TrawlVessel.h

 
 
#pragma once
 
#include <array>
#include <fhsim/simobject/SimObject.h>
#include <stdio.h>
#include <string>
#include <vector>
 
class TrawlVessel : public SimObject
{
public:
   TrawlVessel(std::string simObjectName, ISimObjectCreator* creator);
   ~TrawlVessel();
 
   virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot) const;
 
   virtual double DesiredSpeed(const double dT, const double* const adX) const;
 
   virtual double DesiredHeading(const double dT, const double* const adX) const;
 
   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 dT, const double* const adX);
#endif
 
protected:
#ifdef FH_VISUALIZATION
   void FitDefaultMesh();
#endif
 
   double m_apSpeed; 
 
   const double* OutHeading(const double dT, const double* const adX);
   const double* OutPos(const double dT, const double* const adX);
   const double* OutVel(const double dT, const double* const adX);
   const double* OutWarpPos(const double dT, const double* const adX, int warp);
   const double* OutWarpVel(const double dT, const double* const adX, int warp);
   void          CalcOutput(const double dT, const double* const adX);
   void          CalcOutputCommon(const double dT, const double* const adX) const;
   virtual void  DoDerivedOutputUpdate(const double dT, const double* const adX) { }
 
   double              m_out_Pos[3];
   double              m_out_Vel[3];
   double*             m_out_WarpPos;
   double*             m_out_WarpVel;
   ICommonComputation* m_commonCalc; 
 
 
   int            m_IStatePos;
   int            m_IStateHeading;
   double         m_Breadth;
   double         m_Draught;
   double         m_Length;
   double         m_WarpPosPrt[3];
   double         m_WarpPosStb[3];
   double         m_pitch;
   std::vector<std::array<double, 3>> m_warpPos; 
   int            m_numWarps;
   // The commands are read at (T, X) wherever they are used, never stored: with NumCores > 1 the
   // ports' calculation runs while OdeFcn runs on another thread (FISH-0104).
   double m_initialSpeed;   
   double m_initialHeading; 
 
#ifdef FH_VISUALIZATION
   Ogre::Entity*    m_RenderMass;
   Ogre::SceneNode* m_RenderNode;
   Ogre::Quaternion m_InitOrientation;
   double           m_LengthScale;
   double           m_BreadthScale;
   double           m_DepthScale;
   double           m_deltaRenderPos[3];
   std::string      m_MeshName;
   bool             m_meshGiven;     
   bool             m_scaleGiven[3]; 
#endif
};