SimpleCamera.h

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/*
Camera sensor model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Simple Camera",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"target_obj_frame" : "Sensed Target",
           "alpha_bias" : "Alpha Angle Bias",
           "beta_bias" : "Beta Angle Bias",
           "alpha_gaussian_noise" : "Alpha Angle Noise",
           "beta_gaussian_noise" : "Beta Angle Noise",
           "mount_frame" : "Spacecraft Body",
           "mount_position__mf" : "Body Mount Position",
           "mount_alignment_mf" : "Body Mount Alignment",
           "rate_hz" : "Rate Hz",
           "seed_value" : "EXCLUDE",
           "measured_alpha" : "Meas. Alpha Angle",
           "measured_beta" : "Meas. Beta Angle",
           "perfect_alpha" : "EXCLUDE",
           "perfect_beta" : "EXCLUDE",
           "operational_power_draw" : "Operational Power Draw",
           "mass" : "Mass",
           "current_power_draw" : "Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
#define MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
 
#include "simulation/Model.h"
#include "dynamics/Euler321.h"
#include "dynamics/Quaternion.h"
#include "dynamics/DCM.h"
#include "frames/Frame.h"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
 
namespace warptwin {

    MODEL(SimpleCamera)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(target_obj_frame,        Frame*,                nullptr)
            SIGNAL(alpha_bias,              double,                 0.0)
            SIGNAL(beta_bias,               double,                 0.0)
            SIGNAL(alpha_gaussian_noise,    double,                 0.0)
            SIGNAL(beta_gaussian_noise,     double,                 0.0)
            SIGNAL(mount_frame,             Frame*,                nullptr)
            SIGNAL(mount_position__mf,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(mount_alignment_mf,      clockwerk::Quaternion, clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(rate_hz,                 int,                    0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(operational_power_draw,  double,                 0.0)
            SIGNAL(mass,                    double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
 
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(measured_alpha,          double,                 0.0)
            SIGNAL(measured_beta,           double,                 0.0)
            SIGNAL(perfect_alpha,           double,                 0.0)
            SIGNAL(perfect_beta,            double,                 0.0)
            SIGNAL(current_power_draw,      double,                 0.0)
        END_OUTPUTS

        clockwerk::DataIO<Frame*> sensor_frame = clockwerk::DataIO<Frame*>(this, "sensor_frame", &_sensor_frame);

        warptwin::BiasNoiseModel* biasNoiseModel() {return &_sensor_bias_noise;}

        warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}
 
        int16 activate() override;
        int16 deactivate() override;
 
    protected:
        int16 start() override;
        int16 execute() override;

        void _configureInternal();

        Frame _sensor_frame;

        BiasNoiseModel _sensor_bias_noise;

        RateMonitor _rate_monitor;
 
        // Temporary DCM to hold temporary attitude calculations
        clockwerk::DCM _tmp_dcm;
 
        // Internal variable to hold full bias and noise
        CartesianVector3 _pos_tgt_mount__mount;
    };
 
}
 
#endif