ZigZagManeuver.h

#pragma once
 
#include "ControlAlgorithm.h"
#include <math.h>
#include <sfh/math.h>
 
namespace Ship{
    class ZigZagManeuver : public ControlAlgorithm
    {
    public:
        ZigZagManeuver(const string& simObjectName, ISimObjectCreator* const creator); 
        const double* RudderAngle(const double T, const double* const X);
 
    private:
        double m_dRudderangle;                      
        double m_dDeviationFromInitialHeading;      
        double m_dTimeOfExecute;                    
        double m_dInitialHeading;                   
        int m_iCounter;                             
        int m_iDirectionOfFirstTurn;                
        string m_sDirectionOfFirstTurn;             
        double output;                              
        int m_iCounterMax;                          
 
    #ifdef FH_VISUALIZATION
        void            RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator); 
        void            RenderUpdate(const double T, const double* const X); 
    #endif
    #ifdef FH_VISUALIZATION
        Ogre::SceneNode*    m_RenderNode;           
        double              m_Radius;               
        string              m_Material;             
        double              m_Color[3];             
    #endif
 
    };
}