function_sensor.h

/* Copyright (C) 2004-2009 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: markus.ms.schneider@gmail.com
 */
 
#ifndef _FUNCTION_SENSOR_H_
#define _FUNCTION_SENSOR_H_
 
#include "mbsimControl/sensor.h"
#include <mbsim/functions/function.h>
 
namespace MBSimControl {
 
  class FunctionSensor : public Sensor {
    public:
      FunctionSensor(const std::string &name="") : Sensor(name) {}
      FunctionSensor(const std::string &name, MBSim::Function<fmatvec::VecV(double)>* function_);
      ~FunctionSensor() override { delete function; }
      void setFunction(MBSim::Function<fmatvec::VecV(double)>* function_);
      void setIncludeFunctionValue(bool includeFunctionValue_) { includeFunctionValue = includeFunctionValue_; }
      void setIncludeFirstDerivative(bool includeFirstDerivative_) { includeFirstDerivative = includeFirstDerivative_; }
      void setIncludeSecondDerivative(bool includeSecondDerivative_) { includeSecondDerivative = includeSecondDerivative_; }
      void updateSignal() override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
      void init(MBSim::Element::InitStage stage, const MBSim::InitConfigSet &config) override;
      int getSignalSize() const override;
    private:
      MBSim::Function<fmatvec::VecV(double)> * function{nullptr};
      bool includeFunctionValue{true};
      bool includeFirstDerivative{false};
      bool includeSecondDerivative{false};
      fmatvec::RangeV IFV, IFD, ISD;
  };
 
}
 
#endif /* _FUNCTION_SENSOR_H_ */