Withdrawn

Passive_Yaw/PassiveYawRegression/README.md

@@ -0,0 +1,37 @@
+# Passive-yaw regression baseline
+
+The OSWEC irregular-wave regression runs for 250 s with phase seed 1 and
+fixed-step `ode4` at 0.01 s. Both bodies use `yaw.threshold = 0`, which
+interpolates heading-dependent hydrodynamic coefficients every step. The
+previous one-degree coefficient hold produced strongly step-dependent
+heading events and PTO work in all three published phase realizations.
+
+`IrrYaw_org.mat` contains only the archived time, flap yaw, total yaw
+torque, wave elevation, and spectrum needed by the regression. Its source
+is the complete MATLAB R2025b run of WEC-Sim commit
+`0753b2e47f2457c078751dcfe5d251d1767b80ab` and WEC-Sim_Applications
+commit `d53d4d4c9eda2581f04204f5d394a6ef84bb099e`, with the two yaw
+thresholds changed from 1 degree to zero. The archived source output is
+from [this workflow run](https://github.com/cmudrc/wec-sim-python/actions/runs/37720514831)
+(`matlab-reference-model-output`, `OSWEC_PASSIVE_YAW_IRR_CONT`). Its CSVs
+provide `body1` column 1 for time, column 7 for yaw, and column 19 for
+total yaw torque (one-based), plus the wave and component files. The
+component amplitude divided by two is `waves.spectrum` in this WEC-Sim
+version. The archived body, wave, and component CSV SHA-256 values are:
+
+| CSV | SHA-256 |
+| --- | --- |
+| `body1` | `b8530d3f72ff6c1f842411b716e126c0abc177a39e604214fcbb1178a9e2238e` |
+| wave | `be5906bf1e1a0dfc8d5ec5075473202fe72239b1727cd849869847863163a507` |
+| components | `053265841734b875d53129e3dd5de92961a43f890a6004f3c68401ae5dcdb384` |
+
+The archived artifact also contains the BEMIO-generated `oswec.h5` used by
+that source run. Its byte hash differs across archived regenerations;
+the CSV hashes above identify the stored trajectory and wave reference.
+
+The baseline was assembled from those archived numeric outputs rather
+than from source solver states during a comparison. To regenerate after an
+intentional source change, run `regeneratePassiveYawBaseline` with that
+WEC-Sim checkout on the MATLAB path and review the resulting baseline and
+regression diff. The test compares the full yaw and torque trajectories,
+both spectral moments, and the full wave time history.

Passive_Yaw/PassiveYawRegression/regeneratePassiveYawBaseline.m

@@ -0,0 +1,30 @@
+function regeneratePassiveYawBaseline()
+% Rebuild the compact phase-seed-1 reference after an intentional rebaseline.
+% Run with the pinned WEC-Sim source on the MATLAB path. This overwrites the
+% checked-in IrrYaw_org.mat, so inspect the resulting regression diff.
+caseDir = fileparts(mfilename('fullpath'));
+originalDir = pwd;
+cleanup = onCleanup(@() cd(originalDir));
+cd(caseDir);
+wecSim;
+assert(strcmp(simu.solver, 'ode4') && simu.dt == 0.01 && ...
+    simu.startTime == 0 && simu.endTime == 250 && ...
+    waves.phaseSeed == 1 && body(1).yaw.threshold == 0 && ...
+    body(2).yaw.threshold == 0, ...
+    'The input does not match the continuous-heading regression');
+referenceTime = output.bodies(1).time;
+referenceYaw = output.bodies(1).position(:,6);
+referenceForce = output.bodies(1).forceTotal(:,6);
+referenceOmega = waves.omega(:);
+referenceSpectrum = waves.spectrum(:);
+referenceWave = waves.waveAmpTime(:,2);
+assert(numel(referenceTime) == 25001 && ...
+    isequal(size(referenceYaw),size(referenceTime), ...
+        size(referenceForce),size(referenceWave)) && ...
+    all(isfinite([referenceTime,referenceYaw,referenceForce, ...
+        referenceWave]),'all'), 'Incomplete passive-yaw reference');
+save('IrrYaw_org.mat','referenceTime','referenceYaw', ...
+    'referenceForce','referenceOmega','referenceSpectrum', ...
+    'referenceWave','-v7');
+close_system('OSWEC',0);
+end

Passive_Yaw/PassiveYawRegression/runLoadPassiveYawIrr.m

@@ -1,60 +1,62 @@
-%% Run the WEC-Sim RM3 Test Case for 1DOF w/PTO
-% This script will run the RM3 in WEC-Sim for irregular waves with Hs=2.5[m] 
-% and Tp=8[s]. The RM3 WEC models has 2 bodies, restricted to heave motion
-% only, and has PTO damping=1200[kN-s/m].
-
-%% Run Simulation
-wecSim;                     % Run Simulation
-
-%% Post-Process Data
-% Flap position and force
-IrrYaw.time_new=output.bodies(1).time;
-IrrYaw.Pos_new=output.bodies(1).position(:,6);
-IrrYaw.Force_new=output.bodies(1).forceTotal(:,6);
-% Spectrum
+%% Run the continuous-heading OSWEC passive-yaw regression
+wecSim;
+
+%% Compare the current run with the archived 250 s phase-seed-1 reference
+reference = load('IrrYaw_org.mat');
+assert(all(isfield(reference, {'referenceTime', 'referenceYaw', ...
+    'referenceForce', 'referenceOmega', 'referenceSpectrum', ...
+    'referenceWave'})), 'Passive-yaw reference is incomplete');
+assert(body(1).yaw.threshold == 0 && body(2).yaw.threshold == 0 && ...
+    waves.phaseSeed == 1 && simu.endTime == 250 && simu.dt == 0.01, ...
+    'Passive-yaw input does not match the continuous-heading reference');
+
+IrrYaw.time_new = output.bodies(1).time;
+IrrYaw.Pos_new = output.bodies(1).position(:,6);
+IrrYaw.Force_new = output.bodies(1).forceTotal(:,6);
+IrrYaw.time_org = reference.referenceTime;
+IrrYaw.Pos_org = reference.referenceYaw;
+IrrYaw.Force_org = reference.referenceForce;
+assert(isequal(size(IrrYaw.time_new), size(IrrYaw.time_org)) && ...
+    max(abs(IrrYaw.time_new - IrrYaw.time_org)) < 1e-10, ...
+    'Passive-yaw reference time grid differs');
+
 IrrYaw.Sp.WEC_Sim_new.m0 = calcSpectralMoment(waves.omega,waves.spectrum,0);
 IrrYaw.Sp.WEC_Sim_new.m2 = calcSpectralMoment(waves.omega,waves.spectrum,2);
-
-%% Load Data
-irrCICouput_new=output;        % Keeps the new run in the workspace
-load('IrrYaw_org.mat')    % Load Previous WEC-Sim Data
-
-%% Post-Process Data
-% Flap position and force
-IrrYaw.time_org=output.bodies(1).time;
-IrrYaw.Pos_org=output.bodies(1).position(:,6);
-IrrYaw.Force_org=output.bodies(1).forceTotal(:,6);
-% Spectrum
-IrrYaw.Sp.WEC_Sim_org.m0 = calcSpectralMoment(waves.omega,waves.spectrum,0);
-IrrYaw.Sp.WEC_Sim_org.m2 = calcSpectralMoment(waves.omega,waves.spectrum,2);
-
-%% Quantify Maximum Difference Between Saved and Current WEC-Sim RunsReg
-[IrrYaw.Pos_diff ,IrrYaw.Pos_i]=max(abs(IrrYaw.Pos_new-IrrYaw.Pos_org));
-[IrrYaw.Force_diff ,IrrYaw.Force_i]=max(abs(IrrYaw.Force_new-IrrYaw.Force_org));
+IrrYaw.Sp.WEC_Sim_org.m0 = calcSpectralMoment( ...
+    reference.referenceOmega,reference.referenceSpectrum,0);
+IrrYaw.Sp.WEC_Sim_org.m2 = calcSpectralMoment( ...
+    reference.referenceOmega,reference.referenceSpectrum,2);
+assert(isequal(size(waves.waveAmpTime(:,2)), size(reference.referenceWave)) && ...
+    max(abs(waves.waveAmpTime(:,1) - IrrYaw.time_org)) < 1e-10, ...
+    'Passive-yaw reference wave grid differs');
+IrrYaw.Wave_diff = max(abs(waves.waveAmpTime(:,2) - ...
+    reference.referenceWave));
+
+[IrrYaw.Pos_diff,IrrYaw.Pos_i] = max(abs(IrrYaw.Pos_new-IrrYaw.Pos_org));
+[IrrYaw.Force_diff,IrrYaw.Force_i] = max(abs(IrrYaw.Force_new-IrrYaw.Force_org));
 save('IrrYaw','IrrYaw')
 
-%% Plot Old vs. New Comparison
-figure(); % plots of yaw position
+%% Plot archived and current trajectories
+figure();
 subplot(1,2,1)
 plot(IrrYaw.time_new,IrrYaw.Pos_new,':k','LineWidth',1.4)
 hold on; grid on;
 plot(IrrYaw.time_org,IrrYaw.Pos_org,'-k')
 xlabel('Time(s)'); ylabel('Yaw position (rad)')
 title('Yaw position comparison')
 
-subplot(1,2,2) % plots of yaw position
+subplot(1,2,2)
 plot(IrrYaw.time_new,IrrYaw.Force_new,':k','LineWidth',1.4)
 hold on; grid on;
 plot(IrrYaw.time_org,IrrYaw.Force_org,'-k');
 xlabel('Time(s)');
-ylabel('Total Yaw Force (N)');
+ylabel('Total Yaw Force (N m)');
 legend('New','Original');
 title('Yaw force comparison');
 
 sgtitle('Passive yaw regression, irregular wave')
-savefig('figYawIrr');                
+savefig('figYawIrr');
 
-%% Clear output and .slx directory
-try
-	delete('OSWEC.slx.autosave')    
+if isfile('OSWEC.slx.autosave')
+    delete('OSWEC.slx.autosave')
 end

Passive_Yaw/PassiveYawRegression/wecSimInputFile.m

@@ -27,15 +27,15 @@
 body(1).mass = 12700;                           % User-Defined mass [kg]
 body(1).inertia = [1.85e6 1.85e6 1.85e6];       % Moment of Inertia [kg-m^2]
 body(1).yaw.option = 1;                         % Turn passive yaw ON
-body(1).yaw.threshold = 1;                      % Set passive yaw threshold
+body(1).yaw.threshold = 0;                      % Interpolate heading coefficients every step
 
 % Base
 body(2) = bodyClass('../../_Common_Input_Files/OSWEC/hydroData/oswec.h5');   % Initialize bodyClass for Base
 body(2).geometryFile = '../../_Common_Input_Files/OSWEC/geometry/base.stl';  % Geometry File
 body(2).mass = 999;                             % Placeholder mass for fixed body
 body(2).inertia = [999 999 999];                % Placeholder inertia for fixed body
 body(2).yaw.option = 1;                         % Turn passive yaw ON
-body(2).yaw.threshold = 1;                      % Set passive yaw threshold
+body(2).yaw.threshold = 0;                      % Interpolate heading coefficients every step
 
 %% PTO and Constraint Parameters
 % Fixed

Passive_Yaw/TestPassiveYawRegression.m

@@ -93,5 +93,9 @@ function irregYaw_2nd_Spectral_Moment(testCase)
             fprintf(['2nd Order Spectral Moment, Diff = '       ...
                      num2str(max(abs(org-new))) '\n']);
         end
+        function irregYaw_wave_elevation(testCase)
+            % Match the actual wave time history, not just its spectrum.
+            testCase.verifyEqual(testCase.IrrYaw.Wave_diff,0,'AbsTol',1e-10);
+        end
     end    
 end