FrameDynamics.h

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/*
Frame Dynamics header file
--------------------------
 
Author: Alex Reynolds
*/
#ifndef FRAMES_FRAME_DYNAMICS_H
#define FRAMES_FRAME_DYNAMICS_H
 
#include "gncutils/dynamics/Rates.hpp"
#include "core/CartesianVector.hpp"
#include "core/Matrix.hpp"
#include "frames/Frame.h"
 
#define NUM_INTEGRATED_STATES 13
 
namespace warptwin {
 
    class FrameDynamics : public warpos::Rates<NUM_INTEGRATED_STATES> {
    public:
        int16 calculateRates(floating_point time, 
                             const std::array<floating_point, NUM_INTEGRATED_STATES> &state, 
                             std::array<floating_point, NUM_INTEGRATED_STATES> &out_rates) override; 
        
        void setFramePtr(Frame* frame_ptr) {_frame_ptr = frame_ptr;}
        Frame* getFramePtr() {return _frame_ptr;}
    private:
        Frame* _frame_ptr;
    };
 
}
 
#endif