Wavefield.hh

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/*
 * Copyright (C) 2019  Rhys Mainwaring
 *
 * 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 _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_HH_
#define _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_HH_

#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>

#include <memory>
#include <vector>

// Forward Declarations

namespace gazebo
{
  namespace msgs
  {
    class Param_V;
  }
}

namespace sdf
{
  class Element;
}

namespace asv
{
// WaveParameters
  class WaveParametersPrivate;

  class WaveParameters
  {
    public: ~WaveParameters();

    public: WaveParameters();

    public: void SetFromSDF(sdf::Element& _sdf);

    public: size_t Number() const;

    public: double Angle() const;

    public: double Scale() const;

    public: double Steepness() const;

    public: double AngularFrequency() const;

    public: double Amplitude() const;

    public: double Period() const;

    public: double Phase() const;

    public: double Wavelength() const;

    public: double Wavenumber() const;

    public: float Tau() const;

    public: float Gain() const;

    public: ignition::math::Vector2d Direction() const;

    public: void SetNumber(size_t _number);

    public: void SetAngle(double _angle);

    public: void SetScale(double _scale);

    public: void SetSteepness(double _steepness);

    public: void SetAmplitude(double _amplitude);

    public: void SetPeriod(double _period);

    public: void SetPhase(double _phase);

    public: void SetTau(double _tau);

    public: void SetGain(double _gain);

    public: void SetDirection(const ignition::math::Vector2d& _direction);

    public: const std::vector<double>& AngularFrequency_V() const;

    public: const std::vector<double>& Amplitude_V() const;

    public: const std::vector<double>& Phase_V() const;

    public: const std::vector<double>& Steepness_V() const;

    public: const std::vector<double>& Wavenumber_V() const;

    public: const std::vector<ignition::math::Vector2d>& Direction_V() const;

    public: void DebugPrint() const;

    private: std::shared_ptr<WaveParametersPrivate> data;
  };

// WavefieldSampler

  class WavefieldSampler
  {
    public: static double ComputeDepthDirectly(
      const WaveParameters& _waveParams,
      const ignition::math::Vector3d& _point,
      double time, double time_init = 0);

    public: static double ComputeDepthSimply(
            const WaveParameters& _waveParams,
      const ignition::math::Vector3d& _point,
            double time, double time_init = 0);
  };
}

#endif