DtSimKinematicState Class Reference

class DtSimKinematicState: This class encapsulates the kinematic state of an object wrt to the local (database) and network (geocentric) coordinate systems, as well as wrt it's own parent for attached objects such as launchers. More...

Inheritance diagram for DtSimKinematicState:

List of all members.

Public Member Functions
	DtSimKinematicState (DtSimObjectStateRepository *stateRep, const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL)
	Constructor.
	DtSimKinematicState (DtSimObjectStateRepository *stateRep, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
	DtSimKinematicState (const DtSimKinematicState &orig, const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	Copy Constructor.
	DtSimKinematicState (const DtSimKinematicState &orig, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=0)
const DtSimKinematicState &	operator= (const DtSimKinematicState &orig)
	Assignment Operator.
virtual	~DtSimKinematicState ()
	Destructor.
virtual DtSimKinematicState *	clone (const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL) const
	Clone.
virtual DtSimKinematicState *	clone (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL) const
virtual const DtVector &	parentPosition () const
virtual void	setParentPosition (const DtVector &position)
virtual const DtVector &	parentVelocity () const
virtual void	setParentVelocity (const DtVector &velocity, bool recomputeSpeed=true)
virtual DtReal	parentSpeed () const
virtual const DtVector &	parentAcceleration () const
virtual void	setParentAcceleration (const DtVector &acceleration)
virtual const DtTaitBryan &	parentOrientation () const
virtual void	setParentOrientation (const DtTaitBryan &orientation, DtKinematicStateCS::DtRotationConstraint recomputeMatrix=DtKinematicStateCS::RotateAboutX)
virtual const DtDcm &	parentOrientationMatrix () const
virtual void	setParentOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
virtual const DtVector &	worldPosition () const
virtual void	setWorldPosition (const DtVector &position)
virtual const DtVector &	worldVelocity () const
virtual void	setWorldVelocity (const DtVector &velocity, bool recomputeSpeed=true)
virtual DtReal	worldSpeed () const
virtual const DtVector &	worldAcceleration () const
virtual void	setWorldAcceleration (const DtVector &acceleration)
virtual const DtTaitBryan &	worldOrientation () const
virtual void	setWorldOrientation (const DtTaitBryan &orientation, DtKinematicStateCS::DtRotationConstraint recomputeMatrix=DtKinematicStateCS::RotateAboutX)
virtual const DtDcm &	worldOrientationMatrix () const
virtual void	setWorldOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
virtual DtVector	bodyVelocity () const
virtual DtTaitBryan	topoEuler () const
virtual double	heading () const
virtual double	pitch () const
virtual double	roll () const
virtual const DtVector &	rotationalVelocity () const
virtual void	setRotationalVelocity (const DtVector &rotationalVelocity)
virtual DtKinematicStateCS::DtRotationConstraint	rotationConstraint () const
virtual void	setRotationConstraint (DtKinematicStateCS::DtRotationConstraint constraint)
virtual DtKinematicStateCS::DtSimOrientationType	orientationType () const
	Wrapper for DtKinematicStateCS functions.
virtual void	setOrientationType (DtKinematicStateCS::DtSimOrientationType orientationType)
virtual DtSimObjectStateRepository *	stateRepository () const
virtual void	parentKinematicsChanged ()
DtCoordSysValidationVector &	parentVV ()
DtCoordSysValidationVector &	worldVV ()
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtReaderWriter::appPath())
	Override to check for invalid parent and world state date before writing self to file.
virtual void	validateParentState ()
	Validates all values (if they are invalid) including world and parent.
virtual void	validateWorldState ()
virtual void	validateState ()
virtual void	clearWorldVertices ()
	Clears out vertex list.
virtual void	copyWorldVertices (const DtList &)
virtual void	addWorldVertex (const DtVector &vertex, DtVector &newGeometricCenter)
	Object geometry methods -- these methods reference some information in the world kinematic state.
virtual void	setWorldVertices (const DtVertexList &vertices, DtVector &newGeometricCenter)
	Sets world vertices and translates them to body coordinates.
virtual void	setWorldVertices (const DtList &vertices, DtVector &newGeometricCenter)
virtual const DtVertexList &	worldVertices () const
	Returns world vertices and iterator of world vertices.
virtual const DtRwVectorIterator &	worldVertexIterator () const
virtual void	removeVertex (int)
	Removes vertex at the specified position.
virtual void	setGeometryNeedsUpdate (bool)
	Sets flags to update vertices.
virtual void	invalidateWorldGeometry ()
	Sets the myObjectGeometryInvalid flag to true.
Protected Member Functions
virtual const DtKinematicStateCS &	parentKinematicState () const
	Get / set kinematic state in parent coords.
virtual DtKinematicStateCS &	parentKinematicState ()
virtual void	setParentKinematicState (const DtKinematicStateCS &parentKinematicState)
virtual const DtKinematicStateCS &	worldKinematicState () const
	Get / set kinematic state in world coords.
virtual DtKinematicStateCS &	worldKinematicState ()
virtual void	setWorldKinematicState (const DtKinematicStateCS &worldKinematicState)
virtual void	setWorldPositionFromParent ()
	Update the world position from the parent's position.
virtual void	setWorldOrientationFromParent ()
	Update the world orientation from the parent's orientation.
virtual bool	calculateGeometricCenter (const DtList &vertices, DtVector &geometricCenter) const
	Given the list, finds the geometric center of the points in the list.
virtual void	calculateBodyCoordinates (const DtList &worldVertices)
	Given the current world position and world orientation, calculate body coordinates.
Protected Attributes
DtKinematicStateCS	myParentKinematicState
	position, velocity, acceleration, orientation (Euler and DCM), and rotational velocity in parent's coordinate system
DtKinematicStateCS	myWorldKinematicState
	position, velocity, acceleration, orientation (Euler and DCM), and rotational velocity in database coordinate system (same as parent for base object)
DtVertexList	myWorldVertices
DtCoordSysValidationVector	myParentVV
	XXX This will not be here...
DtCoordSysValidationVector	myWorldVV
DtRwVector	myRotationalVelocity
	this is the rate at which the object is rolling, pitching and yawing
DtSimObjectStateRepository *	myStateRepository
DtTaitBryan	myTopoEuler
bool	myTopoInvalid
bool	myObjectGeometryInvalid
	If true, and if this item is attached to a parent, redo object geometry.
Private Member Functions
	DtSimKinematicState ()
	Default Constructor. Do not use.

---

Detailed Description

class DtSimKinematicState: This class encapsulates the kinematic state of an object wrt to the local (database) and network (geocentric) coordinate systems, as well as wrt it's own parent for attached objects such as launchers.

---

Constructor & Destructor Documentation

DtSimKinematicState::DtSimKinematicState	(	DtSimObjectStateRepository *	stateRep,
		const DtString &	name = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = NULL
	)

Constructor.

DtSimKinematicState::DtSimKinematicState	(	DtSimObjectStateRepository *	stateRep,
		const DtSymbolString &	name,
		DtReaderWriterRegistry *	parentRegistry = NULL
	)

DtSimKinematicState::DtSimKinematicState	(	const DtSimKinematicState &	orig,
		const DtString &	name = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = 0
	)

Copy Constructor.

DtSimKinematicState::DtSimKinematicState	(	const DtSimKinematicState &	orig,
		const DtSymbolString &	name,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

virtual DtSimKinematicState::~DtSimKinematicState

(

)

[virtual]

Destructor.

DtSimKinematicState::DtSimKinematicState

(

)

[private]

Default Constructor. Do not use.

---

Member Function Documentation

const DtSimKinematicState& DtSimKinematicState::operator=

(

const DtSimKinematicState &

orig

)

Assignment Operator.

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

Clone.

Reimplemented in DtVrfKinematicState.

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

virtual const DtVector& DtSimKinematicState::parentPosition

(

)

const [virtual]

virtual void DtSimKinematicState::setParentPosition

(

const DtVector &

position

)

[virtual]

Reimplemented in DtVrfKinematicState.

virtual const DtVector& DtSimKinematicState::parentVelocity

(

)

const [virtual]

virtual void DtSimKinematicState::setParentVelocity	(	const DtVector &	velocity,
		bool	recomputeSpeed = true
	)		[virtual]

virtual DtReal DtSimKinematicState::parentSpeed

(

)

const [virtual]

virtual const DtVector& DtSimKinematicState::parentAcceleration

(

)

const [virtual]

virtual void DtSimKinematicState::setParentAcceleration

(

const DtVector &

acceleration

)

[virtual]

virtual const DtTaitBryan& DtSimKinematicState::parentOrientation

(

)

const [virtual]

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

Reimplemented in DtVrfKinematicState.

virtual const DtDcm& DtSimKinematicState::parentOrientationMatrix

(

)

const [virtual]

virtual void DtSimKinematicState::setParentOrientationMatrix	(	const DtDcm &	orientationMatrix,
		bool	recomputeEulers = true
	)		[virtual]

virtual const DtVector& DtSimKinematicState::worldPosition

(

)

const [virtual]

Reimplemented in DtVrfKinematicState.

virtual void DtSimKinematicState::setWorldPosition

(

const DtVector &

position

)

[virtual]

Reimplemented in DtVrfKinematicState.

virtual const DtVector& DtSimKinematicState::worldVelocity

(

)

const [virtual]

Reimplemented in DtVrfKinematicState.

virtual void DtSimKinematicState::setWorldVelocity	(	const DtVector &	velocity,
		bool	recomputeSpeed = true
	)		[virtual]

Reimplemented in DtVrfKinematicState.

virtual DtReal DtSimKinematicState::worldSpeed

(

)

const [virtual]

virtual const DtVector& DtSimKinematicState::worldAcceleration

(

)

const [virtual]

Reimplemented in DtVrfKinematicState.

virtual void DtSimKinematicState::setWorldAcceleration

(

const DtVector &

acceleration

)

[virtual]

Reimplemented in DtVrfKinematicState.

virtual const DtTaitBryan& DtSimKinematicState::worldOrientation

(

)

const [virtual]

Reimplemented in DtVrfKinematicState.

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

Reimplemented in DtVrfKinematicState.

virtual const DtDcm& DtSimKinematicState::worldOrientationMatrix

(

)

const [virtual]

virtual void DtSimKinematicState::setWorldOrientationMatrix	(	const DtDcm &	orientationMatrix,
		bool	recomputeEulers = true
	)		[virtual]

Reimplemented in DtVrfKinematicState.

virtual DtVector DtSimKinematicState::bodyVelocity

(

)

const [virtual]

Reimplemented in DtVrfKinematicState.

virtual DtTaitBryan DtSimKinematicState::topoEuler

(

)

const [virtual]

Returns:

The Euler orientation angles in a topographic coordinate system centered at the entity's position.

virtual double DtSimKinematicState::heading

(

)

const [virtual]

Returns:

The entity heading in a topographic coordinate system centered at the entity's position.

virtual double DtSimKinematicState::pitch

(

)

const [virtual]

Returns:

The entity pitch in a topographic coordinate system centered at the entity's position.

virtual double DtSimKinematicState::roll

(

)

const [virtual]

Returns:

The entity roll in a topographic coordinate system centered at the entity's position.

virtual const DtVector& DtSimKinematicState::rotationalVelocity

(

)

const [virtual]

virtual void DtSimKinematicState::setRotationalVelocity

(

const DtVector &

rotationalVelocity

)

[virtual]

virtual DtKinematicStateCS::DtRotationConstraint DtSimKinematicState::rotationConstraint

(

)

const [virtual]

virtual void DtSimKinematicState::setRotationConstraint

(

DtKinematicStateCS::DtRotationConstraint

constraint

)

[virtual]

Reimplemented in DtVrfKinematicState.

virtual DtKinematicStateCS::DtSimOrientationType DtSimKinematicState::orientationType

(

)

const [virtual]

Wrapper for DtKinematicStateCS functions.

virtual void DtSimKinematicState::setOrientationType

(

DtKinematicStateCS::DtSimOrientationType

orientationType

)

[virtual]

virtual DtSimObjectStateRepository* DtSimKinematicState::stateRepository

(

)

const [virtual]

virtual void DtSimKinematicState::parentKinematicsChanged

(

)

[virtual]

Reimplemented in DtVrfKinematicState.

DtCoordSysValidationVector& DtSimKinematicState::parentVV

(

)

DtCoordSysValidationVector& DtSimKinematicState::worldVV

(

)

virtual void DtSimKinematicState::putSelf	(	FILE *	fp,
		int	indentLevel = 0,
		bool	writeUnspecified = false,
		const DtFilename &	path = DtReaderWriter::appPath()
	)		[virtual]

Override to check for invalid parent and world state date before writing self to file.

Updates position and orientation as needed and then call base class putSelf().

Reimplemented from DtReaderWriter.

virtual void DtSimKinematicState::validateParentState

(

)

[virtual]

Validates all values (if they are invalid) including world and parent.

virtual void DtSimKinematicState::validateWorldState

(

)

[virtual]

virtual void DtSimKinematicState::validateState

(

)

[virtual]

Reimplemented in DtVrfKinematicState.

virtual void DtSimKinematicState::clearWorldVertices

(

)

[virtual]

Clears out vertex list.

virtual void DtSimKinematicState::copyWorldVertices

(

const DtList &

)

[virtual]

virtual void DtSimKinematicState::addWorldVertex	(	const DtVector &	vertex,
		DtVector &	newGeometricCenter
	)		[virtual]

Object geometry methods -- these methods reference some information in the world kinematic state.

Adds a new vertex to the world geometry (translating to body)

virtual void DtSimKinematicState::setWorldVertices	(	const DtVertexList &	vertices,
		DtVector &	newGeometricCenter
	)		[virtual]

Sets world vertices and translates them to body coordinates.

virtual void DtSimKinematicState::setWorldVertices	(	const DtList &	vertices,
		DtVector &	newGeometricCenter
	)		[virtual]

Reimplemented in DtVrfKinematicState.

virtual const DtVertexList& DtSimKinematicState::worldVertices

(

)

const [virtual]

Returns world vertices and iterator of world vertices.

virtual const DtRwVectorIterator& DtSimKinematicState::worldVertexIterator

(

)

const [virtual]

virtual void DtSimKinematicState::removeVertex

(

int

)

[virtual]

Removes vertex at the specified position.

Reimplemented in DtVrfKinematicState.

void DtSimKinematicState::setGeometryNeedsUpdate

(

bool

b

)

[inline, virtual]

Sets flags to update vertices.

Reimplemented in DtVrfKinematicState.

References myObjectGeometryInvalid.

virtual void DtSimKinematicState::invalidateWorldGeometry

(

)

[virtual]

Sets the myObjectGeometryInvalid flag to true.

Should be called by anyone who sets the object geometry without going though this class.

virtual const DtKinematicStateCS& DtSimKinematicState::parentKinematicState

(

)

const [protected, virtual]

Get / set kinematic state in parent coords.

I don't expect the set version to be used, but it's included for completeness.

virtual DtKinematicStateCS& DtSimKinematicState::parentKinematicState

(

)

[protected, virtual]

virtual void DtSimKinematicState::setParentKinematicState

(

const DtKinematicStateCS &

parentKinematicState

)

[protected, virtual]

virtual const DtKinematicStateCS& DtSimKinematicState::worldKinematicState

(

)

const [protected, virtual]

Get / set kinematic state in world coords.

I don't expect the set version to be used, but it's included for completeness.

virtual DtKinematicStateCS& DtSimKinematicState::worldKinematicState

(

)

[protected, virtual]

virtual void DtSimKinematicState::setWorldKinematicState

(

const DtKinematicStateCS &

worldKinematicState

)

[protected, virtual]

virtual void DtSimKinematicState::setWorldPositionFromParent

(

)

[protected, virtual]

Update the world position from the parent's position.

virtual void DtSimKinematicState::setWorldOrientationFromParent

(

)

[protected, virtual]

Update the world orientation from the parent's orientation.

virtual bool DtSimKinematicState::calculateGeometricCenter	(	const DtList &	vertices,
		DtVector &	geometricCenter
	)		const [protected, virtual]

Given the list, finds the geometric center of the points in the list.

virtual void DtSimKinematicState::calculateBodyCoordinates

(

const DtList &

worldVertices

)

[protected, virtual]

Given the current world position and world orientation, calculate body coordinates.

Note that the resultant coordinates will be placed in the object geometry of the DtVrfObjectGeometry of the state repository class

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Member Data Documentation

DtKinematicStateCS DtSimKinematicState::myParentKinematicState [protected]

position, velocity, acceleration, orientation (Euler and DCM), and rotational velocity in parent's coordinate system

DtKinematicStateCS DtSimKinematicState::myWorldKinematicState [protected]

position, velocity, acceleration, orientation (Euler and DCM), and rotational velocity in database coordinate system (same as parent for base object)

DtKinematicStateCS myLocalKinematicState; position, velocity, acceleration, orientation (Euler and DCM), and rotational velocity in geocentric coordinate system

DtVertexList DtSimKinematicState::myWorldVertices [mutable, protected]

DtCoordSysValidationVector DtSimKinematicState::myParentVV [protected]

XXX This will not be here...

This belongs in the network interface. just have to figure out how it gets set. --> DtDeadReckonTypes myDeadReckoningAlgorithm;

DtCoordSysValidationVector DtSimKinematicState::myWorldVV [protected]

DtRwVector DtSimKinematicState::myRotationalVelocity [protected]

this is the rate at which the object is rolling, pitching and yawing

DtSimObjectStateRepository* DtSimKinematicState::myStateRepository [protected]

DtTaitBryan DtSimKinematicState::myTopoEuler [protected]

bool DtSimKinematicState::myTopoInvalid [protected]

bool DtSimKinematicState::myObjectGeometryInvalid [mutable, protected]

If true, and if this item is attached to a parent, redo object geometry.

Referenced by setGeometryNeedsUpdate().

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

• include/vrfobjcore/kinState.h