Actuator.h

#pragma once
 
#include <fhsim/simobject/SimObject.h>
#include <string>
 
class Actuator : public SimObject
{
public:
   Actuator(std::string simObjectName, ISimObjectCreator* creator);
 
   ~Actuator();
   void OdeFcn(const double dT, const double* const adX, double* const adXDot) const;
 
   bool HasJacobians() const override;
   void OdeJacobian(double T, const double* X, double* J, int nStates) override;
   int  GetJacobianSparsity(int nStates, int* rowPtr, int* colIdx) override;
 
   const double* OutLength(const double T, const double* const X);
   const double* OutPower(const double T, const double* const X);
   const double* OutEnergy(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:
   ISignalPort* m_InSpeedRef;
   ISignalPort* m_InForce;
   int          m_IStateLength;
   int          m_IStateEnergy;
 
   double m_minForce;
   double m_maxForce;
   double m_minSpeed;
   double m_maxSpeed;
   double m_minLength;
   double m_maxLength;
 
   mutable double m_power;
};