Dynamics.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.


#ifndef __UUV_GAZEBO_PLUGINS_THRUSTER_DYNAMICS_HH__
#define __UUV_GAZEBO_PLUGINS_THRUSTER_DYNAMICS_HH__

#include <map>
#include <string>

#include <sdf/sdf.hh>

namespace gazebo
{
class Dynamics
{
  protected: Dynamics() { Reset(); }

  public: virtual ~Dynamics() {}

  public: virtual std::string GetType() = 0;

  public: virtual double update(double _cmd, double _t) = 0;

  // \brief Reset state.
  public: virtual void Reset();

  protected: double prevTime;

  protected: double state;
};

typedef Dynamics* (*DynamicsCreator)(sdf::ElementPtr);

class DynamicsFactory
{
  public: Dynamics* CreateDynamics(sdf::ElementPtr _sdf);

  public: static DynamicsFactory& GetInstance();

  public: bool RegisterCreator(const std::string& _identifier,
                               DynamicsCreator _creator);

  private: DynamicsFactory() {}

  private: std::map<std::string, DynamicsCreator> creators_;
};

#define REGISTER_DYNAMICS(type) static const bool registeredWithFactory

#define REGISTER_DYNAMICS_CREATOR(type, creator) \
  const bool type::registeredWithFactory = \
  DynamicsFactory::GetInstance().RegisterCreator( \
  type::IDENTIFIER, creator);


class DynamicsZeroOrder : public Dynamics
{
  public: static Dynamics* create(sdf::ElementPtr _sdf);

  public: virtual std::string GetType() { return IDENTIFIER; }

  public: virtual double update(double _cmd, double _t);

  private: REGISTER_DYNAMICS(DynamicsZeroOrder);

  private: static const std::string IDENTIFIER;

  private: DynamicsZeroOrder() : Dynamics() {}
};


class DynamicsFirstOrder : public Dynamics
{
  public: static Dynamics* create(sdf::ElementPtr _sdf);

  public: virtual std::string GetType() { return IDENTIFIER; }

  public: virtual double update(double _cmd, double _t);

  private: REGISTER_DYNAMICS(DynamicsFirstOrder);

  private: static const std::string IDENTIFIER;

  private: DynamicsFirstOrder(double _tau);

  private: double tau;
};


class ThrusterDynamicsYoerger : public Dynamics
{
  public: static Dynamics* create(sdf::ElementPtr _sdf);

  public: virtual std::string GetType() { return IDENTIFIER; }

  public: virtual double update(double _cmd, double _t);

  private: REGISTER_DYNAMICS(ThrusterDynamicsYoerger);

  private: static const std::string IDENTIFIER;

  private: ThrusterDynamicsYoerger(double alpha, double beta);

  private: double alpha;

  private: double beta;
};


class ThrusterDynamicsBessa : public Dynamics
{
  public: static Dynamics* create(sdf::ElementPtr _sdf);

  public: virtual std::string GetType() { return IDENTIFIER; }

  public: virtual double update(double _cmd, double _t);

  private: REGISTER_DYNAMICS(ThrusterDynamicsBessa);

  private: static const std::string IDENTIFIER;

  private: ThrusterDynamicsBessa(double _Jmsp, double _Kv1, double _kv2,
                                 double _Kt, double _Rm);

  private: double Jmsp;

  private: double Kv1;

  private: double Kv2;

  private: double Kt;

  private: double Rm;
};
}

#endif