ObsAvoiAlgoPFM.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------




#ifndef __OBS_AVOI_ALGO_PFM_H
#define __OBS_AVOI_ALGO_PFM_H

#include <ObsAvoiAlgo.h>

namespace MipAlgorithms{
 
/* @{ */



class ObsAvoiAlgoParPFM : public ObsAvoiAlgoPar {
 
 public:
  
  Decimal Kv;
  Decimal Kw;
  Decimal Kwe;
  Decimal outOfAxisDist;
  Decimal repDist;
  Decimal vortDist; 
  Decimal Kr; 
  Decimal Krv;
  
  ObsAvoiAlgoParPFM(){
   Kv = 0.3;
   Kw = 0.8;
   Kwe = 0.3;
   outOfAxisDist = 0.01;
   vortDist = 0.1;
   repDist = 0.2;
   Kr = 0.0002;
   Krv = 0.00004;
  }
  
  ObsAvoiAlgoParPFM(Decimal KvP, Decimal KwP, Decimal KweP, Decimal outOfAxisDistP, Decimal repDistP, Decimal vortDistP, Decimal KrP, Decimal KrvP){
   Kv = KvP;
   Kw = KwP;
   Kwe = KweP;
   outOfAxisDist = outOfAxisDistP;
   vortDist = vortDistP;
   repDist = repDistP;
   Kr = KrP;
   Krv = KrvP;
  }

  ObsAvoiAlgoParPFM(const ObsAvoiAlgoParPFM &A){
   Kv = A.Kv;
   Kw = A.Kw;
   Kwe = A.Kwe;
   outOfAxisDist = A.outOfAxisDist;
   vortDist = A.vortDist;
   repDist = A.repDist;
   Kr = A.Kr;
   Krv = A.Krv;
  }
  
  ObsAvoiAlgoParPFM operator= (ObsAvoiAlgoParPFM A){
   Kv = A.Kv;
   Kw = A.Kw;
   Kwe = A.Kwe;
   outOfAxisDist = A.outOfAxisDist;
   vortDist = A.vortDist;
   repDist = A.repDist;
   Kr = A.Kr;
   Krv = A.Krv;
  }
 
};


class ObsAvoiAlgoPFM : public ObsAvoiAlgo {
  
 protected:
  
  ObsAvoiAlgoParPFM par;
 
 private:
  
  Decimal Vr; 
  Decimal Wr; 
  Decimal Va; 
  Decimal Wa; 
  
  void repulsiveControl(ObsAvoiAlgoIn &in);
  
  void attractiveControl(ObsAvoiAlgoIn &in);
 
 public:
  
  ObsAvoiAlgoPFM(){
   par = ObsAvoiAlgoParPFM();
  }
  
  ObsAvoiAlgoPFM(ObsAvoiAlgoParPFM OAP){
   par = OAP;
  }

  void getControl(ObsAvoiAlgoIn &in, ObsAvoiAlgoOut *out);
  
  string getObjectName() const {
   return "ObsAvoiAlgoPFM";
  }
};


/* @} */

}; // end namespace MipAlgorithms

#endif