Toolbox System_Identification_Toolbox Statistics_and_Machine_Learning_Toolbox 
+            products: Simulink Simscape Simscape_Multibody Control_System_Toolbox Optimization_Toolbox System_Identification_Toolbox Statistics_and_Machine_Learning_Toolbox
     name: ${{ matrix.folder }} MATLAB ${{ matrix.release }} on Linux
     steps:
       - name: Check out repository (repository dispatch)

diff --git a/.gitignore b/.gitignore
@@ -88,6 +88,7 @@ yaw*.mat
 !/Generalized_Body_Modes/hydroData/WAMIT/*
 !/Mean_Drift/WAMIT/inputFiles/*
 !/Mean_Drift/WAMIT/outputFiles/*
+!/OWC/OrificeModel/hydroData/*.h5
 
 # Other
 .DS_Store

diff --git a/Body-to-Body_Interactions/B2B_Case1/wecSimInputFile.m b/Body-to-Body_Interactions/B2B_Case1/wecSimInputFile.m
@@ -17,15 +17,15 @@
 
 %% Body Data
 % Float
-body(1) = bodyClass('../hydroData/rm3.h5');      
-body(1).geometryFile = '../geometry/float.stl';   
-body(1).mass = 'equilibrium';                   
-body(1).inertia = [20907301 21306090.66 37085481.11];       
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];
 
 % Spar/Plate
-body(2) = bodyClass('../hydroData/rm3.h5'); 
-body(2).geometryFile = '../geometry/plate.stl'; 
-body(2).mass = 'equilibrium';                   
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';
 body(2).inertia = [94419614.57 94407091.24 28542224.82];
 
 %% PTO and Constraint Parameters

diff --git a/Body-to-Body_Interactions/B2B_Case2/wecSimInputFile.m b/Body-to-Body_Interactions/B2B_Case2/wecSimInputFile.m
@@ -17,16 +17,16 @@
 
 %% Body Data
 % Float
-body(1) = bodyClass('../hydroData/rm3.h5');      
-body(1).geometryFile = '../geometry/float.stl';   
-body(1).mass = 'equilibrium';                   
-body(1).inertia = [20907301 21306090.66 37085481.11];       
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];
 
 % Spar/Plate
-body(2) = bodyClass('../hydroData/rm3.h5'); 
-body(2).mass = 'equilibrium';                   
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';
 body(2).inertia = [94419614.57 94407091.24 28542224.82];
-body(2).geometryFile = '../geometry/plate.stl'; 
 
 %% PTO and Constraint Parameters
 % Floating (3DOF) Joint

diff --git a/Body-to-Body_Interactions/B2B_Case3/wecSimInputFile.m b/Body-to-Body_Interactions/B2B_Case3/wecSimInputFile.m
@@ -17,16 +17,16 @@
 
 %% Body Data
 % Float
-body(1) = bodyClass('../hydroData/rm3.h5');      
-body(1).geometryFile = '../geometry/float.stl';   
-body(1).mass = 'equilibrium';                   
-body(1).inertia = [20907301 21306090.66 37085481.11];       
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];
 
 % Spar/Plate
-body(2) = bodyClass('../hydroData/rm3.h5'); 
-body(2).mass = 'equilibrium';                   
-body(2).inertia = [94419614.57 94407091.24 28542224.82];
-body(2).geometryFile = '../geometry/plate.stl'; 
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';
+body(2).inertia = [94419614.57 94407091.24 28542224.82];  
 
 %% PTO and Constraint Parameters
 % Floating (3DOF) Joint

diff --git a/Body-to-Body_Interactions/B2B_Case4/wecSimInputFile.m b/Body-to-Body_Interactions/B2B_Case4/wecSimInputFile.m
@@ -17,16 +17,16 @@
 
 %% Body Data
 % Float
-body(1) = bodyClass('../hydroData/rm3.h5');      
-body(1).geometryFile = '../geometry/float.stl';   
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');     
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';   
 body(1).mass = 'equilibrium';                   
 body(1).inertia = [20907301 21306090.66 37085481.11];       
 
 % Spar/Plate
-body(2) = bodyClass('../hydroData/rm3.h5'); 
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');  
 body(2).mass = 'equilibrium';                   
 body(2).inertia = [94419614.57 94407091.24 28542224.82];
-body(2).geometryFile = '../geometry/plate.stl'; 
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';   
 
 %% PTO and Constraint Parameters
 % Floating (3DOF) Joint

diff --git a/Body-to-Body_Interactions/B2B_Case5/wecSimInputFile.m b/Body-to-Body_Interactions/B2B_Case5/wecSimInputFile.m
@@ -19,16 +19,16 @@
 
 %% Body Data
 % Float
-body(1) = bodyClass('../hydroData/rm3.h5');      
-body(1).geometryFile = '../geometry/float.stl';   
-body(1).mass = 'equilibrium';                   
-body(1).inertia = [20907301 21306090.66 37085481.11];       
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];
 
 % Spar/Plate
-body(2) = bodyClass('../hydroData/rm3.h5'); 
-body(2).mass = 'equilibrium';                   
-body(2).inertia = [94419614.57 94407091.24 28542224.82];
-body(2).geometryFile = '../geometry/plate.stl'; 
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';
+body(2).inertia = [94419614.57 94407091.24 28542224.82];  
 
 %% PTO and Constraint Parameters
 % Floating (3DOF) Joint

diff --git a/Body-to-Body_Interactions/B2B_Case6/wecSimInputFile.m b/Body-to-Body_Interactions/B2B_Case6/wecSimInputFile.m
@@ -18,16 +18,16 @@
 
 %% Body Data
 % Float
-body(1) = bodyClass('../hydroData/rm3.h5');      
-body(1).geometryFile = '../geometry/float.stl';   
-body(1).mass = 'equilibrium';                   
-body(1).inertia = [20907301 21306090.66 37085481.11];       
+body(1) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(1).geometryFile = '../../_Common_Input_Files/RM3/geometry/float.stl';
+body(1).mass = 'equilibrium';
+body(1).inertia = [20907301 21306090.66 37085481.11];
 
 % Spar/Plate
-body(2) = bodyClass('../hydroData/rm3.h5'); 
-body(2).mass = 'equilibrium';                   
+body(2) = bodyClass('../../_Common_Input_Files/RM3/hydroData/rm3.h5');
+body(2).geometryFile = '../../_Common_Input_Files/RM3/geometry/plate.stl';
+body(2).mass = 'equilibrium';
 body(2).inertia = [94419614.57 94407091.24 28542224.82];
-body(2).geometryFile = '../geometry/plate.stl'; 
 
 %% PTO and Constraint Parameters
 % Floating (3DOF) Joint

diff --git a/Body-to-Body_Interactions/TestB2B.m b/Body-to-Body_Interactions/TestB2B.m
@@ -3,7 +3,7 @@
     properties
         OriginalDefault
         testDir
-        h5Dir = "hydroData"
+        h5Dir = '../_Common_Input_Files/RM3/hydroData/'
         h5Name = 'rm3.h5'
         outName = 'rm3.out'
     end

diff --git a/Controls/Declutching/wecSimInputFile.m b/Controls/Declutching/wecSimInputFile.m
@@ -19,8 +19,8 @@
 
 %% Body Data
 % Sphere
-body(1) = bodyClass('../hydroData/sphere.h5');          % Create the body(1) Variable
-body(1).geometryFile = '../geometry/sphere.stl';        % Location of Geomtry File
+body(1) = bodyClass('../../_Common_Input_Files/Sphere/hydroData/sphere.h5');          % Create the body(1) Variable
+body(1).geometryFile = '../../_Common_Input_Files/Sphere/geometry/sphere.stl';        % Location of Geomtry File
 body(1).mass = 'equilibrium';                           % Body Mass
 body(1).inertia = [20907301 21306090.66 37085481.11];   % Moment of Inertia [kg*m^2]     
 

diff --git a/Controls/Latching/wecSimInputFile.m b/Controls/Latching/wecSimInputFile.m
@@ -19,8 +19,8 @@
 
 %% Body Data
 % Sphere
-body(1) = bodyClass('../hydroData/sphere.h5');          % Create the body(1) Variable
-body(1).geometryFile = '../geometry/sphere.stl';        % Location of Geomtry File
+body(1) = bodyClass('../../_Common_Input_Files/Sphere/hydroData/sphere.h5');          % Create the body(1) Variable
+body(1).geometryFile = '../../_Common_Input_Files/Sphere/geometry/sphere.stl';        % Location of Geomtry File
 body(1).mass = 'equilibrium';                           % Body Mass
 body(1).inertia = [20907301 21306090.66 37085481.11];   % Moment of Inertia [kg*m^2]     
 

diff --git a/Controls/MPC/wecSimInputFile.m b/Controls/MPC/wecSimInputFile.m
@@ -22,8 +22,8 @@
 
 %% Body Data
 % Sphere
-body(1) = bodyClass('../hydroData/sphere.h5');          % Create the body(1) Variable
-body(1).geometryFile = '../geometry/sphere.stl';        % Location of Geomtry File
+body(1) = bodyClass('../../_Common_Input_Files/Sphere/hydroData/sphere.h5');          % Create the body(1) Variable
+body(1).geometryFile = '../../_Common_Input_Files/Sphere/geometry/sphere.stl';        % Location of Geomtry File
 body(1).mass = 'equilibrium';                           % Body Mass
 body(1).inertia = [20907301 21306090.66 37085481.11];   % Moment of Inertia [kg*m^2]     
 

diff --git a/Controls/Passive (P)/wecSimInputFile.m b/Controls/Passive (P)/wecSimInputFile.m
@@ -19,8 +19,8 @@
 
 %% Body Data
 % Sphere
-body(1) = bodyClass('../hydroData/sphere.h5');          % Create the body(1) Variable
-body(1).geometryFile = '../geometry/sphere.stl';        % Location of Geomtry File
+body(1) = bodyClass('../../_Common_Input_Files/Sphere/hydroData/sphere.h5');          % Create the body(1) Variable
+body(1).geometryFile = '../../_Common_Input_Files/Sphere/geometry/sphere.stl';        % Location of Geomtry File
 body(1).mass = 'equilibrium';                           % Body Mass
 body(1).inertia = [20907301 21306090.66 37085481.11];   % Moment of Inertia [kg*m^2]     
 

diff --git a/Controls/Reactive (PI)/wecSimInputFile.m b/Controls/Reactive (PI)/wecSimInputFile.m
@@ -18,8 +18,8 @@
 
 %% Body Data
 % Sphere
-body(1) = bodyClass('../hydroData/sphere.h5');          % Create the body(1) Variable
-body(1).geometryFile = '../geometry/sphere.stl';        % Location of Geomtry File
+body(1) = bodyClass('../../_Common_Input_Files/Sphere/hydroData/sphere.h5');          % Create the body(1) Variable
+body(1).geometryFile = '../../_Common_Input_Files/Sphere/geometry/sphere.stl';        % Location of Geomtry File
 body(1).mass = 'equilibrium';                           % Body Mass
 body(1).inertia = [20907301 21306090.66 37085481.11];   % Moment of Inertia [kg*m^2]     
 

diff --git a/Controls/ReactiveWithPTO/wecSimInputFile.m b/Controls/ReactiveWithPTO/wecSimInputFile.m
@@ -18,8 +18,8 @@
 
 %% Body Data
 % Sphere
-body(1) = bodyClass('../hydroData/sphere.h5');          % Create the body(1) Variable
-body(1).geometryFile = '../geometry/sphere.stl';        % Location of Geomtry File
+body(1) = bodyClass('../../_Common_Input_Files/Sphere/hydroData/sphere.h5');          % Create the body(1) Variable
+body(1).geometryFile = '../../_Common_Input_Files/Sphere/geometry/sphere.stl';        % Location of Geomtry File
 body(1).mass = 'equilibrium';                           % Body Mass
 body(1).inertia = [20907301 21306090.66 37085481.11];   % Moment of Inertia [kg*m^2]     
 

diff --git a/Controls/TestControls.m b/Controls/TestControls.m
@@ -3,7 +3,7 @@
     properties
         OriginalDefault
         testDir
-        h5Dir = "hydroData"
+        h5Dir = '../_Common_Input_Files/Sphere/hydroData/'
         h5Name = 'sphere.h5'
         outName = 'sphere.out'
     end    

diff --git a/Desalination/TestDesalination.m b/Desalination/TestDesalination.m
@@ -3,7 +3,7 @@
     properties
         OriginalDefault
         testDir
-        h5Dir = "hydroData"
+        h5Dir = '../_Common_Input_Files/OSWEC/hydroData/'
         h5Name = 'oswec.h5'
         outName = 'oswec.out'
         hasH5 = false

diff --git a/Desalination/hydroData/bemio.m b/Desalination/hydroData/bemio.m