Application: uSimMarineX

Brief Synopsis:

A much faster new version of uSimMarine with embedded PID controller.

Authors:

  • Michael Benjamin

Groups:

Dependencies:

Distribution:

  • moos-ivp.org

Documentation:

  • Pending

Contact Email:

  • mikerb@mit.edu

Function:

The uSimMarineX application is a simple 3D vehicle simulator that updates vehicle state, position and trajectory, based on the present actuator values and prior vehicle state. Typical usage scenario has a single instance of uSimMarineX associated with each simulated vehicle. uSimMarineX is a derivative of the original uSimMarine. This new version has the abililty to embed a PID controller within the simulator for tighter coordination between sim and control which allows for much higher time warp simulations. The PID controller is the same as in pMarinePID. This simulator also has support for wormholes.

Lines of Code:

  • 2,614 (with libraries: 27,542)

Files of Code:

  • 15 (with libraries: 209)

Work Years:

  • 0.55 (with libraries: 6.15)