Thruster.h

#ifndef CThruster_h__
#define CThruster_h__
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
#include <memory>
 
#include "./Ship/Actuators/SimpleThruster.h"
 
namespace Ship{
 
   class Thruster;
 
   class ThrusterCurrentField : public marenv::current::CurrentField
   {
   public:
      ThrusterCurrentField() = default;
      virtual ~ThrusterCurrentField() = default;
      void inline setThruster(Thruster* thruster){ m_thruster = thruster; }
      [[deprecated("This may not use up-to-date state info")]]
      virtual marenv::Status GetCurrent(double time, const double position[3], double currentVelocity[3]);
   private:
      Thruster* m_thruster;
   };
 
 
    class Thruster: public SimObject
    {
           friend class ThrusterCurrentField;
 
    public:
        Thruster(const std::string simObjectName, ISimObjectCreator* const creator);
        ~Thruster();
 
        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;
                void PreOdeFcn(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
 
        const double* ForceNED (const double T, const double* const X);
        const double* PositionNED(const double T, const double* const X);
 
    private:
        double m_ForceMax;
        double m_Diameter;
 
        ISignalPort     *m_InAxisNED;
        ISignalPort     *m_InPositionNED;
        ISignalPort     *m_InPitch;
        ISignalPort     *m_InN;
 
 
        double m_Position[3];
        double m_Force[3];
                double m_Axis[3];
        std::unique_ptr<SimpleThruster> ThrusterCalculator;
        WarnOnce m_tableWarning;
        environment::EnvironmentProvider    *Environment = nullptr;
           std::shared_ptr<ThrusterCurrentField> m_CurrentField = std::make_shared<ThrusterCurrentField>();
 
    #ifdef FH_VISUALIZATION
        Ogre::SceneNode*        m_RenderNode;   
    #endif
    };
}
 
#endif // CThruster_h__