ImpulseModel.h

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/*
Impulse model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_ACTUATORS_MODELS_IMPULSE_MODEL_H
#define MODELS_ACTUATORS_MODELS_IMPULSE_MODEL_H
 
#include "core/macros.h"
#include "simulation/Model.h"
#include "core/CartesianVector.hpp"
 
namespace modelspace {
 
    /**
     * @brief   Impulse Model
     * 
     * This model is used to apply a force impulsively (across a single time
     * step) to generate a velocity change. It receives a commanded impulse
     * and calculates the force necessary to apply it, given the current 
     * simulation step size. Implictly uses the simulation executive time as input.
    */
    class ImpulseModel : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** Flag to trigger the impulse model to calculate and output a force */
            SIGNAL(trigger,                 int,                    false)
            /** The impulse to be applied across a single timestep */
            SIGNAL(impulse__f,              CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The force applied for the timestep. Will read zero when trigger is false */
            SIGNAL(force__f,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        ImpulseModel();
        ImpulseModel(Model &pnt, const std::string &m_name="impulse");
        ImpulseModel(SimulationExecutive &e, const std::string &m_name="impulse");
        ImpulseModel(Model &pnt, int schedule_slot, const std::string &m_name="impulse");
        ImpulseModel(SimulationExecutive &e, int schedule_slot, const std::string &m_name="impulse");
        ~ImpulseModel() {}
    protected:
        int execute();
    };
 
}
 
#endif