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96 lines
2.7 KiB
C++
96 lines
2.7 KiB
C++
/**
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@file
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PURPOSE:
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(Ball model state parameter definition.)
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LANGUAGE:
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(C++)
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REFERENCE:
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(((Bailey, R.W, and Paddock, E.J.)
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(Trick Simulation Environment) (NASA:JSC #37943)
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(JSC/Engineering Directorate/Automation, Robotics and Simulation Division)
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(March 1997)))
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ASSUMPTIONS AND LIMITATIONS:
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((2 dimensional space)
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(Constant force)
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(Always toward a stationary point))
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LIBRARY DEPENDENCY:
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((BallState.o) (BallState_default_data.o))
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PROGRAMMERS:
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(((Robert W. Bailey) (Sweet Systems Inc) (March 1997) (Tutorial Lesson 1))
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((Edwin Z. Crues)(Titan Systems Corp.)(Jan 2002)(Crude C++ translation)))
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*******************************************************************************/
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/*
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* $Id: BallState.hh 3383 2014-01-22 23:18:15Z alin $
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*/
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#ifndef _BALL_STATE_HH_
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#define _BALL_STATE_HH_
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/** @class BallStateInput
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@brief ball state input parameters
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*/
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class BallStateInput {
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public:
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double mass; /**< trick_units(kg) Total mass. */
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double position[2]; /**< trick_units(m) X(horizontal), Y(vertical) position. */
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double speed; /**< trick_units(m/s) Linear speed. */
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double elevation; /**< trick_units(r) Trajectory angle with respect to the horizontal. */
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BallStateInput() ;
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};
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/** @class BallStateOutput
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@brief ball state output parameters
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*/
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class BallStateOutput {
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public:
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double position[2]; /**< trick_units(m) X(horizontal), Y(vertical) position. */
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double velocity[2]; /**< trick_units(m/s) X, Y velocity. */
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double acceleration[2]; /**< trick_units(m/s2) X, Y acceleration. */
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double external_force[2]; /**< trick_units(N) Total external force on ball. */
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BallStateOutput() ;
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};
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/** @class BallStateWork
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@brief ball state output parameters
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*/
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class BallStateWork {
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public:
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unsigned int num_external_force ;
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double ** external_force; /**< trick_units(N) External forces, from 'collect' */
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BallStateWork() ;
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};
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/** @class BallState
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@brief ball state
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*/
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class BallState {
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public:
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/* Member data. */
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BallStateInput input; /**< trick_units(--) User inputs */
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BallStateOutput output; /**< trick_units(--) User outputs. */
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BallStateWork work; /**< trick_units(--) EOM workspace. */
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int default_data() ;
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int add_external_force( double * in_ptr ) ;
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};
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#ifdef SWIG
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// This SWIG statement give us the capability to print the entire BallState class with a single print
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%struct_str(BallState)
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%struct_str(BallStateInput)
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%struct_str(BallStateOutput)
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%struct_str(BallStateWork)
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#endif
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#endif /* _BALL_STATE_HH_ */
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