ToTrawlDoor.h

#pragma once
 
#include "TrawlDoorBase.h"
#include <string>
 
#include <fhsim_environment/EnvironmentProvider.h>
#include <fhsim_environment/SeafloorForcesInterface.h>
 
class ToTrawlDoor : public TrawlDoorBase
{
public:
   ToTrawlDoor(std::string simObjectName, ISimObjectCreator* creator);
 
   const double* OutRoll(const double dT, const double* const adX);
 
   // Output port returning the pitch angle of the trawl door.
   const double* OutPitch(const double dT, const double* const adX);
 
   // Output port returning the angle of attack of the trawl door.
   const double* OutAngleOfAttack(const double dT, const double* const adX);
 
   const double* OutHydroLoad(const double dT, const double* const adX);
 
   const double* OutSeabedLoad(const double dT, const double* const adX);
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double dT, const double* const adX);
#endif
 
protected:
   void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
 
   void AddBottomForces(const hydro_body::FlowFrame& frame, hydro_body::Wrench& wrench) const override;
 
   environment::seabed::ContactLoad<double> SeabedLoadOf(const hydro_body::FlowFrame& frame) const;
 
   bool HasJacobians() const override { return false; }
 
   ISimObjectCreator* m_creator = nullptr;
   environment::SeafloorForcesInterface* m_seafloorForces = nullptr; 
   double             m_shoeWidth;     
   double             m_outHydroLoad[6] = {0, 0, 0, 0, 0, 0}; 
   double             m_outSeabedLoad[6] = {0, 0, 0, 0, 0, 0}; 
   double             m_roll;
   double             m_pitch;
};