VelocityForceComponent.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef LSST_M1M3_SS_FORCECONTROLLER_VELOCITYFORCECOMPONENT_H_
#define LSST_M1M3_SS_FORCECONTROLLER_VELOCITYFORCECOMPONENT_H_
 
#include <SAL_MTM1M3C.h>
 
#include <ForceActuatorApplicationSettings.h>
#include <ForceComponent.h>
#include <SafetyController.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
class VelocityForceComponent : public ForceComponent {
public:
    VelocityForceComponent(ForceActuatorApplicationSettings *forceActuatorApplicationSettings);
 
    void applyVelocityForces(float *x, float *y, float *z);
    void applyVelocityForcesByAngularVelocity(float angularVelocityX, float angularVelocityY,
                                              float angularVelocityZ);
 
    void postEnableDisableActions() override;
 
protected:
    void postUpdateActions() override;
 
private:
    SafetyController *_safetyController;
    ForceActuatorApplicationSettings *_forceActuatorApplicationSettings;
 
    MTM1M3_logevent_forceSetpointWarningC *_forceSetpointWarning;
    MTM1M3_appliedVelocityForcesC *_appliedVelocityForces;
    MTM1M3_logevent_preclippedVelocityForcesC *_preclippedVelocityForces;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* LSST_M1M3_SS_FORCECONTROLLER_VELOCITYFORCECOMPONENT_H_ */