Propeller.h

#ifndef CPropeller_h__
#define CPropeller_h__
 
#include <memory>
 
#include <fhsim/simobject/ISimObjectCreator.h>
#include <fhsim_environment/EnvironmentProvider.h>
 
#ifdef FH_VISUALIZATION
#include "sfh/ogre/CDynamicLines.h"
#endif
#include "./Ship/Actuators/IPropellerCalculator.h"
#include "./Ship/Actuators/OpenWaterPropeller.h"
#include "./Ship/Actuators/TableLookup.h"
#include <memory>
 
namespace Ship{
 
   class Propeller;
 
   class PropellerCurrentField : public marenv::current::CurrentField {
   public:
      PropellerCurrentField() = default;
      virtual ~PropellerCurrentField() = default;
      void inline setPropeller(Propeller* propeller){ m_propeller = propeller; }
      [[deprecated("This may not use up-to-date state info")]]
      marenv::Status GetCurrent(const double T, const double position[3], double currentVelocity[3]);
   private:
      Propeller* m_propeller;
 
   };
 
    class Propeller: public SimObject
    {
           friend class PropellerCurrentField;
    public:
        Propeller(const std::string simObjectName, ISimObjectCreator* const creator);
           virtual ~Propeller();
        void FinalSetup( const double T, const double *const X, ISimObjectCreator* const creator );
        void OdeFcn(const double T, const double* const X, double* const XDot) const;
 
    #ifdef FH_VISUALIZATION
        void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
        void RenderUpdate( const double T, const double* const X);
    #endif
 
        const double* BladeTopNED(const double T, const double* const X);
        const double* ForceNED(const double T, const double* const X);
        const double* TorqueNED(const double T, const double* const X);
        const double* Us(const double T, const double* const X);
        const double* Rs(const double T, const double* const X);
 
    private:
 
        double Ct( double U, double F);
 
        double Coefficient(double pitchRatio, double J, bool torque);
 
        double  m_Diameter;
        bool m_DummyPropeller;
 
        ISignalPort *m_InForceDirectionNED;
        ISignalPort *m_InMyRPS;
        ISignalPort *m_InMyPD;
        ISignalPort *m_InVelocityNED;
        ISignalPort *m_InPositionNED;
        ISignalPort *m_InMyPropellerForce;
        ISignalPort *m_InMyPropellerTorque;
 
        std::vector<double> PDlist;
        double m_BladeTop[3];
        double m_Force[3];
        double m_MyThrust[3];
        double m_MyTorque[3];
                mutable double m_Position[3];
                mutable double m_Axis[3];
 
        double m_MyUs;
        double m_MyRs;
 
        double m_MyDiam;
        double m_MyDiam4;
        double m_MyDiam5;
        std::vector<std::unique_ptr<OpenWaterPropeller> > m_PropellerCalculator;
        WarnOnce m_tableWarning;
        environment::EnvironmentProvider  *m_Environment = nullptr;
                std::shared_ptr<PropellerCurrentField> m_currentField  = std::make_shared<PropellerCurrentField>();
        int  m_RotateAngle;
 
    #ifdef FH_VISUALIZATION
        std::string         m_Material;     
        Ogre::SceneNode*    m_RenderNode;   
        CDynamicLines*      m_lines;        
    #endif
    };
}
 
#endif // CRudder_h__