TrawlBeam.h

#pragma once
#include <SimObject.h>
#include <string>
#include <Eigen/Eigen>
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 bool bIsMajorTimeStep);  
        virtual void PreOdeFcn(const double T, const double *const X, IStateUpdater* updater);
 
#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);
        ICommonComputation *m_compute;
 
        double m_position[6];
        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;
 
        double m_outError;
        double m_outForce;
        double m_direction;
        double m_speedTravel;
        double m_beamLength;
 
        double m_mass;
        double m_power;
 
};