CableElDynStiff.h

 
 
#ifndef CCableElDynStiff_H
#define CCableElDynStiff_H
 
// Includes
// #include <string>
#include "cable/subroutines/CableElBasics.h"
 
 
// #define USE_OLD_MEAN_TENSION_CALC
#define CCableElDynStiff_USE_PID
#ifdef CCableElDynStiff_USE_PID
#   include "sfh/filters/PID.h"
#endif
 
#ifdef FH_VISUALIZATION
#   include "Ogre.h"
 
#   include "sfh/ogre/CDynamicLines.h"
 
#endif
 
// Class definition
class CableElDynStiff : public CableElBasics
{
public:
   CableElDynStiff();
 
   ~CableElDynStiff();
 
   virtual bool CheckAndInitialize();
 
   virtual void UpdateLength(double newLength, double step, bool forceUpdate = false);
 
   void UpdateMeanTension(double step);
 
   void UpdateMeanTensionAt(const double adPosA[3], const double adPosB[3], double step);
 
   double GetEFactor() const { return m_eFactor; }
 
   double m_maxStep;           
   double m_meanTension;       
   double m_eAdaptationPeriod; 
   double m_stepSafetyFactor;  
                               // protected: HACK kga
   virtual void AddStructuralForces(double adForceA[3], double adForceB[3]);
 
protected:
   double ma_dEps;           
   double m_eFactor;         
   double m_meanTensionDamp; 
   // double m_meanTensionProp; ///< The mean tension of the cable element.
 
   double ma_adMeanTensionForceA[3];
   double ma_dAdaptationDamping;
 
#ifdef CCableElDynStiff_USE_PID
   sfh::filters::PID m_MeanTensionController;
#endif
};
 
 
#endif