ReferenceGenerator.h

 
//
#ifndef REFGENERATOR
#define REFGENERATOR
 
#define EIGEN_DONT_ALIGN_STATICALLY
 
#include <fhsim/simobject/SimObject.h>
#include <string>
 
namespace Ship{
    class ReferenceGenerator : public SimObject
    {
    public:
        ReferenceGenerator(const std::string& simObjectName, ISimObjectCreator* const creator); 
        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*  m_adStatePositionPort; 
        ISignalPort* m_adStateThetaPort; 
        ISignalPort* m_adStateVelocityPort; 
        ISignalPort* m_adStateRotationPort; 
    
        double m_adStatePosition_Desired[3]; 
        double m_adStateTheta_Desired[4]; 
        double m_adStateVelocity_Desired[3]; 
    
        //int m_StatePosition_Desired_Index; ///< The relative index of the StatePosition_Desired state in the state array
        //int m_StateTheta_Desired_Index; ///< The relative index of the StateTheta_Desired state in the state array
        //int m_StateVelocity_Desired_Index; ///< The relative index of the StateVelocity_Desired state in the state array//
        int i,j; 
    };
}
 
#endif