Crowfoot.h

#pragma once
 
#include "trawl/subroutines/CrowfootMath.h"
 
#include "sfh/filters/FIR.h"
 
#include <fhsim/simobject/SimObject.h>
#include <array>
#include <float.h>
#include <string>
#include <vector>
 
class Crowfoot : public SimObject
{
public:
   Crowfoot(const std::string& simObjectName, ISimObjectCreator* const creator);
   // virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const creator);
   virtual ~Crowfoot();
 
   void OdeFcn(const double T, const double* const X, double* const XDot) const override;
   void PreOdeFcn(double T, const double* X) override;
   void AcceptedStep(const double T, const double* const X) override;
 
   void UpdateVelocity(const double T);
 
   void Solve(const double T, const double* const X) const;
 
   void SeedFilterOnce(const double T, const double* const X) const;
 
   // virtual void FinalSetup(const double dT, const double *const adX, ISimObjectCreator *const creator);
 
   const virtual double* PositionOut(const double t, const double* const x);
   const virtual double* VelocityOut(const double t, const double* const x);
   const virtual double* LineForceOut(const double t, const double* const x, int lineIndex);
   const virtual double* LineTensionOut(const double t, const double* const x, int lineIndex);
 
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   void RenderUpdate(const double T, const double* const X);
#endif
 
 
protected:
   int                        m_numLines;
   std::vector<const double*> m_linesPos;
   std::vector<std::array<double, 3>> m_linesForce;
   // std::vector<double>       m_linesLength;
   std::vector<double> m_linesTension;
 
   std::vector<ISignalPort*> m_inFasteningPositions;
   std::vector<ISignalPort*> m_inLengths;
   ISignalPort*  m_inExternalForce;
   CrowfootMath* m_crowfoot;
   ICommonComputation* m_solve = nullptr; 
   mutable bool        m_filterSeeded = false; 
 
   // int                       m_IStatePos;
   // int                       m_IStateVel;
   // int                       m_IStateErrorIntegral;
   mutable double m_velocity[3];
   mutable double m_instantPos[3];
   double         m_prevPos[3]; 
   double         m_prevTime;   
   bool           m_hasPrevPos; 
   // double                    m_integratorGain;
   // double                    m_proportionalGain;
   // double                    m_dampingGain;
   // double                    m_distForMaxSpeed;
   // double                    m_maximumSpeed;
   // sfh::timers::StopWatch    m_derivativeTimer;
   // double                    m_timeStep;
   // double                    m_lastError[3];
   // double                    m_tmpError[3];
   mutable sfh::filters::FIR m_filter;
 
#ifdef FH_VISUALIZATION
 
#endif
};