FrameStateSensorModel.h

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/*
Frams state sensor model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Frame State Sensor",
          "exclude" : False, 
          "category" : "Sensors"
}
aliases = {"target_frame_ptr" : "Frame A",
           "reference_frame_ptr" : "Frame B",
           "output_frame_ptr" : "EXCLUDE",
           "pos_tgt_ref__out" : "Position A wrt B",
           "vel_tgt_ref__out" : "Velocity A in B",
           "vel_tgt_ref_inertial__out" : "EXCLUDE",
           "att_tgt_ref" : "Attitude A wrt B",
           "omega_tgt_ref__out" : "Ang. Vel. A wrt B"
}
*/
 
#ifndef MODELS_STATES_FRAME_STATE_SENSOR_MODEL_H
#define MODELS_STATES_FRAME_STATE_SENSOR_MODEL_H
 
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "frames/frameutils.h"
 
namespace warptwin {

    MODEL(FrameStateSensorModel)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(target_frame_ptr,        Frame*,                nullptr) 
            
            SIGNAL(reference_frame_ptr,     Frame*,                nullptr)
            SIGNAL(output_frame_ptr,        Frame*,                nullptr)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
 
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(pos_tgt_ref__out,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(vel_tgt_ref__out,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(vel_tgt_ref_inertial__out,CartesianVector3,     CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(att_tgt_ref,             clockwerk::Quaternion, clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(omega_tgt_ref__out,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
    protected:
        int16 start() override;
        int16 execute() override;
 
        // DCM relating our reference frame to our root frame
        clockwerk::DCM _dcm_tmp;
 
        CartesianVector3 _tmp_tgt;
    };
}
 
#endif