kinematic_model.h

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*  Author: Dula Nad
*  Created: 01.02.2010.
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#ifndef LABUST_SIM_KINEMATICMODEL_H
#define LABUST_SIM_KINEMATICMODEL_H
#include <labust/simulation/matrixfwd.hpp>
#include <labust/tools/conversions.hpp>

namespace labust
{
  namespace simulation
  {
    class KinematicModel
    {
    public:
      enum {x=0,y,z};
      enum {phi=0,theta,psi};
      enum {u=0,v,w,p,q,r};
      KinematicModel();
      void step(const vector& nu);
      inline const vector3& position() const {return this->pos;};
      inline const vector3& orientation()
      {
          labust::tools::eulerZYXFromQuaternion(this->quat, this->rpy);
          return rpy;
      };
      inline void setPosition(const vector3& pos, const vector3& rpy)
      {
        this->pos = this->pos0 = pos;
        labust::tools::quaternionFromEulerZYX(rpy(phi),rpy(theta),rpy(psi), this->quat);
      }
      inline void setPosition(const vector3& pos, const quaternion& quat)
      {
        this->pos = this->pos0 = pos;
        this->quat = this->quat0 = quat;
      }
      inline void init(double depth = 0)
      {
        this->reset();
        //Calculate and set the the neutral depth where W=B
        pos(z) = depth;
      }
      void reset()
      {
        this->pos = this->pos0;
        this->quat = this->quat0;
      };
      inline void setTs(double Ts){this->dT = Ts;};

    protected:
      double dT;
      vector3 current;
      vector3 pos0;
      vector3 pos;
      quaternion quat0;
      quaternion quat;
      vector3 rpy;
    };
  }
}

/* LABUST_SIM_KINEMATICMODEL_H */
#endif