CableConnector.h

 
#ifndef RBCABLE__CCableConnector_h__
#define RBCABLE__CCableConnector_h__
 
#include <string>
 
#include <fhsim/simobject/SimObject.h>
 
namespace RbCable
{
class CableConnector : public SimObject
{
public:
   CableConnector(const std::string& simObjectName, ISimObjectCreator* const creator); 
   // ~CableConnector();
   void OdeFcn(const double T, const double* const X, double* const XDot) const; 
   //   void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const  creator);
 
   bool HasJacobians() const override;
   void OdeJacobian(double T, const double* X, double* J, int nStates) override;
   int  GetJacobianSparsity(int nStates, int* rowPtr, int* colIdx) override;
 
   const double* PositionA(const double dT, const double* const adX);
   const double* VelocityA(const double dT, const double* const adX);
   const double* PositionB(const double dT, const double* const adX);
   const double* VelocityB(const double dT, const double* const adX);
 
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
 
protected:
   double       m_mass;      
   double       m_gravity;   
   double       m_length[3]; 
   ISignalPort* m_inForceA;  
   ISignalPort* m_inForceB;  
   int          m_IStatePos; 
   int          m_IStateVel; 
 
   double m_posA[3]; 
   double m_posB[3]; 
 
 
#ifdef FH_VISUALIZATION
   std::string         m_material;     
   std::string         m_meshName;     
   double              m_scale;        
   Ogre::Entity*       m_renderEntity; 
   Ogre::SceneNode*    m_renderNode;   
   Ogre::SceneManager* m_sceneMgr;     
#endif
};
} // namespace RbCable
#endif // CCableConnector_h__