CableBranchedAttractor.h

#pragma once
#include "AttractorBase.h"
#include "InternalCableWithAttractor.h"
 
#include <fhsim/InputReader.h>
#include <cable/CableBranched.h>
 
 
// #define OUTPUT_NODE_POS
 
// Class definition
class CableBranchedAttractor : public CableBranched
{
public:
   CableBranchedAttractor(std::string simObjectName, ISimObjectCreator* creator);
 
   ~CableBranchedAttractor();
   virtual void aFunction(std::string simObjectName, ISimObjectCreator* creator);
   virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot) const;
   virtual void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const creator);
 
   bool HasJacobians() const override { return false; }
   // virtual void OutputFcn(const double dT, const double* const adX, const double* const * const aadInputports, double* const * const aadY);  ///< Calculates the end forces.
   // void GetSimRes();
 
#ifdef FH_VISUALIZATION
   // void          RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
   // void          RenderUpdate(const double dT, const double* const adX);
#endif
 
protected:
   // virtual void InitializeCableSections(double* const adX, double* const * const aadInputports);
   virtual void CreateStates(ISimObjectCreator* creator);
   // void OutputExternalConnForces(const double* const adVelWater, const double* const adX, const double* const * const aadInputports, double* const * const aadY);
   // void OutputElementTensions(const double* const adVelWater, const double* const adX, const double* const * const aadInputports, double* const * const aadY);
   void AllocateCableSections();
   void AddAttractorForces(const double* const adX) const;
 
   std::vector<AttractorBase*> m_VAttractors;
   // unsigned long                     m_IInAttractorPos;          ///< The index of the input port with position of the attractor (such as a net bin).
   // unsigned long                     m_IInAttractorVel;          ///< The index of the input port with velocity of the attractor (such as a net bin).
   std::string m_attractorName; 
                                // InternalCableWithAttractor** m_cableSections;        ///< An array holding the cable sections.
 
 
#ifdef OUTPUT_NODE_POS
   int            m_numNodesToOutput;
   int*           m_nodesToOutput;
   unsigned long* m_iOutNodePos;
   unsigned long* m_iOutNodeVel;
 
   int            m_numElementTensionToOutput;
   int*           m_elementTensionToOutput;
   unsigned long* m_iOutElementTension;
 
   // double*                           aadElementTensions
#endif
};