surfaceEntityActuator.h

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/*******************************************************************************
** Copyright (c) 2013 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfobjcore/vrfKinematicState.h"

class DtString;
class DtSimManager;
class DtSurfaceEntityStateRepository;
class DtSurfaceEntityActuatorDescriptor;
class DtConstrainedAnalogInputPort;
class DtBooleanOutputPort;
class DtSurfaceMovementPSR;
class DtUpdateRepositoryOutputPortGroup;

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

public:

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

   virtual ~DtSurfaceEntityActuator();

   virtual bool init();

   virtual const char* type() const;

   virtual bool postAddComponentsInit();

   virtual void initProcessSR();

   virtual void tick();
 
   virtual double calculateRudderYawAcceleration();
   
   virtual double calculateResistanceYawAcceleration();
   
   virtual const DtVector calculateThrottleAcceleration();

   virtual const DtVector calculateDragAcceleration();

   virtual bool clampSmallVelocityToZero();

   virtual double stoppingSpeed();

   virtual void useFuel(double fuelUsed);

   virtual double fuelLeft() const;

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

protected:
   
   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void integratePosition(double dT);

   virtual void integrateOrientation(double dT);

   void constrainYawAcceleration(double& yawAcceleration, double yawRate,
      double maxYawRate, double dT);

   virtual void updateRepository();

   DtSurfaceEntityStateRepository * surfaceEntityState (void) const;

   virtual bool createPSR();

protected:
   
   DtSurfaceEntityActuator();

   DtSurfaceEntityActuator
      (const DtSurfaceEntityActuator & orig);

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


protected:

   DtSurfaceEntityStateRepository * mySurfaceEntityState;
   DtSurfaceEntityActuatorDescriptor * mySurfaceEntityActuatorDescriptor;


   DtInputPortGroup* mySurfaceControlPortGroup;

   DtConstrainedAnalogInputPort* myThrottlePort;

   DtConstrainedAnalogInputPort* myRudderPort;

   DtBooleanOutputPort * mySmallVelocityClampedPort;


   DtDcm myBodyToLocalMatrix;
   DtDcm myLocalToBodyMatrix;

   DtVector myLocalPosition;
   DtVector myRelativeVelocity;
   DtVector myRelativeAcceleration;
   DtTaitBryan myOrientation;
   DtVector myBodyRotationRates;
   DtVector myBodyRotationalAcceleration;

   DtSurfaceMovementPSR* myProcessState;

   bool myOutOfFuelWarningPrinted;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;
};