RangeAzElSensorModel.h

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/*
Point mass gravity model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_STATES_RANGE_AZ_EL_SENSOR_MODEL_H
#define MODELS_STATES_RANGE_AZ_EL_SENSOR_MODEL_H
 
#include "core/macros.h"
#include "utils/unitutils.h"
#include "simulation/Model.h"
#include "six_dof_dynamics/Frame.hpp"
#include "six_dof_dynamics/Node.hpp"
#include "utils/frameutils.hpp"
 
namespace modelspace {
 
    /**
     * @brief   Range, azimuth, and elevation sensor model
     * 
     * This model is a simple range, range rate, azimuth, and
     * elevation sensor model. It uses the relative position
     * and interial velocity between two frames to compute the 
     * listed parameters.
     * 
     * Parameters are defined as follows:
     * AZIMUTH is defined relative to the +Y vector
     * ELEVATION is defined relative to the X-Y plane
     * This makes the model follow the behavior exhibited by a ground station
     * in the ENU frame. 
     * 
     * This model does not care about frame particulars. It will
     * give you answers relative to the frame you've provided.
    */
    class RangeAzElSensorModel : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** This is the elevation mask value, in radians, for the sensor. Default is zero degrees*/
            SIGNAL(elevation_mask_rad,      double,                 0.0)
            /** This is the low-end azimuth mask value, in radians, for the sensor. Default is no mask*/
            SIGNAL(azimuth_mask_low,        double,                 -clockwerk::TWO_PI)
            /** This is the high-end azimuth mask value, in radians, for the sensor. Default is no mask*/
            SIGNAL(azimuth_mask_high,       double,                 clockwerk::TWO_PI)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** The position of the object body in given reference frame */
            SIGNAL(pos_obj__ref,            CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The inertial velocity of the object relative to the reference frame origin,
             * reepresented in reference frame coordinates*/
            SIGNAL(vel_obj__ref,            CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** This is the range of the input object to the frame. Will be zero if masked.*/
            SIGNAL(range,                   double,                 0.0)
            /** This is the range rate of the input object to the frame. Will be zero if masked.*/
            SIGNAL(range_rate,              double,                 0.0)
            /** This is the azimuth of the object wrt the frame x vector, in radians. Will be zero if masked */
            SIGNAL(azimuth,                 double,                 0.0)
            /** This is the elevation of the object wrt the frame x-y plane, in radians. Will be zero if masked. */
            SIGNAL(elevation,               double,                 0.0)
            /** This is the mask flag for the ground station. True for masked, False for visible */
            SIGNAL(masked,                  bool,                   true)
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        RangeAzElSensorModel();
        RangeAzElSensorModel(Model &pnt, const std::string &m_name="range_az_el");
        RangeAzElSensorModel(SimulationExecutive &e, const std::string &m_name="range_az_el");
        RangeAzElSensorModel(Model &pnt, int schedule_slot, const std::string &m_name="range_az_el");
        RangeAzElSensorModel(SimulationExecutive &e, int schedule_slot, const std::string &m_name="range_az_el");
        ~RangeAzElSensorModel() {}
 
    protected:
        int execute();
    };
 
}
 
#endif