TrawlBeam.h

#pragma once
#include <Eigen/Eigen>
 
#include <fhsim/simobject/SimObject.h>
#include <string>
using namespace Eigen;
 
 
class TrawlBeam : public SimObject
{
public:
   TrawlBeam(const std::string& simObjectName, ISimObjectCreator* const creator); 
   void         InitialConditionSetup(const double T, const double* const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
   void         FinalSetup(const double T, const double* const X, ISimObjectCreator* const creator);
   virtual void OdeFcn(const double T, const double* const X, double* const XDot) const; 
   virtual void PreOdeFcn(const double T, const double* const X, IStateUpdater* updater);
 
   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;
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator) { } 
   virtual void RenderUpdate(const double T, const double* const X) { } 
#endif
 
   const double* ShipForce(const double T, const double* const X);
   const double* Error(const double T, const double* const X);
   const double* ErrorI(const double T, const double* const X);
   const double* ErrorD(const double T, const double* const X);
   const double* StateDist(const double T, const double* const X);
   const double* StateVel(const double T, const double* const X);
   const double* PositionNED(const double T, const double* const X, int index);
   const double* VelocityNED(const double T, const double* const X, int index);
 
protected:
   ISignalPort *m_inForceStbd, *m_inForcePort;
 
   void                compute(const double T, const double* const X) const;
   ICommonComputation* m_compute;
 
   bool IsForceSaturated(double shipForce) const;
 
   mutable double m_position[6];
   mutable double m_velocity[6];
 
   int m_stateTravel;
   int m_stateVel;
 
   int m_stateIError;
   int m_stateDError;
 
   bool   m_saturation;
   double m_forceSaturation;
 
   double m_kp, m_kd, m_ki;
   double m_kd_T;
 
   mutable double m_outError;
   mutable double m_outForce;
   double         m_direction;
   double         m_speedTravel;
   double         m_beamLength;
 
   double m_mass;
   double m_power;
};