Merge branch 'andermi/fix_ehpto_force' into andermi/atsea_spring

osrf · Aug 29, 2023 · 4837766 · 4837766
2 parents 353b83d + ac7f755
commit 4837766
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp b/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp
@@ -437,7 +437,7 @@ void ElectroHydraulicPTO::PreUpdate(
   // Apply force if not in Velocity Mode, in which case a joint velocity is applied elsewhere
   // (likely by a test Fixture)
   if (!this->dataPtr->VelMode) {
-    double piston_force = -deltaP * this->dataPtr->PistonArea;
+    double piston_force = -deltaP * this->dataPtr->PistonArea * buoy_utils::NEWTONS_PER_LB;
     // Create new component for this entitiy in ECM (if it doesn't already exist)
     auto forceComp = _ecm.Component<gz::sim::components::JointForceCmd>(
       this->dataPtr->PrismaticJointEntity);
@@ -446,7 +446,7 @@ void ElectroHydraulicPTO::PreUpdate(
         this->dataPtr->PrismaticJointEntity,
         gz::sim::components::JointForceCmd({piston_force}));  // Create this iteration
     } else {
-      forceComp->Data()[0] += piston_force;     // Add force to existing forces.
+      forceComp->Data()[0] += piston_force;  // Add force to existing forces.
     }
   }
 }

diff --git a/buoy_gazebo/src/buoy_utils/Constants.hpp b/buoy_gazebo/src/buoy_utils/Constants.hpp
@@ -26,6 +26,7 @@ static constexpr double RPM_TO_RAD_PER_SEC{2.0 * M_PI / 60.0};
 static constexpr double NM_PER_INLB{0.112984829};
 static constexpr double INLB_PER_NM{8.851};
 static constexpr double INCHES_PER_METER{39.4};
+static constexpr double NEWTONS_PER_LB{4.4482};
 }  // namespace buoy_utils