trailerActuator.h

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/*******************************************************************************
** Copyright (c) 2020 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vlpi/disEnums.h"

class DtString;
class DtSimManager;
class DtTrailerActuatorDescriptor;
class DtTrailerActuatorPSR;

class DtVrfTrailerActuatorPSR;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtTrailerActuator : public DtActuatorComponent
{

public:

   DtTrailerActuator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtTrailerActuator();

   virtual bool postAddComponentsInit();

   virtual void preFirstTickInit();

   virtual const char* type() const;

   virtual void tick();

   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

protected:
   
   virtual bool createPSR();
   virtual bool initProcessSR(const DtArticulatedPartStateRepository* trailer);

   virtual void setTrailerArtPart(const DtArtPartType trailerPart);
   virtual DtArtPartType trailerArtPart() const;

   virtual bool hasInitializationErrors(DtArticulatedPartStateRepository * rotBody) const;

   virtual void computeBodyToLocalDcm(const DtTaitBryan& topoOrientation,
      DtDcm& bodyToLocalDcm) const;

   virtual void computePitchAndRoll(
      const DtDcm& tentativeTrailerBodyToLocalDcm,
      const double oldRollAngle,
      const DtVector& newCouplerGroundLocalPosition,
      DtVector& newAxleCenterPosition,
      DtTaitBryan& newInertialAngles) const;
   
   virtual void limitAnglesAndSetArtPartState(DtTaitBryan& newBodyAngles,
      DtArticulatedPartStateRepository* rotBody,
      DtVector& newAxleCenterPosition) const;

protected:
   
   DtTrailerActuator();

   DtTrailerActuator(const DtTrailerActuator & orig);

   const DtTrailerActuator & operator=(const 
      DtTrailerActuator & orig);


protected:

   const DtTrailerActuatorDescriptor* myTrailerActuatorDescriptor;

   DtTrailerActuatorPSR*      myProcessState;


   DtArtPartType myTrailerArtPart;

   DtVector myAxleCenterOffsetFromCoupler;
};