ENH: sixDoF: add max/min angle constraints to the axis constraint

Summary

The axis constraint imposes an orientation limitation where bodies are restricted to rotate only around a fixed axis.

The set of commits optionally introduces the inclusion of maximum and minimum rotation angle constraints to the axis constraint.

Details

The following plot shows the rotation angle of the body modelled in "test-case.zip" with respect to the reference orientation. The inflow changes at t=2[s] and =4.5[s] to move the body in the opposite directions:

• Between t=0-2[s], the flow rotates the body in the clockwise direction. However, the body is limited by 0.15[rad] clockwise rotation wrt the ref orientation.
  • Note that the ref orientation is at +0.25[rad] at t=0[s].
• Between t=2-4.5[s], the flow rotates the body in the counterclockwise direction. The body is limited to 0.05[rad] counterclockwise rotation wrt the ref orientation.
  • Note that the body wants to rotate in the clockwise direction for sometime due to (I assume) some wake physics (or I need to reping the body to another point) between 3.5-4.5[s].
• Between t=4.5-8.5[s], the flow rotates the body in the clockwise direction, but this time, the rotation is limited to -0.1[rad] clockwise rotation.

Risks

• No change in existing input/output.

Metadata

• linux64ClangDPInt32Opt (clang13)
• linux64GccDPInt32Opt
• linux64GccSPDPInt64Debug
• Alltest: No new error/No change in existing output
• Test case: test-case.zip

added feature label

requested review from @Mattijs

assigned to @andy

changed milestone to %v2306

approved this merge request

added 29 commits

• c8086c64...246d9275 - 26 commits from branch develop
• bfcf3b2a - ENH: sixDoF: add underlying-motion access to constraints
• 789db1d5 - ENH: sixDoF: enable time-variant constraints in body motions
• 67c5e638 - ENH: sixDoF: add max/min angle constraints to the axis constraint

Compare with previous version

marked this merge request as ready

mentioned in commit d2e8c75d

merged