CBox.h

#ifndef BOX_H
#define BOX_H
 
#include <fhsim/simobject/SimObject.h>
 
#include <Eigen/Eigen>
 
#include <string>
 
 
class CBox : public SimObject
{
   public:
   CBox(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   virtual void RenderUpdate(const double T, const double* const X);
 
   void DrawBody(Ogre::SceneNode* renderNode, Ogre::SceneManager* sceneMgr); // =0;
#endif
 
   virtual void OdeFcn(const double dT, const double* const adX,
       double* const adXDot) const;
 
   static Eigen::Vector4f getQuaternion(double* eulerAnglesRad);
 
   static Eigen::Vector4f normalizeQuaternion(const Eigen::Vector4f& q);
 
   protected:
   virtual const double* Position(const double dT, const double* const adX);
   virtual const double* Velocity(const double dT, const double* const adX);
   virtual const double* Rotation(const double dT, const double* const adX);
 
 
   //ISignalPort*   m_pInForce;                 ///< A pointer to the input force.
   int m_IStatePos; 
   int m_IStateVel; 
   int m_IStateRot; 
   double m_dBoxDim[3]; 
 
 
#ifdef FH_VISUALIZATION
   double m_dScale; 
   Ogre::Entity* m_pRenderEntity; 
   Ogre::SceneNode* m_pRenderNode; 
   Ogre::SceneManager* m_pSceneMgr; 
#endif
};
 
 
#endif