RMCable.h

#pragma once
#include <fhsim/simobject/SimObject.h>
 
#ifdef FH_VISUALIZATION
#   include "sfh/ogre/C3DLine.h"
#endif
 
namespace RbCable
{
class RMCable : public SimObject
{
public:
   RMCable(const std::string& simObjectName, ISimObjectCreator* const creator); 
   ~RMCable();
   void OdeFcn(const double T, const double* const X, double* const XDot) const; 
 
 
   const double* totalLength(const double T, const double* const X);
   const double* kineticEnergy(const double T, const double* const X);
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
   int  m_numElements;
   int* m_pos;
   int* m_vel;
 
   double      m_alpha;
   double      m_beta;
   mutable int counter;
 
   ISignalPort* m_posA;
   ISignalPort* m_posB;
 
   double m_totalLength;
   double m_kineticEnergy;
 
#ifdef FH_VISUALIZATION
   C3DLine* m_line; 
#endif
};
 
} // namespace RbCable