Python vessel simulation environment
Project description
MCSimPython
Vessel simulator used in master project and master thesis of M. Kongshaug, H. Mo and J. Hygen. The project is developed at Norwegian University of Science and Technology, Institue of Marine Technology.
The python package is not complete and there is no guarantee for the validity of the vessel models.
The complete documentation can be found at: https://wave-model.readthedocs.io/en/latest/index.html
How to use MCSimPython
PyPi
The MCSimPython
package can be installed from PyPi using pip
:
pip install MCSimPython
From GitHub:
Install from GitHub in the following way when developing the package.
- Clone the GitHub repository to your local computer.
- Create a virtual environment
py -m venv name-of-venv
- Activate virtual environment
name-of-venv\scripts\activate
- Update pip and setuptools:
py -m pip install --upgrade pip setuptools
- Install the python package locally as an editable:
pip install -e .
- Verify that the python package
MCSimPython
has been installed properly by running a demo script, or simply
(venv) C:\path\to\dir> python
>>> import MCSimPython
>>>
Structure
All code implementation is found in the src
directory. The python package is structured as follows:
src/MCSimPython/simulator/
Simulation Models. Python Path:=MCSimPython.simulator
csad.py
: Simulation models for C/S Arctic Drillshipgunnerus.py
: Simulation models for R/V Gunnerus
src/MCSimPython/waves/
Wave kinematics, wave spectra, and wave loads. Python Path :=MCSimPython.waves
src/MCSimPython/guidance/
Reference Models. Python path:=MCSimPython.guidance
(in development)filter.py
: A third order reference filter.path_param
: Waypoint path parameterization.
src/MCSimPython/observers/
Observers :MCSimPython.observer
(in development)nonlinobs.py
: Nonlinear observers (only 3DOF nonlinobs w/ wavefiltering atm)
src/MCSimPython/control
Controllers :MCSimPython.control
(in development)basic.py
: Simple PD and PID controllersbackstepping.py
: A simple backstepping controller (no bias compensation).
Demos
Demonstration of how the individual components of the python package can be used is given in demos
. Some demos of combination of the different components are also given here.
Visualization
RVG 6DOF model in beam sea
RVG 6DOF model in multidirectional sea
CSAD 6DOF model in multidirectional sea
Project details
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