Miscellaneous TODO comments

Author: rserban

include/hydroc/core/hydro_types.h

@@ -23,7 +23,7 @@ namespace hydrochrono::hydro {
  * Force vector [Fx, Fy, Fz, Mx, My, Mz] for surge, sway, heave,
  * roll, pitch, yaw degrees of freedom.
  */
-using GeneralizedForce = Eigen::VectorXd;
+using GeneralizedForce = Eigen::VectorXd;   //// RADU - why is this not an Eigen vector of fixed size 6, or better yet 2 vectors?
 
 /**
  * @brief Forces for all bodies in the system.

include/hydroc/logging.h

@@ -12,6 +12,8 @@
 
  */
 
+//// RADU - does this need to be public?
+
 #pragma once
 
 #include <cstddef>

src/hydro/chrono/chrono_state_utils.cpp

@@ -18,6 +18,12 @@ void BuildSystemStateFromChronoBodies(
     for (const auto& body : bodies) {
         BodyState body_state;
 
+        //// RADU - why not simply do:
+        ////body_state.position = body->GetPos().eigen();
+        ////body_state.orientation_rpy = body->GetRot().GetCardanAnglesXYZ().eigen();
+        ////body_state.linear_velocity = body->GetPosDt().eigen();
+        ////body_state.angular_velocity = body->GetAngVelParent().eigen();
+
         // Extract position and orientation
         const chrono::ChVector3d position_world = body->GetPos();
         const chrono::ChVector3d rotation_rpy    = body->GetRot().GetCardanAnglesXYZ();