class DtKinematicStateCS: DtKinematicStateCS contains the current kinematic state of an object in one Cartesian coordinate system. More...

Inheritance diagram for DtKinematicStateCS:

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List of all members.

Public Types
enum	DtSimOrientationType { BodyToLocal, BodyToBody, BodyToGeocentric }
enum	DtRotationConstraint { FixedRotation, RotateAboutX, RotateAboutY, RotateAboutZ, UnconstrainedRotation }
Public Member Functions
	DtKinematicStateCS (DtSimOrientationType orientationType, const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL)
	Constructor which optionally sets the object up for reading/writing.
	DtKinematicStateCS (DtSimOrientationType orientationType, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
	DtKinematicStateCS (const DtKinematicStateCS &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL)
	Copy Constructor.
	DtKinematicStateCS (const DtKinematicStateCS &orig, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
const DtKinematicStateCS &	operator= (const DtKinematicStateCS &orig)
	Assignment operator.
virtual	~DtKinematicStateCS ()
	Destructor.
virtual DtKinematicStateCS *	clone (const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL) const
	Clone.
virtual DtKinematicStateCS *	clone (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL) const
virtual const DtVector &	position () const
	Get / set position in this coordinate system.
virtual void	setPosition (const DtVector &position)
virtual const DtVector &	velocity () const
	Get / set velocity in this coordinate system.
virtual void	setVelocity (const DtVector &velocity, bool recomputeSpeed=true)
virtual DtReal	speed () const
	You must set velocity, but you can access speed as well.
virtual void	setSpeed (DtReal speed)
virtual const DtVector &	acceleration () const
	Get / set acceleration in this coordinate system.
virtual void	setAcceleration (const DtVector &acceleration)
virtual const DtTaitBryan &	orientation () const
	Get / set orientation in this coordinate system.
virtual void	setOrientation (const DtTaitBryan &orientation, DtRotationConstraint recomputeMatrix=RotateAboutX)
virtual const DtDcm &	orientationMatrix () const
	Get / set orientation matrix in this coordinate system.
virtual void	setOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
virtual DtSimOrientationType	orientationType () const
	Get / set orientation type in this coordinate system.
virtual void	setOrientationType (DtSimOrientationType orientationType)
virtual DtRotationConstraint	rotationConstraint () const
virtual void	setRotationConstraint (DtRotationConstraint contraint)
virtual void	setCoordinateSystem (const Coordinate_System *coordinateSystem)
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	Overridden to initialize myRecomputeMatrix to true.
Protected Attributes
DtRotationConstraint	myRecomputeMatrix
bool	myRecomputeEulers
bool	myRecomputeSpeed
DtRwVector	myPosition
DtRwVector	myVelocity
DtRwVector	myAcceleration
DtSimOrientationType	myOrientationType
DtRwTaitBryan	myOrientation
DtDcm	myOrientationMatrix
DtRotationConstraint	myCurrentRotationConstraint
DtReal	myCurrentSpeed
	derived quantity; used so much, it's worth caching
const Coordinate_System *	myCoordinateSystemPtr
DtRwTaitBryan	myTopoOrientation
	Retained for backwards compatibility.
Private Member Functions
	DtKinematicStateCS ()
	Default Constructor. Do not use.

Detailed Description

class DtKinematicStateCS: DtKinematicStateCS contains the current kinematic state of an object in one Cartesian coordinate system.

It may be local (database) coordinates, network (geocentric) coordinates, or in the coordinate system of the object's parent object. Orientation (in Eulers) and Orientation Type together represent the same information as the OrientationMatrix; these values are linked so that if one is changed, the other will be converted the next time it is accessed.

Euler angles represent angles of rotation about another coordinate system, but this information is not enough to create a 3x3 rotation matrix. We need to support 3 types of orientation matrices, all of them pre-multiply: matrices that represent our body system wrt a local database system; matrices that represent one body system wrt to another; and matrices that represent our bodySystem wrt geocentric coordinates. Each DtKinematicStateCS in the the DtKinematicState object (see kinState.h) uses a different orientation type, and so needs different routines to go between Eulers and matrices (DtDcms).

Orientation may be constrained about a given axis, resulting in less expensive routines to go between Euler angles and matrices. This is used for articulating parts such as guns and turrets.

Member Enumeration Documentation

enum DtKinematicStateCS::DtSimOrientationType

Enumerator:

BodyToLocal
BodyToBody
BodyToGeocentric

enum DtKinematicStateCS::DtRotationConstraint

Enumerator:

FixedRotation
RotateAboutX
RotateAboutY
RotateAboutZ
UnconstrainedRotation

Constructor & Destructor Documentation

DtKinematicStateCS::DtKinematicStateCS	(	DtSimOrientationType	orientationType,
		const DtString &	name = `DtString::nullString()`,
		DtReaderWriterRegistry *	parentRegistry = `NULL`
	)

Constructor which optionally sets the object up for reading/writing.

DtKinematicStateCS::DtKinematicStateCS	(	DtSimOrientationType	orientationType,
		const DtSymbolString &	name,
		DtReaderWriterRegistry *	parentRegistry = `NULL`
	)

DtKinematicStateCS::DtKinematicStateCS	(	const DtKinematicStateCS &	orig,
		const DtString &	rwName = `DtString::nullString()`,
		DtReaderWriterRegistry *	parentRegistry = `NULL`
	)

Copy Constructor.

DtKinematicStateCS::DtKinematicStateCS	(	const DtKinematicStateCS &	orig,
		const DtSymbolString &	name,
		DtReaderWriterRegistry *	parentRegistry = `NULL`
	)

virtual DtKinematicStateCS::~DtKinematicStateCS ( ) [virtual]

Destructor.

DtKinematicStateCS::DtKinematicStateCS ( ) [private]

Default Constructor. Do not use.

Member Function Documentation

const DtKinematicStateCS& DtKinematicStateCS::operator= ( const DtKinematicStateCS & orig )

Assignment operator.

virtual DtKinematicStateCS* DtKinematicStateCS::clone	(	const DtString &	name = `DtString::nullString()`,
		DtReaderWriterRegistry *	parentRegistry = `NULL`
	)		const `[virtual]`

Clone.

virtual DtKinematicStateCS* DtKinematicStateCS::clone	(	const DtSymbolString &	name,
		DtReaderWriterRegistry *	parentRegistry = `NULL`
	)		const `[virtual]`

virtual const DtVector& DtKinematicStateCS::position ( ) const [virtual]

Get / set position in this coordinate system.

virtual void DtKinematicStateCS::setPosition ( const DtVector & position ) [virtual]

virtual const DtVector& DtKinematicStateCS::velocity ( ) const [virtual]

Get / set velocity in this coordinate system.

virtual void DtKinematicStateCS::setVelocity	(	const DtVector &	velocity,
		bool	recomputeSpeed = `true`
	)		`[virtual]`

virtual DtReal DtKinematicStateCS::speed ( ) const [virtual]

You must set velocity, but you can access speed as well.

This is recomputed only as needed.

virtual void DtKinematicStateCS::setSpeed ( DtReal speed ) [virtual]

virtual const DtVector& DtKinematicStateCS::acceleration ( ) const [virtual]

Get / set acceleration in this coordinate system.

virtual void DtKinematicStateCS::setAcceleration ( const DtVector & acceleration ) [virtual]

virtual const DtTaitBryan& DtKinematicStateCS::orientation ( ) const [virtual]

Get / set orientation in this coordinate system.

virtual void DtKinematicStateCS::setOrientation	(	const DtTaitBryan &	orientation,
		DtRotationConstraint	recomputeMatrix = `RotateAboutX`
	)		`[virtual]`

virtual const DtDcm& DtKinematicStateCS::orientationMatrix ( ) const [virtual]

Get / set orientation matrix in this coordinate system.

virtual void DtKinematicStateCS::setOrientationMatrix	(	const DtDcm &	orientationMatrix,
		bool	recomputeEulers = `true`
	)		`[virtual]`

virtual DtSimOrientationType DtKinematicStateCS::orientationType ( ) const [virtual]

Get / set orientation type in this coordinate system.

virtual void DtKinematicStateCS::setOrientationType ( DtSimOrientationType orientationType ) [virtual]

virtual DtRotationConstraint DtKinematicStateCS::rotationConstraint ( ) const [virtual]

virtual void DtKinematicStateCS::setRotationConstraint ( DtRotationConstraint contraint ) [virtual]

virtual void DtKinematicStateCS::setCoordinateSystem ( const Coordinate_System * coordinateSystem ) [virtual]

virtual void DtKinematicStateCS::getSelf	(	DtlObjPtr	args,
		const DtFilename &	searchPath,
		const DtVariableBindingsList &	variableBindings
	)		`[virtual]`

Overridden to initialize myRecomputeMatrix to true.

We only write out Tait-Bryan angles. So to force the rotation matrix to recomputed the next time it is requested, this flag must be true.

Also overridden to handle pre-3.5 oob files.

Member Data Documentation

DtRotationConstraint DtKinematicStateCS::myRecomputeMatrix [mutable, protected]

bool DtKinematicStateCS::myRecomputeEulers [mutable, protected]

bool DtKinematicStateCS::myRecomputeSpeed [mutable, protected]

DtRwVector DtKinematicStateCS::myPosition [protected]

DtRwVector DtKinematicStateCS::myVelocity [protected]

DtRwVector DtKinematicStateCS::myAcceleration [protected]

DtSimOrientationType DtKinematicStateCS::myOrientationType [protected]

DtRwTaitBryan DtKinematicStateCS::myOrientation [mutable, protected]

DtDcm DtKinematicStateCS::myOrientationMatrix [mutable, protected]

DtRotationConstraint DtKinematicStateCS::myCurrentRotationConstraint [protected]

DtReal DtKinematicStateCS::myCurrentSpeed [mutable, protected]

derived quantity; used so much, it's worth caching

const Coordinate_System* DtKinematicStateCS::myCoordinateSystemPtr [protected]

DtRwTaitBryan DtKinematicStateCS::myTopoOrientation [protected]

Retained for backwards compatibility.

Used in parsing pre-3.5 version oob files. Registered as "orientation", and contains topocentric Euler angles. Replaced by myOrientation, which is registered as "orientation-tait-bryan" in the oob file. It contains Euler angles with respect to database coordinates. Only used in getSelf(), in which it is used to initialize myOrientaiton.

The documentation for this class was generated from the following file:

include/vrfobjcore/kinStateCS.h

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation