SixDOFDynamicsModel.h

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/*
6-DOF Dynamics header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"exclude" : True}
*/
 
#ifndef MODELS_SUPPORT_SIX_DOF_DYNAMICS_MODEL
#define MODELS_SUPPORT_SIX_DOF_DYNAMICS_MODEL
 
#include <vector>
#include <array>
#include <list>
 
#include "architecture/Time.h"
#include "flight/App.h"
#include "flight/FlightExecutive.h"
#include "frames/Frame.h"
#include "frames/Node.h"
#include "frames/Body.h"
#include "frames/FrameDynamics.h"
#include "gncutils/integrator/ForwardEulerIntegrator.hpp"
#include "gncutils/integrator/RK4Integrator.hpp"
#include "simulation/SimulationSteps.h"
 
namespace warptwin {
 
    enum integrator_type_e {
        FORWARD_EULER = 1,
        RK4 = 4
    };

    class SixDOFDynamicsModel : public warpos::App {
    public:
        START_PARAMS
            SIGNAL(integrator_type,         int,                    RK4); 
            SIGNAL(root_frame_ptr,          Frame*,                 nullptr);
        END_PARAMS

        START_INPUTS
            clockwerk::DataIO<clockwerk::Time> step_start_time = clockwerk::DataIO<clockwerk::Time>(this, "step_start_time");
            clockwerk::DataIO<clockwerk::Time> step_end_time = clockwerk::DataIO<clockwerk::Time>(this, "step_end_time");
        END_INPUTS

        START_OUTPUTS
            clockwerk::DataIO<clockwerk::Time> current_time = clockwerk::DataIO<clockwerk::Time>(this, "current_time");
        END_OUTPUTS

        SixDOFDynamicsModel(warpos::FlightExecutive &executive);
        virtual ~SixDOFDynamicsModel() {}

        void reset() {_integrator_step_num = 0;}
    protected:
        int16 start() override;
        int16 execute() override; 

        int _integrateRecursiveForwardEuler(Frame* frame_ptr);
        int _integrateRecursiveRk4(Frame* frame_ptr);

        int _recurseRefreshFrameIntegratorSet(Frame* frame_ptr);

        unsigned int _integrator_step_num = 0;
        unsigned int _integrator_steps_per_step = 0;

        std::list<warpos::ForwardEulerIntegrator<NUM_INTEGRATED_STATES>> _fe_integrators;
        std::list<warpos::RK4Integrator<NUM_INTEGRATED_STATES>> _rk4_integrators;
        warpos::RK4Integrator<NUM_INTEGRATED_STATES>* _rk4_ptr;
        warpos::ForwardEulerIntegrator<NUM_INTEGRATED_STATES>* _fe_ptr;

        FrameDynamics _frame_dynamics;

        std::array<double, NUM_INTEGRATED_STATES> _tmp_state;
        std::vector<GraphTreeObject*> _frame_children;

        clockwerk::Time _half_step_size;
    };
 
}
 
#endif