ZeroDynamics.h

#ifndef ZERO_DYNAMICS_H
#define ZERO_DYNAMICS_H
 
#include <fhsim/simobject/KalmanObject.h>
#include <fhsim/simobject/SimObject.h>
 
#include "sfh/constants.h"
#include "sfh/math.h"
#include "sfh/text.h"
#include "sfh/util.h"
 
#include <Eigen/Dense>
 
#include <memory>
 
class ZeroDynamics : public SimObject, public KalmanObject
{
   public:
   ZeroDynamics(const std::string& simObjectName, ISimObjectCreator* const creator);
 
   // SimObject functions
   void OdeFcn(const double T, const double* const X, double* const XDot) const;
   void InitialConditionSetup(const double T, const double* const currentIC, double* const updatedIC, ISimObjectCreator* const creator);
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator){};
   void RenderUpdate(const double T, const double* const X){};
#endif
 
   // KalmanObject functions
   estimator::Matrix GetInitialEstimationErrorCovariance();
   estimator::Matrix GetProcessNoiseCovariance();
   estimator::Matrix GetMeasurementNoiseCovariance() { return estimator::Matrix(); }
   estimator::Vector ExpectedMeasurementOutput(const double T, const double* const X) { return estimator::Vector(); }
   estimator::Vector ActualMeasurementOutput(const double T, const double* const X) { return estimator::Vector(); }
   unsigned int GetNumMeasurements() { return 0; }
 
   protected:
   void SetOutputPortValues(const double T, const double* const X) const;
   const double* Output(const double T, const double* const X);
 
   ICommonComputation* m_SetOutputPortValues;
   int m_StateIndex, m_NoStates;
   std::unique_ptr<double[]> m_State;
   std::unique_ptr<double[]> m_P0, m_Q;
};
 
#endif