92 lines
1.8 KiB
C++
92 lines
1.8 KiB
C++
#ifndef SIM_PROPAGATOR_H
|
|
#define SIM_PROPAGATOR_H
|
|
|
|
/// \cond
|
|
// C headers
|
|
// C++ headers
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
// 3rd party headers
|
|
/// \endcond
|
|
|
|
// qtrocket headers
|
|
#include "sim/RK4Solver.h"
|
|
#include "utils/math/MathTypes.h"
|
|
#include "sim/StateData.h"
|
|
|
|
|
|
// Forward declare
|
|
class Rocket;
|
|
class QtRocket;
|
|
|
|
namespace sim
|
|
{
|
|
|
|
class Propagator
|
|
{
|
|
public:
|
|
Propagator(std::shared_ptr<Rocket> r);
|
|
~Propagator();
|
|
|
|
void setInitialState(const StateData& initialState)
|
|
{
|
|
currentState = initialState;
|
|
}
|
|
|
|
const StateData& getCurrentState() const
|
|
{
|
|
return currentState;
|
|
}
|
|
|
|
void runUntilTerminate();
|
|
|
|
void retainStates(bool s)
|
|
{
|
|
saveStates = s;
|
|
}
|
|
|
|
const std::vector<std::pair<double, StateData>>& getStates() const { return states; }
|
|
|
|
void clearStates() { states.clear(); }
|
|
void setCurrentTime(double t) { currentTime = t; }
|
|
void setTimeStep(double ts) { timeStep = ts; }
|
|
void setSaveStats(bool s) { saveStates = s; }
|
|
|
|
private:
|
|
double getMass();
|
|
double getForceX();
|
|
double getForceY();
|
|
double getForceZ();
|
|
|
|
double getTorqueP();
|
|
double getTorqueQ();
|
|
double getTorqueR();
|
|
|
|
double getIpitch() { return 1.0; }
|
|
double getIyaw() { return 1.0; }
|
|
double getIroll() { return 1.0; }
|
|
|
|
std::unique_ptr<sim::RK4Solver<Vector3>> linearIntegrator;
|
|
// std::unique_ptr<sim::RK4Solver<Quaternion>> orientationIntegrator;
|
|
|
|
std::shared_ptr<Rocket> rocket;
|
|
|
|
StateData currentState;
|
|
StateData nextState;
|
|
|
|
Vector3 currentGravity{0.0, 0.0, 0.0};
|
|
Vector3 currentWindSpeed{0.0, 0.0, 0.0};
|
|
|
|
bool saveStates{true};
|
|
double currentTime{0.0};
|
|
double timeStep{0.01};
|
|
std::vector<std::pair<double, StateData>> states;
|
|
|
|
Vector3 getCurrentGravity();
|
|
};
|
|
|
|
} // namespace sim
|
|
|
|
#endif // SIM_PROPAGATOR_H
|