VirtualCurrent.h

#pragma once
 
#include <SimObject.h>
#include <EnvironmentProvider.h>
#include <memory>
 
class VirtualCurrent;
 
namespace artificial
{
 
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 artificial::VirtualCurrentField;
public:
  VirtualCurrent(const 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 GetCurrent(const double T, const double* const X, const double position[3], double* currentVelocity);
  void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
  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 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<artificial::VirtualCurrentField> m_CurrentField = std::make_shared<artificial::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
};