RangeAzElSensorModel.h

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/*
Point mass gravity model header file

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

#ifndef MODELS_STATES_RANGE_AZ_EL_SENSOR_MODEL_H
#define MODELS_STATES_RANGE_AZ_EL_SENSOR_MODEL_H

#include "constants/unitutils.h"
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "frames/Node.h"
#include "frames/frameutils.h"

namespace warptwin {

    /**
     * @brief   Model to calculate range, range rate, azimuth, and elevation given a frame state output
     * 
     * This model is a simple range, range rate, azimuth, and
     * elevation sensor model. It uses the relative position
     * and interial velocity between two frames to compute the 
     * listed parameters.
     * 
     * Parameters are defined as follows:
     * AZIMUTH is defined relative to the +Y vector
     * ELEVATION is defined relative to the X-Y plane
     * This makes the model follow the behavior exhibited by a ground station
     * in the ENU frame. 
     * 
     * This model does not care about frame particulars. It will
     * give you answers relative to the frame you've provided.
    */
    MODEL(RangeAzElSensorModel)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** This is the elevation mask value, in radians, for the sensor. Default is zero degrees*/
            SIGNAL(elevation_mask_rad,      double,                 0.0)
            /** This is the low-end azimuth mask value, in radians, for the sensor. Default is no mask*/
            SIGNAL(azimuth_mask_low,        double,                 -warpos::TWO_PI)
            /** This is the high-end azimuth mask value, in radians, for the sensor. Default is no mask*/
            SIGNAL(azimuth_mask_high,       double,                 warpos::TWO_PI)
        END_PARAMS

        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** The position of the object body in given reference frame */
            SIGNAL(pos_obj__ref,            CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            /** The inertial velocity of the object relative to the reference frame origin,
             * reepresented in reference frame coordinates*/
            SIGNAL(vel_obj__ref,            CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
        END_INPUTS

        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** This is the range of the input object to the frame. Will be zero if masked.*/
            SIGNAL(range,                   double,                 0.0)
            /** This is the range rate of the input object to the frame. Will be zero if masked.*/
            SIGNAL(range_rate,              double,                 0.0)
            /** This is the azimuth of the object wrt the frame x vector, in radians. Will be zero if masked */
            SIGNAL(azimuth,                 double,                 0.0)
            /** This is the elevation of the object wrt the frame x-y plane, in radians. Will be zero if masked. */
            SIGNAL(elevation,               double,                 0.0)
            /** This is the mask flag for the ground station. True for masked, False for visible */
            SIGNAL(masked,                  bool,                   true)
        END_OUTPUTS

    protected:
        int16 execute() override; 
    };

}

#endif