Pendulum.h

#ifndef PENDULUM_H
#define PENDULUM_H
 
#include "sfh/constants.h"
#include "sfh/math.h"
#include "sfh/text.h"
#include "sfh/util.h"
 
#include <fhsim/simobject/SimObject.h>
#include <memory>
 
class Pendulum : public SimObject
{
   public:
   Pendulum(const std::string& simObjectName, ISimObjectCreator* const creator);
   void OdeFcn(const double T, const double* const X, double* const XDot) const;
 
   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;
 
   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
 
   protected:
   void SetOutputPortValues(const double T, const double* const X) const;
   const double* Angle(const double T, const double* const X);
   const double* AngularVelocity(const double T, const double* const X);
 
   ICommonComputation* m_SetOutputPortValues;
   int m_AngleIndex, m_AngularVelocityIndex;
 
   int LocalIndex(int globalStateIndex) const { return globalStateIndex - m_AngleIndex; }
 
   double m_Length, m_Gravity;
   mutable double m_Angle, m_AngularVelocity;
   double m_Origin[3];
 
#ifdef FH_VISUALIZATION
   Ogre::ManualObject* m_Line;
   Ogre::SceneNode* m_RenderNode;
   std::string m_MaterialName;
   std::string m_MeshName;
   double m_Scale;
#endif
};
 
#endif