VirtualCurrent.h

#pragma once
 
#include <fhsim/simobject/SimObject.h>
#include <fhsim_environment/EnvironmentProvider.h>
#include <memory>
 
class VirtualCurrent;
 
class VirtualCurrentField : public marenv::current::CurrentField
{
   public:
   VirtualCurrentField()          = default;
   virtual ~VirtualCurrentField() = default;
   void inline setVirtualCurrent(VirtualCurrent* virtCurr) { m_virtCurr = virtCurr; }
   [[deprecated("This may not use up-to-date state info")]]
   marenv::Status GetCurrent(const double T, const double position[3], double currentVelocity[3]);
 
   private:
   VirtualCurrent* m_virtCurr;
};
 
class VirtualCurrent : public SimObject
{
   friend class VirtualCurrentField;
 
   public:
   VirtualCurrent(const std::string& simObjectName, ISimObjectCreator* const creator);
   virtual ~VirtualCurrent();
   void FinalSetup(const double T, const double* const X, ISimObjectCreator* const creator);
   void InitialConditionSetup(const double T, const double* const currentIC, double* const updatedIC, 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, IStateUpdater* updater); 
 
#ifdef FH_VISUALIZATION
   void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
   void RenderUpdate(const double T, const double* const X);
#endif
   protected:
   void SetOutputPortValues(const double T, const double* const X) const;
   const double* PlanarCurrent(const double T, const double* const X, int layer);
 
   private:
   ICommonComputation* m_SetOutputPortValues;
   double m_Pp, m_Pd, m_Pi, m_IntegralSaturation, m_DerivativeTInv;
   int m_CurrentIndex, m_IntegralIndex, m_DerivativeIndex, m_layers;
 
   std::unique_ptr<double[]> m_PlanarCurrents;
   environment::EnvironmentProvider* Environment;
   std::shared_ptr<VirtualCurrentField> m_CurrentField = std::make_shared<VirtualCurrentField>();
 
 
   std::vector<int> m_CurrentIndices, m_IntegralIndices, m_DerivativeIndices;
   std::unique_ptr<double[]> m_Depths;
 
   double m_MaximumCurrent; 
 
   protected:
   std::unique_ptr<ISignalPort*[]> m_Input_i;
 
#ifdef FH_VISUALIZATION
   Ogre::SceneNode* m_RenderNode; 
#endif
};