CableAttach.h

#ifndef CCableAttach_h__
#define CCableAttach_h__
 
#include <string>
 
#include <Eigen/Eigen>
#include <fhsim/simobject/SimObject.h>
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
 
namespace Ship{
    class CableAttach: public SimObject
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        CableAttach(const std::string simObjectName, ISimObjectCreator* const creator);
 
        void OdeFcn(const double T, const double* const X, double* const XDot) const;
        void ComputeForceNED(const double T, const double* const X) const; 
 
        void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
    #ifdef FH_VISUALIZATION
        void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void RenderUpdate( const double T, const double* const X);
    #endif
        const double * Position(const double T, const double* const X);
        const double * Velocity(const double T, const double* const X);
        const double * Force(const double T, const double* const X);
 
    private:
 
        double m_Mass;
        double m_Kp,m_Kd,m_Ki;
 
        double m_attachRadius;
 
        int m_Position;
        int m_Velocity;
        int m_E;
 
        ISignalPort *m_InCableForce;
        ISignalPort *m_InConnectionPoint;
        ISignalPort *m_InConnectionVelocity;
 
        ISignalPort *m_InConnectionStatus;
 
        ISignalPort *m_InAttachState;
 
        mutable Eigen::Vector3d Freg;
        mutable Eigen::Vector3d Fff;
 
    #ifdef FH_VISUALIZATION
        C3DLine * m_line;
    #endif
 
    };
}
#endif // CWindForce_h__