SensorFrame.h

#pragma once
 
#include <fhsim/simobject/SimObject.h>
 
class PrintDuringExec;
 
class SensorFrame
{
public:
   explicit SensorFrame(ISimObjectCreator* creator);
 
   SensorFrame(const double mountOffset[3], const double mountDirection[3]);
 
   void SensorPosition(double T, const double* X, double out[3]) const;
 
   void BeamDirection(double T, const double* X, double out[3]) const;
 
   void SensorPositionOf(const double bodyPosition[3], const double bodyQuaternion[4], double out[3]) const;
 
   void BeamDirectionOf(const double bodyQuaternion[4], double out[3]) const;
 
   const double* MountOffset() const { return m_mountOffset; }
 
   const double* MountDirection() const { return m_mountDirection; }
 
private:
   void NormalizeQuaternion(const double quaternion[4], double out[4]) const;
 
   static const double kQuaternionTolerance;
 
   ISignalPort*     m_inPos    = nullptr; 
   ISignalPort*     m_inQuater = nullptr; 
   PrintDuringExec* m_print    = nullptr; 
 
   double m_mountOffset[3]    = {0.0, 0.0, 0.0}; 
   double m_mountDirection[3] = {1.0, 0.0, 0.0}; 
 
   mutable bool m_quaternionWarningGiven = false; 
};