LocalConnection.h

#ifndef LocalConnection_h__
#define LocalConnection_h__
 
#include <string>
 
#include <fhsim/simobject/ISimObjectCreator.h>
#include <Eigen/Eigen>
 
#ifdef FH_VISUALIZATION
    #include "sfh/ogre/C3DArrow.h"
#endif
 
 
class FhSimMgr;
 
namespace Ship{
    class LocalConnection: public SimObject
    {
    public:
        LocalConnection( const std::string simObjectName, ISimObjectCreator* const creator);
        ~LocalConnection();
        virtual void OdeFcn(const double T, const double* const X, double* const XDot) const;
        virtual void InitialConditionSetup(const double T, const double *const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
    #ifdef FH_VISUALIZATION
        virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        virtual void RenderUpdate( const double T, const double* const X );
    #endif
    public:
 
        const double *  OffsetBody(const double T, const double * const X);
        const double *  RotationBody(const double T, const double * const X);
 
        const double * PositionNED(const double T, const double * const X);
        const double * VelocityNED(const double T, const double * const X);
        const double * VelocityBody(const double T, const double * const X);
        const double * OmegaNED(const double T, const double * const X);
        const double * QuaternionNED(const double T, const double * const X);
        const double * Axis1NED(const double T, const double * const X);
        const double * Axis2NED(const double T, const double * const X);
        const double * Axis3NED(const double T, const double * const X);
        const double *  ForceNED(const double T, const double * const X);
        const double *  TorqueNED(const double T, const double * const X);
        const double *  ForceBody(const double T, const double * const X);
        const double *  TorqueBody(const double T, const double * const X);
        const double *  ParentQuaterion(const double T, const double * const X);
 
    protected:
 
        const double * Force(const double T, const double * const X);
        const double * Torque(const double T, const double * const X);
 
        mutable double m_positionNED[3];
        mutable double m_omegaNED[3];
        mutable double m_velocityNED[3];
        mutable double m_omegaBody[3];
        mutable double m_velocityBody[3];
        mutable double m_quaternionNED[4];
 
        mutable double m_axis1NED[3];
        mutable double m_axis2NED[3];
        mutable double m_axis3NED[3];
 
        mutable double m_ForceNED[3];
        mutable double m_TorqueNED[3];
 
        mutable double m_ForceBody[3];
        mutable double m_TorqueBody[3];
 
        bool  m_isAzimuth;
        double m_azimuthLoss[2];
 
        double AzimuthLossFactor( const double angle ) const;
 
 
        ISignalPort *m_InParentPositionNED;
        ISignalPort *m_InParentQuaternionNED;
        ISignalPort *m_InParentVelocityNED;
        ISignalPort *m_InParentOmegaNED;
        ISignalPort *m_InForce;
        ISignalPort *m_InMotorAngularTarget[3];
        ISignalPort *m_InMotorLinearTarget[3];
        double m_Offset[3];
        bool m_ForceCalculator;
        bool m_ForceInBodyFrame;
 
        ISignalPort *m_InOffset;
        ISignalPort *m_InPositionCGNED;
 
        bool m_isLinearMotor;
        bool m_isAngularMotor;
        int m_stateLinearMotor[3];
        int m_stateAngularMotor[3];
 
        double m_linearMotorMaxChangerate[3];
        double m_angularMotorMaxChangerate[3];
        double m_linearMotorConstants[3];
        double m_angularMotorConstants[3];
 
        double m_linearStaticOffset[3];
        double m_angularStaticOffset[3];
 
        double m_linearForceAttackOffset[3];
 
        ICommonComputation *m_computePosition, *m_computeForce;
        void ComputePostition( const double T, const double * const X) const;
        Eigen::Vector3d AngularMotorRate( const Eigen::Vector3d& target, const Eigen::Vector3d& state ) const;
        void ComputeForce( const double T, const double * const X) const;
 
#ifdef FH_VISUALIZATION
        bool m_DrawConnection;
        Ogre::Entity*           m_RenderEntity; 
        Ogre::SceneNode*        m_RenderNode;   
        C3DArrow *m_ForceArrow;
 
    #endif
    };
}
#endif // LocalConnection_h__