WhorlSim.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file WhorlSim.h
*  \brief Provides an encapsulation of a particular simulation run.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.8 $
*  \date    $Date: 2007/08/31 16:00:19 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_WHORLSIM_H__
#define __SSSL_WHORLSIM_H__

#include <Utils/Error.h>
#include <matrix/Matrix.h>
#include <Base/Whorl.h>
#include <string>
#include <map>

// Parsers
#include <dsacssinterface.h>

// Observers
#include <Observer/Observer.h>
#include <Observer/atterrbiasObserver.h>
#include <Observer/DefaultObserver.h>
#include <Observer/AttitudeObserver.h>
#include <Observer/triadObserver.h>
#include <Observer/QuaternionEKFObserver.h>

// Controllers
#include <Controller/Controller.h>
#include <Controller/MWCMGController.h>
#include <Controller/OpenLoopMWController.h>
#include <Controller/DefaultController.h>
#include <Controller/AngularRateController.h>
#include <Controller/MRPTracking.h>
#include <Controller/slidingModeControlMRPMW.h>

// Orbit Observers
#include <OrbitObserver/OrbitObserver.h>
#include <OrbitObserver/GPSObserver.h>
#include <OrbitObserver/OrbitPropObserver.h>

// Orbit Controllers
#include <OrbitController/OrbitController.h>
#include <OrbitController/COENaaszController.h>


using namespace std;
using namespace O_SESSAME;

class WhorlSim {
        
public:
        // Constructor/Deconstructor
        WhorlSim( ); 

        WhorlSim( Whorl* ptr_whorl ); 

        virtual ~WhorlSim( );
        
        /*! Initializes the simulator */
        int Initialize( TiXmlHandle handle );
                
        void SetObserver( TiXmlHandle handle );

        void SetController( TiXmlHandle handle );

        /* Set Orbit Observer for spacecraft navigation */
        void SetOrbitObserver( TiXmlHandle handle );
        
        /* Set Orbit Controller for spacecraft navigation */
        void SetOrbitController( TiXmlHandle handle );
        
        /*! Get current state */
        inline Vector GetState( ) { return m_omniscient->GetState(); };
        
        /*! Get current time of estimate */
        inline timeval GetTime( ) { return m_omniscient->GetTimeOfEstimate(); };
        
        /*! Runs the observer */
        inline void Observe( ) { m_omnipresent->Run(); };
        
        /*! Runs the controller */
        inline void Control( ) { m_omnipotent->Run(); };

        /*! Runs the Orbit observer */
        inline void OrbitObserve( ) { m_omnipresent2->Run(); };

        /*! Runs the Orbit controller */
        inline void OrbitControl( ) { m_omnipotent2->Run(); };
        
        /*! \brief Value-Definitions of the different string values */
        enum StringValue{ OFF,
                        ON,
                        s_atterrbiasObserver,
                        s_AttitudeObserver,
                        s_DefaultObserver,
                        s_triadObserver,
                        s_QuaternionEKFObserver,
                        s_DefaultController,
                        s_AngularRateController,
                        s_MWCMGController,
                        s_OpenLoopMWController,
                        s_MRPTracking,
                        s_slidingModeControlMRPMW, 
                        s_GPSObserver,
                        s_OrbitPropObserver, 
                        s_COENaaszController };

        /*! \brief Map to associate the strings with the enum values */
        map<string, StringValue> s_mapStringValues;
                
protected:

private:

        Whorl*      m_omniscient;
        Observer*   m_omnipresent;
        Controller* m_omnipotent;

        OrbitObserver* m_omnipresent2;
        OrbitController* m_omnipotent2;

        string m_observerName;
        string m_controllerName;

        string m_OrbitObserverName;
        string m_OrbitControllerName;
};

#endif 

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: WhorlSim.h,v $
*       Revision 1.8  2007/08/31 16:00:19  jayhawk_hokie
*       Added Orbit Control Capability.
*       
*       Revision 1.7  2007/07/24 09:40:35  jayhawk_hokie
*       Removed matrix and vector pointers.
*       
*       Revision 1.6  2007/05/29 19:14:58  jayhawk_hokie
*       Added Constructor Comments
*       
*       Revision 1.5  2007/05/21 17:50:34  jayhawk_hokie
*       Added Quaternion Observer
*       
*       Revision 1.4  2007/03/27 19:12:35  jayhawk_hokie
*       Added Switch case for observers and Controllers.
*       
*       Revision 1.3  2007/01/12 20:31:04  bwilliam
*       Modified to use XML parser.
*       
*       Revision 1.2  2005/02/25 18:40:52  cakinli
*       Created Makefiles and organized include directives to reduce the number of
*       include paths.  Reorganized libraries so that there is now one per source
*       directory.  Each directory is self-contained in terms of its Makefile.
*       The local Makefile in each directory includes src/config.mk, which has all
*       the definitions and general and pattern rules.  So at most, to see what
*       goes into building a target, a person needs to examine the Makefile in
*       that directory, and ../config.mk.
*       
*       Revision 1.1  2003/08/18 19:24:05  mavandyk
*       *** empty log message ***
*       
*       Revision 1.9  2003/08/06 21:44:49  mavandyk
*       Altered to get config parsing to work.
*       
*       Revision 1.8  2003/08/01 11:17:42  mavandyk
*       Fundamental changes to the map structure and fixed bugs.
*       
*       Revision 1.7  2003/07/25 14:25:04  mavandyk
*       Fixed bugs, It compiles.
*       
*       Revision 1.6  2003/07/22 21:26:19  mavandyk
*       Fixed bugs.
*       
*       Revision 1.5  2003/07/10 19:52:30  mavandyk
*       Changed time storage and handling.
*       
*       Revision 1.4  2003/07/09 21:35:19  cakinli
*       Updated Whorl::Initialize(), added getCmdIndex(), and class Measurement.
*       
*       Revision 1.3  2003/07/07 14:37:58  simpliciter
*       Minor modifications.  Measurement stuff needs work.
*       
*       Revision 1.2  2003/07/04 16:12:18  simpliciter
*       Fixed variable and function names.
*       
*       Revision 1.1  2003/07/04 14:08:05  simpliciter
*       Rearranged directory tree.
*       
*       Revision 1.5  2003/07/03 21:18:12  simpliciter
*       Added functions based on requirements of Observer and Controller classes.
*       
*       Revision 1.4  2003/07/03 16:54:48  shoemaker
*       Added semi-working versions of DMU code
*       
*       Revision 1.3  2003/07/02 16:36:32  nicmcp
*       added some comments
*       
*       Revision 1.2  2003/06/17 23:32:28  simpliciter
*       Updated based on comments from Andy.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*       Revision 1.1.1.1  2003/06/06 14:44:15  simpliciter
*       Initial import.
*       
*
******************************************************************************/

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