trick/trick_sims/SIM_wheelbot/S_define

/************************TRICK HEADER*************************
PURPOSE:
    ( Simulate a skydiver jump from very high altitude. )
LIBRARY DEPENDENCIES:
    ((Vehicle/src/vehicleOne.cpp)
    (Control/src/PIDController.cpp))
*************************************************************/

#include "sim_objects/default_trick_sys.sm"

##include "Vehicle/include/vehicleOne.hh"

class VehicleSimObject : public Trick::SimObject {

    public:
    VehicleOne vehicle;

    VehicleSimObject() {
        ("default_data")     vehicle.default_data() ;
        ("initialization")   vehicle.state_init() ;
        (0.10, "scheduled")  vehicle.control();
        ("derivative")       vehicle.state_deriv() ;
        ("integration") trick_ret = vehicle.state_integ() ;
    }
};

VehicleSimObject veh ;

IntegLoop veh_integloop (0.10) veh;