subSurfaceEntitySimpleActuator.h

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


#pragma once

#include "vrfmodel/surfaceEntitySimpleActuator.h"


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtSubSurfaceEntitySimpleActuator : 
   public DtSurfaceEntitySimpleActuator
{

public:

   DtSubSurfaceEntitySimpleActuator (const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtSubSurfaceEntitySimpleActuator();

   virtual bool init();

   virtual const char* type() const;


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

protected:
   
   virtual bool createPorts();
   
   virtual void tick();

   virtual double updateVerticalSpeed(const double dt);
   
   virtual void adjustAttitude(const double newSpeed, const DtVector& position,
      const double yawRate,
      double &roll, double &pitch, double &altitude);

   virtual double altitudeFromDepth(double depth, double surfaceAltitude);
   virtual double depthFromAltitude(double altitude, double surfaceAltitude)
   {
      return altitudeFromDepth(altitude, surfaceAltitude);
   }

protected:
   
   DtSubSurfaceEntitySimpleActuator();

   DtSubSurfaceEntitySimpleActuator
      (const DtSubSurfaceEntitySimpleActuator & orig);

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


protected:


   DtAnalogInputPort* myDepthRatePort;
   
   DtAnalogInputPort* myClampDepthPort;
      

   double myDepth;

   double myAltitudeRate;

};