ssShipMotion.h

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#ifndef SS_SHIP_MOTION
#define SS_SHIP_MOTION

#include "ssdllexport.h"

#include "JRMDefines.h"
#include "JRMlibrary.h"

// Forward declarations
class ssShipPerformance;

class SIGSIMRT_API ssShipMotion
{

public:

    ssShipMotion();


    void setShipPerformance( ssShipPerformance* shipPerfomance );


    ssShipPerformance* getShipPerformance()
    {
        return m_shipPerformance;
    }


    void setNatoSeaState( int natoSeaState );


    int getNatoSeaState()
    {
        return m_seaState;
    }

    void setWindSpeed( float wind_knots );


    float getWindSpeed()
    {
        return m_windSpeed;
    }


    void setShipSize( float beam_length_m, 
                      float length_between_perp_m, 
                      float roll_const_sec_per_sqrt_m, 
                      float metacentric_height_m );


    void getShipSize( float& beam_length_m, 
                      float& length_between_perp_m, 
                      float& roll_const_sec_per_sqrt_m, 
                      float& metacentric_height_m )
    {
        beam_length_m = m_beamLength;
        length_between_perp_m = m_lengthBetweenPerpendicular;
        roll_const_sec_per_sqrt_m = m_rollConstant;
        metacentric_height_m = m_metacentricHeight;
    }


    void setWorldOrientation( float heading, float pitch, float roll )
    {
        m_initialHeading = heading;
        m_initialPitch  = pitch;
        m_initialRoll   = roll;
    }


    void getWorldOrientation( float& heading, float& pitch, float& roll )
    {
        heading = m_initialHeading;
        pitch   = m_initialPitch;
        roll    = m_initialRoll;
    }


    void getOffsetOrientation( double time_sec, 
                               float& heading, float& pitch, float& roll );


    void setWorldPosition( double x, double y, double z )
    {
        m_positionX = x;
        m_positionY = y;
        m_positionZ = z;
    }


    void getWorldPosition( double& x, double& y, double& z )
    {
        x = m_positionX;
        y = m_positionY;
        z = m_positionZ;
    }


    void getOffsetTranslation(  double time_sec, float& x, float& y, float& z );


    VECTOR getUnitTangentialVelocity( double time_sec );


    VECTOR getAngularVelocity( double time_sec, VECTOR shippoint);


    rotmatrix getSensorMotionMatrix( double time_sec );

   void getAverageRotation( double time_start, double time_end, double &heading, double &pitch, double &roll, double &heading_rate, double &pitch_rate, double &roll_rate );

   float getEstimatedRotationPotential();


private:

    void updatePerformanceData();


    double SHMOscillations( double time_sec, 
                            double amplitude, 
                            double ang_freq_rad_per_sec, 
                            double phase_rad );


    double SHMOscillations_time_deriv( double time_sec, 
                                       double amplitude, 
                                       double ang_freq_rad_per_sec, 
                                       double phase_rad );


    void getMotionAngles( double time_sec, double& pitch, double& roll );


    void getMotionRates( double time_sec, double& pitchrate, double& rollrate ); 


    float m_windSpeed;
    int m_seaState;

    float m_beamLength;
    float m_lengthBetweenPerpendicular;
    float m_rollConstant; 
    float m_metacentricHeight;

    float m_rollAmplitude; // [rad]
    float m_rollPeriod;    // [s]

    float m_pitchAmplitude;   // [rad]
    float m_pitchPeriod;   // [s]

    float m_initialHeading;
    float m_initialPitch;
    float m_initialRoll;

    double m_positionX;
    double m_positionY;
    double m_positionZ;

    ssShipPerformance* m_shipPerformance;

}; // class ssShipMotion

#endif // #ifndef SS_SHIP_MOTION