ShipCrane.h

#ifndef CShipCrane_h__
#define CShipCrane_h__
 
#include <vector>
#include <string>
 
#include <Eigen/Eigen>
#include <fhsim/simobject/SimObject.h>
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/C3DLine.h"
#endif
 
 
namespace Ship{
    class ShipCrane: public SimObject
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
        ShipCrane(const std::string simObjectName, 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
        void Compute( const double T, const double* const _X ) const;
 
        const double * CraneTipPosition(const double T, const double* const X);
        const double * CraneTipVelocity(const double T, const double* const X);
 
        const double * ForceAtBase(const double T, const double* const X);
        const double * TorqueAtBase(const double T, const double* const X);
 
    private:
 
        int m_numberOfJoints;
        mutable std::vector<Eigen::Vector3d> m_jointPosition;
        mutable std::vector<Eigen::Vector3d> m_jointVelocity;
 
        ISignalPort     *m_InBasePosition;
        ISignalPort     *m_InBaseVelocity;
        ISignalPort     *m_InBaseOrientation;
        ISignalPort     *m_InBaseOmega;
 
        ISignalPort     *m_InBaseAngle;
        ISignalPort     *m_InBaseAngleRate;
 
        std::vector<ISignalPort*>       m_InJointAngle;
        std::vector<ISignalPort*>       m_InJointAngleRate;
        std::vector<ISignalPort*>       m_InJointLength;
 
        ISignalPort     *m_InForceAtTip;
 
        ICommonComputation *m_Compute;
 
        Eigen::Vector3d m_BaseTorque;
        Eigen::Vector3d m_TipVelocity;
 
    #ifdef FH_VISUALIZATION
        C3DLine * m_line;
        Ogre::SceneNode**       m_RenderNodes;  
    #endif
 
    };
}
#endif // CWindForce_h__