FrameStateSensorModel.h

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/*
Frams state sensor model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_STATES_FRAME_STATE_SENSOR_MODEL_H
#define MODELS_STATES_FRAME_STATE_SENSOR_MODEL_H
 
#include "core/macros.h"
#include "simulation/Model.h"
#include "six_dof_dynamics/Frame.hpp"
#include "utils/frameutils.hpp"
 
namespace modelspace {
 
    /**
     * @brief   Frame state sensor model
     * 
     * The frame state sensor model senses the relative state between two
     * frames and outputs that state difference as represented in a third,
     * output frame. It applies basic kinematics using base functions 
     * developed in the clockwerk module to generate a step-by-step difference 
     * between two frames.
     * 
     * The results output by this model can be described as
     * "the state of target_frame relative to reference_frame as output in 
     *  output_frame coordinates"
    */
    class FrameStateSensorModel : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The target_frame is the frame state we are sensing -- we want to 
              * know where target_frame is */
            SIGNAL(target_frame_ptr,        FrameD*,                nullptr)
            /** The reference_frame is the frame relative to which we are sensing.
              * Results are output relative to the reference frame, in either 
              * reference frame or output frame coordinates. */
            SIGNAL(reference_frame_ptr,     FrameD*,                nullptr)
            /** The output_frame is the frame in which the output results are
             *  represented. If it is set to nullptr, reference_frame is used.
             *  Not used for attitude. */
            SIGNAL(output_frame_ptr,        FrameD*,                nullptr)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
 
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** This is the position of the target frame origin wrt the reference frame origin,
              * output in output frame coordinates */
            SIGNAL(pos_tgt_ref__out,        CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** This is the velocity of our target frame origin as represented IN the reference
             *  frame. It is NOT simply the difference in the velocities of their origins, which
             *  is different. This value accounts for reference frame rotation. Output is in output coordinates */
            SIGNAL(vel_tgt_ref__out,        CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** This is the inertial velocity of our target frame origin relative to our reference
             *  frame origin, represented in output frame coordinates. It is an inertial differencing
             *  of the origins represented in reference, and does not account for reference rotation. */
            SIGNAL(vel_tgt_ref_inertial__out,CartesianVector3D,     CartesianVector3D({0.0, 0.0, 0.0}))
            /** This is the attitude of the target frame relative to the reference frame */
            SIGNAL(att_tgt_ref,             QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** This is the angular velocity of the target frame wrt the reference frame, output in
              * output frame coordinates */
            SIGNAL(omega_tgt_ref__out,      CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        FrameStateSensorModel();
        FrameStateSensorModel(Model &pnt, const std::string &m_name="frame_state_sensor");
        FrameStateSensorModel(SimulationExecutive &e, const std::string &m_name="frame_state_sensor");
        FrameStateSensorModel(Model &pnt, int schedule_slot, const std::string &m_name="frame_state_sensor");
        FrameStateSensorModel(SimulationExecutive &e, int schedule_slot, const std::string &m_name="frame_state_sensor");
        virtual ~FrameStateSensorModel() {}
 
    protected:
        int start();
        int execute();
 
        // DCM relating our reference frame to our root frame
        DCMD _dcm_tmp;
 
        CartesianVector3D _tmp_tgt;
    };
}
 
#endif