FrameDynamics.hpp

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/*
Frame Dynamics header file
--------------------------
 
Author: Alex Reynolds
*/
#ifndef SIX_DOF_DYNAMICS_FRAME_DYNAMICS_HPP
#define SIX_DOF_DYNAMICS_FRAME_DYNAMICS_HPP
 
#include "utils/Rates.hpp"
#include "core/CartesianVector.hpp"
#include "core/Matrix.hpp"
 
#define NUM_INTEGRATED_STATES 13
 
namespace clockwerk {
 
    template <typename T>
    class FrameDynamics : public Rates<T, NUM_INTEGRATED_STATES> {
    public:
        /// @brief   Function to calculate frame rates of change for a frame
        /// @param   time    The time input for the calculation. Uses current time
        /// @param   state   UNUSED FOR THIS IMPLEMENTATION IN FAVOR OF FRAME PTR
        /// @param   out_rates   Implicit return of rates of change in states
        int calculateRates(T time,
                            const std::array<T, NUM_INTEGRATED_STATES> &state,
                            std::array<T, NUM_INTEGRATED_STATES> &out_rates) {
            /// IMPORTANT: Note that we DO NOT USE our state input because
            /// our frame is passed as a pointer. This is an override for
            /// speed and simplicity, but it is the responsibility of the 
            /// user to understand this 
            /// Calculate the rate of change of each element of the frame
            /// state and set rates
            _frame_ptr->getStateVectorDot(out_rates);
            return NO_ERROR;
        }
 
        /// Getter and setter for the frame pointer
        void setFramePtr(Frame<T>* frame_ptr) {_frame_ptr = frame_ptr;}
        Frame<T>* getFramePtr() {return _frame_ptr;}
    private:
        /// Pointer to the frame being integrated. MUST be set before
        /// calculating rates
        Frame<T>* _frame_ptr;
    };
 
}
 
#endif