Thruster and Fin Class

[BradenMeyers]

I prefer this method over the other pull request I made that just does the fin class. If you perfer to leave the propeller dynamics inside the vehicle dynamics than just use the changes in the other pull request. I tried my best to follow conventions, comments, and variable names.

The one thing I am unsure about is how to handle the convention for fin rotation. The way I did it was a CCW rotation (looking from the top of the fin) as positive delta.

Copy of the REMUS 100 dynamics with modification for the forces applied by the fins

• New thruster class that takes care of all propeller dynamics outside in a separate file
• New fin class that can be placed at a specific location on the vehicle.
• Calculates force vector given the relative velocity
• Method to handle actuator dynamics given commands to the fin

Verified that results from autopilot gives the same results as the REMUS 100.

Let me know what you think and if there is a different way I should approach this.

Thanks,
Braden Meyers