ControlAlgorithm.h

 
//
#ifndef CONTROLALGORITHM
#define CONTROLALGORITHM
 
#include <fhsim/simobject/SimObject.h>
#include <string>
#include <Eigen/Eigen>
using namespace Eigen;
 
 
namespace Ship{
    class ControlAlgorithm : public SimObject
    {
    public:
        ControlAlgorithm(const std::string& simObjectName, ISimObjectCreator* const creator); 
        virtual void OdeFcn(const double T, const double* const X, double* const XDot) const; 
    
        
    #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* adStatePosition;   
        ISignalPort* adStateTheta;      
        ISignalPort* adStateVelocity;   
        ISignalPort* adStateRotation;   
    
        ISignalPort* adStatePosition_Desired;   
        ISignalPort* adStateTheta_Desired;      
        ISignalPort* adStateVelocity_Desired;   
        
        double* adStatePosition_error;      
        double* adStateTheta_error;         
        double* adStateVelocity_error;      
        
        int m_StatePositionErrorSum_Index;  
        int m_StateThetaErrorSum_Index;     
        int m_StateVelocityErrorSum_Index;  
    
    };
}
#endif