cfgWhorltest.cpp

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#include <Base/Whorl.h>
#include <Base/WhorlSim.h>
#include <Utils/CfgParse.h>
#include <Utils/Measurement.h>
#include <iostream>
#include <fstream>
using namespace std;

int main() {
        
        /** Prepare for parsing */
        cfgBody *cfgDat;
        CfgParse parser;
        
        /** Parse out configuration files */
        cfgDat = parser.go("whorl.cfg");

        Whorl whorlOne;
        whorlOne.Initialize(cfgDat);
        
        Vector state(3);
        Vector params(9); params(1) = 2.0; params(4) = 3.0; params(6) = 4.0;
        Vector control(3);
        timeval t;
        whorlOne.GetRateGyro(string("dmu_rg1"))->GetMeasurement().GetTime(t);
        whorlOne.SetState(state);
        whorlOne.SetControl(control);
        whorlOne.SetParameter(params);
        whorlOne.SetTimeOfEstimate(t);
                
        cfgDat = parser.go("sim.cfg");
        
        WhorlSim whorlOneSim(&whorlOne);
        whorlOneSim.Initialize(cfgDat); 
        
        for ( int ii = 0; ii <= 250; ii++ ) {
                cout << "Start loop" << endl;
                whorlOneSim.Observe();
                whorlOneSim.Control();
                cout << "End loop" << endl;
        };
        
        whorlOne.GetMomentumWheel(string("Wheel1"))->SetWheelTorque(0.0);
        whorlOne.GetMomentumWheel(string("Wheel2"))->SetWheelTorque(0.0);
        whorlOne.GetMomentumWheel(string("Wheel3"))->SetWheelTorque(0.0);
        
        return 0;
        
};

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