VirtualWave.h

 
 
#ifndef VirtualWave_H
#define VirtualWave_H
 
#include "SimObject.h"
#include <Eigen/Eigen>
 
class VirtualWave : public SimObject
{
public:
    VirtualWave(std::string sSimObjectName, ISimObjectCreator* pCreator);
    ~VirtualWave();
 
    void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
    void PreOdeFcn(const double T, const double *const X, IStateUpdater* updater);
 
    void InitialConditionSetup(const double T, const double* const X, double* const XDot, ISimObjectCreator* pCreator);
 
    const double* OutHs(const double T, const double * const X);
    const double* OutTm(const double T, const double * const X);
    const double* OutDir(const double T, const double * const X);
    const double* OutDelta(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:
    int m_InNum;
    ISignalPort** m_InSim;
    ISignalPort** m_InMea;
    
    ISignalPort* m_InHs;
    ISignalPort* m_InTm;
    ISignalPort* m_InDir;
 
    double  m_OutDt;
    double  m_OutTol;
    bool    m_RelTol;
 
    double  m_OutHs;
    double  m_OutTm;
    double  m_OutDir;
 
    int     m_OutCount;
    double  m_OutTime;
    bool    m_InTimeBool;
    ISignalPort* m_InTime;
 
    std::vector<double>* m_DispSim;
 
    double  m_Delta;
 
    double  m_InDt;
    int     m_InCount;
 
    // PID ========================
    /*int m_adPIDOut, m_adIntegral, m_adDerivate;
    double m_Pp, m_Pd, m_Pi, m_IntegralSaturation, m_DerivativeTInv;
    double m_HsMea;
    double m_HsTol;*/
    // PID ========================
};
#endif