WagProp.h

 
 
 
#pragma once
 
#include <string>
#include "SimObject.h" 
#include "propeller_table_2d.h"
#include "CPrintDuringExec.h"
#include "CEnvironment.h"
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/CDynamicLines.h"
#endif
 
#include <ICurrentField.h>
 
 
#define N_PROP_DATA         361 // Number of elements in array for CQ and CT
 
const double PI = 3.1415926;
 
class CWagProp : public SimObject, ICurrentField
{
public:
    CWagProp(string simobjectname, ISimObjectCreator* creator);
 
    virtual void OdeFcn(const double T, const double *const X, double *const XDot, const bool bIsMajorTimeStep);
    void FinalSetup(const double T, const double *const X, ISimObjectCreator* const creator);
    void GetCurrent(const double T, const double* const X, const double position[3], double* currentVelocity); 
 
    const double* const outRPS(const double T, const double* const X);
    const double* const outHydTorque(const double T, const double* const X);
    const double* const outThrust(const double T, const double* const X);
    const double* const outBeta(const double T, const double* const X);
 
    const double* const outCt(const double T, const double* const X);
    const double* const outUs(const double T, const double* const X);
    const double* const outRs(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:
    //virtual void InitParameters();
    bool ReadPropParFile(ISimObjectCreator* creator);
    void CalcOutPut(const double T,const double* const X);
    void CalcBeta(const double T, const double* const X);
 
    // Model parameters
    double      m_dInertia;     
    double      m_dDia;         
    double      m_dRho;         
        
    double m_dRudderArea;
    double m_dRudderHeigth;
 
    // Model input
    //double*       m_adM;          ///< Pointer to input torque
    ISignalPort*    m_IM;
    ISignalPort*    m_IN;
    ISignalPort*    m_IVa;          
    ISignalPort*    m_IDir;         
    ISignalPort*    m_IPD;          
    ISignalPort*    m_IPos;     
 
    // States
    int m_ISAngVel;     
    
    std::string driving_port;
 
 
    // Model output
    double m_outRPS;
    double m_outQ;
    double m_outBeta;
    double m_outT[3];
 
    double m_Ct;
    double m_Us;
    double m_Rs;
 
    double      m_Pos[3];
 
    // Model data for CQ and CT
    //double m_aDataCQ[N_PROP_DATA];
    //double m_aDataCT[N_PROP_DATA];
 
    propeller_table_2d m_PropData;
 
    CPrintDuringExec* m_Print; // Pointer to CPrintDuringExec
 
    CEnvironment* m_environment;
    ICurrentField* m_propellerJetstream;
 
#ifdef FH_VISUALIZATION
    Ogre::SceneNode*        m_RenderNode;   
    CDynamicLines*      m_lines; 
#endif
 
};