CLinearSpring.h

 
//
 
#ifndef CLINEARSPRING_H
#define CLINEARSPRING_H
 
#include "sfh/timers/Timer.h"
 
#include <fhsim/simobject/SimObject.h>
#include <limits>
#include <string>
 
#ifdef FH_VISUALIZATION
#    include "sfh/ogre/C3DLine.h"
#endif
 
// Class definition
class CLinearSpring : public SimObject
{
public:
    CLinearSpring(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
    ~CLinearSpring();
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator);
 
    virtual void RenderUpdate(const double dT, const double* const adX);
#endif
 
    // Member functions
    void OdeFcn(const double dT, const double* const adX, double* const adXDot) const { }
 
    const double* ForceA(const double dT, const double* const adX);
 
    const double* ForceB(const double dT, const double* const adX);
 
protected:
    void CalcOutput(const double dT, const double* const adX) const;
 
    // Member variables
    double m_dStiffness; 
    double m_dRelaxedLength; 
    ISignalPort* m_pInPosA; 
    ISignalPort* m_pInPosB; 
    mutable double m_adOutForceA[3]; 
    mutable double m_adOutForceB[3]; 
    sfh::timers::Timer m_OutputTimer; 
    ICommonComputation* m_CalcOutputs; 
#ifdef FH_VISUALIZATION
    Ogre::Entity* m_pRenderEntity; 
    Ogre::SceneNode* m_pRenderNode; 
    int m_iNumPoints; 
    C3DLine* m_pLines; 
#endif
};
 
 
#endif