VirtualSpring.h

 
 
#ifndef VirtualSpring_H
#define VirtualSpring_H
 
#include "SimObject.h"
#include <Eigen/Eigen>
 
class VirtualSpring : public SimObject
{
public:
    VirtualSpring(std::string sSimObjectName, ISimObjectCreator* pCreator);
    ~VirtualSpring();
 
    void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
    void InitialConditionSetup(const double T, const double* const X, double* const XDot, ISimObjectCreator* pCreator);
 
    const double* OutPos(const double T, const double * const X);
    const double* OutDeltaPos(const double T, const double * const X);
    const double* OutDelta(const double T, const double * const X);
    const double* OutDeltaLen(const double T, const double * const X);
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator){} 
 
    virtual void RenderUpdate(const double T, const double* const X){} 
#endif
protected:
    typedef Eigen::Matrix<double, 3, 1> vec3;
    
    ISignalPort* m_InPosA;
    ISignalPort* m_InPosB;
    ISignalPort* m_InTar;
    ISignalPort* m_InAct;   
    double m_TarTen;
    double m_ActTen;
    int m_adLength, m_adIntegral, m_adDerivate;
    double m_Pp, m_Pd, m_Pi, m_IntegralSaturation, m_DerivativeTInv;
    double m_StiffN;
    vec3 m_adForceA;
    double m_OutPos[3];
    double m_OutDeltaPos[3];
    double m_adLengthMax;
    double m_InitialT;
    double m_ErrorMax;
    double m_OutDelta;
    double m_OutDeltaLen;
    double m_MinTen;
    
    bool m_NoCompress;
    double m_InitialLength;
    ISignalPort* m_InAdPosA;
    ISignalPort* m_InAdPosB;
};
 
 
#endif