ImpulseModel.h

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/*
Impulse model header file

Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"exclude" : True}
*/

#ifndef MODELS_ACTUATORS_MODELS_IMPULSE_MODEL_H
#define MODELS_ACTUATORS_MODELS_IMPULSE_MODEL_H

#include "simulation/Model.h"
#include "core/CartesianVector.hpp"

namespace warptwin {

    /**
     * @brief   Impulse Model
     * 
     * This model is used to apply a force impulsively (across a single time
     * step) to generate a velocity change. It receives a commanded impulse
     * and calculates the force necessary to apply it, given the current 
     * simulation step size. Implictly uses the simulation executive time as input.
    */
    MODEL(ImpulseModel)
    public:
        START_PARAMS
        END_PARAMS

        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** Flag to trigger the impulse model to calculate and output a force */
            SIGNAL(trigger,                 int,                    false)
            /** The impulse to be applied across a single timestep */
            SIGNAL(impulse__f,              CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
        END_INPUTS

        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The force applied for the timestep. Will read zero when trigger is false */
            SIGNAL(force__f,                CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS

    protected:
        int16 execute() override; 
    };
}

#endif