.. _program_listing_file_dynamics_surface_dynamics.h:

Program Listing for File surface_dynamics.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_dynamics_surface_dynamics.h>` (``dynamics/surface_dynamics.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <yaml-cpp/yaml.h>
   
   #include <random>
   
   #include "lupnt/dynamics/dynamics.h"
   #include "lupnt/states/state.h"
   
   namespace lupnt {
     // ****************************************************************************
     // Dynamics for Surface Objects (ground stations, rovers, etc.)
     // ****************************************************************************
     class StaticDynamics : public Dynamics {
     public:
       StaticDynamics();
       StaticDynamics(Config& config);
       State Propagate(const State& x0, Real t0, Real tf, const State* u = nullptr) override;
       StateType GetStateType() const override { return State::TYPE; }
     };
   
     class SurfaceDynamics2D : public Dynamics {
     protected:
       int seed_ = 0;
       bool add_noise_ = false;
       Mat3d Q_ = Mat3d::Zero();  // [km^2/s^2, km^2/s^2, rad^2/s^2]
       Ptr<std::mt19937> rng_ = nullptr;
   
     public:
       SurfaceDynamics2D();
       SurfaceDynamics2D(Config& config);
   
       using Dynamics::Propagate;
       State Propagate(const State& x0, Real t0, Real tf, const State* u = nullptr) override;
   
       void SetSeed(int seed) {
         seed_ = seed;
         rng_ = MakePtr<std::mt19937>(seed_);
         add_noise_ = true;
       }
       int GetSeed() const { return seed_; }
   
       void SetQ(const Mat3d& Q) {
         Q_ = Q;
         add_noise_ = true;
       }
       Mat3d GetQ() const { return Q_; }
   
       StateType GetStateType() const override { return SurfaceState2D::TYPE; }
     };
   
   }  // namespace lupnt