TurningCircleManeuver.h

#pragma once
 
#include "ControlAlgorithm.h"
 
 
namespace Ship{
    class TurningCircleManeuver : public ControlAlgorithm
    {
    public:
        TurningCircleManeuver(const std::string& simObjectName, ISimObjectCreator* const creator); 
        void OdeFcn(const double T, const double* const X, double* const XDot) const; 
        void FinalSetup(const double T,const double* const X,  ISimObjectCreator* const creator);
        const double* RudderAngle(const double T, const double* const X);
 
    private:
        ISignalPort* Omega;             
        int m_YawIndex;                 
 
        double m_dMAX_RUDDERANGLE;      
        double m_dTimeOfExecute;        
        double m_dRudderangle;          
        double m_dInitialHeading;       
        double output;                  
        int m_iDirectionOfTurning;      
        std::string m_sDirectionOfTurning;  
 
        int numberOfTurns;              
 
    #ifdef FH_VISUALIZATION
        void            RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator); 
        void            RenderUpdate(const double T, const double* const X); 
    #endif
 
    };
}