Rudder.h

#ifndef CRudder_h__
#define CRudder_h__
#include <cmath>
#include <string>
#include <fhsim/simobject/ISimObjectCreator.h>
#include <fhsim_environment/EnvironmentProvider.h>
 
#include <memory>
#include "./Ship/Actuators/IRudderCalculator.h"
namespace Ship{
 
    class Rudder: public SimObject
    {
    public:
        Rudder(const std::string simObjectName, ISimObjectCreator* const creator);
        ~Rudder();
 
        void FinalSetup( const double T, const double *const X, ISimObjectCreator* const creator );
        void OdeFcn(const double T, const double* const X, double* const XDot) const;
 
    #ifdef FH_VISUALIZATION
        void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void RenderUpdate( const double T, const double* const X);
    #endif
        const double* ForceNED(const double T, const double* const X);
        const double* Alfa(const double T, const double* const X);
        const double* Cd(const double T, const double* const X);
        const double* Cl(const double T, const double* const X);
        const double* Inflow(const double T, const double* const X);
 
    private:
 
        double m_Force[3];
        double m_alfa;
        double m_cd;
        double m_cl;
        double m_inflow[2];
 
        double m_forceCorrection;
 
        std::string m_RudderType;
        ISignalPort *m_InRudderAngleBODY;
        ISignalPort *m_InVelocityNED;
        ISignalPort *m_InPositionNED;
        ISignalPort *m_InQuaternionNED;
    private:
        double m_Bredth;
        double m_Chord;
        double m_Area;
 
        std::unique_ptr<IRudderCalculator> m_RudderCalculator;
                environment::EnvironmentProvider  *m_Environment = nullptr;
 
    #ifdef FH_VISUALIZATION
        std::string         m_Material;
        Ogre::SceneNode*    m_RenderNode;
    #endif
    };
}
 
#endif // CRudder_h__