CCrowfoot.h

#ifndef C_CROWFOOT_H
#define C_CROWFOOT_H
 
#include <SimObject.h>
#include <string>
#include <vector>
#include "trawl/subroutines/CCrowfootMath.h"
#include "sfh/filters/FIR.h"
#include <float.h>
 
class CCrowfoot : public SimObject
{
public:
    CCrowfoot(const std::string& simObjectName, ISimObjectCreator* const creator);
    //virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const pCreator);
    virtual ~CCrowfoot();
 
    void OdeFcn(const double T , const double* const X, double* const XDot, const bool IsMajorTimeStep);
 
    virtual void InitialConditionSetup(const double dT, const double *const adCurrentIC, double *const adUpdatedIC, ISimObjectCreator *const pCreator);
    //virtual void FinalSetup(const double dT, const double *const adX, ISimObjectCreator *const pCreator);
 
    const virtual double * PositionOut(const double t, const double *const x);
    const virtual double * VelocityOut(const double t, const double *const x);
    const virtual double * LineForceOut(const double t, const double *const x, int lineIndex);
    const virtual double * LineTensionOut(const double t, const double *const x, int lineIndex);
 
 
#ifdef FH_VISUALIZATION
    void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
    void RenderUpdate(const double T, const double* const X);
#endif
 
 
 
protected:
    int                     m_numLines;
    std::vector<const double*>  m_linesPos;
    std::vector<double*>    m_linesForce;
    //std::vector<double>       m_linesLength;
    std::vector<double>     m_linesTension;
 
    ISignalPort**           m_inFasteningPositions;
    ISignalPort**           m_inLengths;
    ISignalPort*            m_inExternalForce;
    CCrowfootMath*          m_crowfoot;
 
    //int                       m_IStatePos;
    //int                       m_IStateVel;
    //int                       m_IStateErrorIntegral;
    double                  m_velocity[3];
    double                  m_instantPos[3];
    //double                    m_integratorGain;
    //double                    m_proportionalGain;
    //double                    m_dampingGain;
    //double                    m_distForMaxSpeed;
    //double                    m_maximumSpeed;
    //sfh::timers::StopWatch    m_derivativeTimer;
    //double                    m_timeStep;
    //double                    m_lastError[3];
    //double                    m_tmpError[3];
    sfh::filters::FIR           m_filter;
 
#   ifdef FH_VISUALIZATION
 
#   endif
};
#endif