This class is a DtSimKinematicState with the addition of another CS for local database coordinates. More...

Inheritance diagram for DtVrfKinematicState:

Public Member Functions
	DtVrfKinematicState (const Coordinate_System coordinateSystem, DtSimObjectStateRepository stateRep, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	Constructor.
	DtVrfKinematicState (const DtVrfKinematicState &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	Copy Constructor.
const DtVrfKinematicState &	operator= (const DtVrfKinematicState &orig)
	Assignment Operator.
virtual	~DtVrfKinematicState ()
	Destructor.
virtual DtSimKinematicState *	clone (const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0) const
	Clone.
virtual void	setCoordinateSystem (const Coordinate_System *coordinateSystem)
	Sets coordinate system used in converting between local (database) and other (geocentric or topocentric) coordinates.
virtual const Coordinate_System *	coordinateSystem () const
virtual const DtVector &	localPosition () const
	Position in local (database) coordinates, in meters.
virtual void	setLocalPosition (const DtVector &localPosition)
virtual void	setWorldVertices (const DtList &vertices, DtVector &newGeometricCenter)
	Override to set dirty flag for local.
virtual const DtVector &	localVelocity () const
	Velocity in local (database) coordinates, in meters/second.
virtual void	setLocalVelocity (const DtVector &localVelocity, bool recomputeSpeed=true)
virtual DtReal	localSpeed () const
	Speed, in meters/second.
virtual void	setLocalSpeed (DtReal localSpeed)
virtual const DtVector &	localAcceleration () const
	Acceleration in local (database) coordinates, in meters/second/second.
virtual void	setLocalAcceleration (const DtVector &localAcceleration)
virtual const DtVector &	relativeAcceleration () const
	Note that for both of the relative calls, the supplied acceleration or velocity should be in local (datbase) coordinates.
virtual void	setRelativeAcceleration (const DtVector &localAcceleration)
virtual const DtVector &	relativeVelocity () const
	If attached, returns parent and sets parent velocity, else returns/sets local.
virtual void	setRelativeVelocity (const DtVector &localVelocity, bool recomputeSpeed=true)
virtual DtVector	bodyVelocity () const
	Returns bodyVelocity if not attached, else relative velocity.
virtual void	invalidateRelativeVelocity ()
virtual void	invalidateRelativeAcceleration ()
virtual const DtTaitBryan &	localOrientationWrtDatabase () const
	Euler angles with respect to the local (database) coordinate system, in radians.
virtual void	setLocalOrientationWrtDatabase (const DtTaitBryan &localOrientation, DtKinematicStateCS::DtRotationConstraint recomputeMatrix=DtKinematicStateCS::RotateAboutX)
virtual const DtDcm &	localOrientationMatrix () const
	Directed cosine matrix for rotating from body coordinates to the local (database) coordinate system.
virtual void	setLocalOrientationMatrix (const DtDcm &localOrientationMatrix, bool recomputeEulers=true)
virtual void	setRotationConstraint (DtKinematicStateCS::DtRotationConstraint constraint)
virtual const DtVector &	worldPosition () const
	Position in geocentric coordinates, in meters.
virtual void	setWorldPosition (const DtVector &gecoentricPosition)
virtual const DtVector &	worldVelocity () const
	Velocity in geocentric coordinates, in meters/second.
virtual void	setWorldVelocity (const DtVector &gecoentricVelocity, bool recomputeSpeed=true)
virtual const DtVector &	worldAcceleration () const
	Acceleration in geocentric coordinates, in meters/second/second.
virtual void	setWorldAcceleration (const DtVector &gecoentricAcceleration)
virtual const DtTaitBryan &	worldOrientation () const
	Euler angles with respect to the geocentric coordinate system, in radians.
virtual void	setWorldOrientation (const DtTaitBryan &orientation, DtKinematicStateCS::DtRotationConstraint recomputeMatrix=DtKinematicStateCS::RotateAboutX)
virtual void	setParentOrientation (const DtTaitBryan &orientation, DtKinematicStateCS::DtRotationConstraint recomputeMatrix=DtKinematicStateCS::RotateAboutX)
	Overridden to invalidate the localVV.
virtual void	setParentPosition (const DtVector &position)
	Overridden to invalidate the localVV.
virtual void	setWorldOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
	Directed cosine matrix for rotating from body coordinates to the geocentric coordinate system.
virtual void	parentKinematicsChanged ()
	Overridden to invalidate the localVV.
DtCoordSysValidationVector &	localVV ()
	No user serviceable parts inside! This accessor makes the validation vectors accessible to the object manager so that it set them when reading from the Order of battle file...
virtual void	validateLocalState ()
	Called from validateState(), validates all local variables. Called from putSelf.
virtual void	validateState ()
virtual void	addLocalVertex (const DtVector &vertex, DtVector &newGeometricCenter)
	Object geometry methods -- these methods reference some information in the world kinematic state.
virtual const DtLocalVertexList &	localVertices () const
	Returns local vertex list and iterator.
virtual const DtLocalVectorIterator &	localVertexIterator () const
virtual void	removeVertex (int i)
	Removes vertex at the specified position.
virtual void	setGeometryNeedsUpdate (bool b)
	Sets flags to update vertices.
virtual void	invalidateLocalGeometry ()
	Sets the myLocalObjectGeometryInvalid flag to true.

virtual const DtTaitBryan &	localOrientation () const
virtual void	setLocalOrientation (const DtTaitBryan &topoOrientation, DtKinematicStateCS::DtRotationConstraint recomputeMatrix=DtKinematicStateCS::RotateAboutX)

virtual void	setLocalVertices (const DtLocalVertexList &vertices, DtVector &newGeometricCenter)
	Sets local vertices and also translates to body coordinates.
virtual void	setLocalVertices (const DtList &vertices, DtVector &newGeometricCenter)
	Sets local vertices and also translates to body coordinates.
Protected Member Functions
virtual const DtKinematicStateCS &	localKinematicState () const
	Get / set kinematic state in local coords.
virtual DtKinematicStateCS &	localKinematicState ()
virtual void	setLocalKinematicState (const DtKinematicStateCS &localKinematicState)
virtual void	clearLocalVertices ()
Protected Attributes
DtKinematicStateCS	myLocalKinematicState
	Position, velocity, acceleration, orientation (Euler and DCM), and rotational velocity in database coordinate system (same as parent for base object).
DtCoordSysValidationVector	myLocalVV
const Coordinate_System *	myCoordinateSystemPtr
DtTaitBryan	myTopoOrientation
	This data member is used in localOrientation(), to provide a way to return a const reference to a DtTaitBryan representing topo Euler angles.
DtVector	myRelativeAcceleration
bool	myRelativeAccelerationInvalid
DtVector	myRelativeVelocity
bool	myRelativeVelocityInvalid
bool	myLocalObjectGeometryInvalid
DtLocalVertexList	myLocalVertexList
Private Member Functions
	DtVrfKinematicState ()

Detailed Description

This class is a DtSimKinematicState with the addition of another CS for local database coordinates.

Constructor & Destructor Documentation

DtVrfKinematicState::DtVrfKinematicState	(	const Coordinate_System *	coordinateSystem,
		DtSimObjectStateRepository *	stateRep,
		const DtString &	rwName = `DtString::nullString()`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

Constructor.

DtVrfKinematicState::DtVrfKinematicState	(	const DtVrfKinematicState &	orig,
		const DtString &	rwName = `DtString::nullString()`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

Copy Constructor.

virtual DtVrfKinematicState::~DtVrfKinematicState ( ) [virtual]

Destructor.

DtVrfKinematicState::DtVrfKinematicState ( ) [private]

Member Function Documentation

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

Assignment Operator.

virtual DtSimKinematicState* DtVrfKinematicState::clone	(	const DtString &	rwName = `DtString::nullString()`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)		const `[virtual]`

Clone.

Reimplemented from DtSimKinematicState.

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

Sets coordinate system used in converting between local (database) and other (geocentric or topocentric) coordinates.

Must be called with a valid coordinate system before any public member functions are called.

virtual const Coordinate_System* DtVrfKinematicState::coordinateSystem ( ) const [virtual]

virtual const DtVector& DtVrfKinematicState::localPosition ( ) const [virtual]

Position in local (database) coordinates, in meters.

virtual void DtVrfKinematicState::setLocalPosition ( const DtVector & localPosition ) [virtual]

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

Override to set dirty flag for local.

Reimplemented from DtSimKinematicState.

virtual const DtVector& DtVrfKinematicState::localVelocity ( ) const [virtual]

Velocity in local (database) coordinates, in meters/second.

virtual void DtVrfKinematicState::setLocalVelocity	(	const DtVector &	localVelocity,
		bool	recomputeSpeed = `true`
	)		`[virtual]`

virtual DtReal DtVrfKinematicState::localSpeed ( ) const [virtual]

Speed, in meters/second.

virtual void DtVrfKinematicState::setLocalSpeed ( DtReal localSpeed ) [virtual]

virtual const DtVector& DtVrfKinematicState::localAcceleration ( ) const [virtual]

Acceleration in local (database) coordinates, in meters/second/second.

virtual void DtVrfKinematicState::setLocalAcceleration ( const DtVector & localAcceleration ) [virtual]

virtual const DtVector& DtVrfKinematicState::relativeAcceleration ( ) const [virtual]

Note that for both of the relative calls, the supplied acceleration or velocity should be in local (datbase) coordinates.

The returned values are also in local (database) coordinates If attached, returns parent and sets parent acceleration, else returns/sets local

virtual void DtVrfKinematicState::setRelativeAcceleration ( const DtVector & localAcceleration ) [virtual]

virtual const DtVector& DtVrfKinematicState::relativeVelocity ( ) const [virtual]

If attached, returns parent and sets parent velocity, else returns/sets local.

virtual void DtVrfKinematicState::setRelativeVelocity	(	const DtVector &	localVelocity,
		bool	recomputeSpeed = `true`
	)		`[virtual]`

virtual DtVector DtVrfKinematicState::bodyVelocity ( ) const [virtual]

Returns bodyVelocity if not attached, else relative velocity.

Reimplemented from DtSimKinematicState.

virtual void DtVrfKinematicState::invalidateRelativeVelocity ( ) [virtual]

virtual void DtVrfKinematicState::invalidateRelativeAcceleration ( ) [virtual]

virtual const DtTaitBryan& DtVrfKinematicState::localOrientationWrtDatabase ( ) const [virtual]

Euler angles with respect to the local (database) coordinate system, in radians.

virtual void DtVrfKinematicState::setLocalOrientationWrtDatabase	(	const DtTaitBryan &	localOrientation,
		DtKinematicStateCS::DtRotationConstraint	recomputeMatrix = `DtKinematicStateCS::RotateAboutX`
	)		`[virtual]`

virtual const DtDcm& DtVrfKinematicState::localOrientationMatrix ( ) const [virtual]

Directed cosine matrix for rotating from body coordinates to the local (database) coordinate system.

virtual void DtVrfKinematicState::setLocalOrientationMatrix	(	const DtDcm &	localOrientationMatrix,
		bool	recomputeEulers = `true`
	)		`[virtual]`

virtual void DtVrfKinematicState::setRotationConstraint ( DtKinematicStateCS::DtRotationConstraint constraint ) [virtual]

Reimplemented from DtSimKinematicState.

virtual const DtVector& DtVrfKinematicState::worldPosition ( ) const [virtual]

Position in geocentric coordinates, in meters.

Reimplemented from DtSimKinematicState.

virtual void DtVrfKinematicState::setWorldPosition ( const DtVector & gecoentricPosition ) [virtual]

Reimplemented from DtSimKinematicState.

virtual const DtVector& DtVrfKinematicState::worldVelocity ( ) const [virtual]

Velocity in geocentric coordinates, in meters/second.

Reimplemented from DtSimKinematicState.

virtual void DtVrfKinematicState::setWorldVelocity	(	const DtVector &	gecoentricVelocity,
		bool	recomputeSpeed = `true`
	)		`[virtual]`

Reimplemented from DtSimKinematicState.

virtual const DtVector& DtVrfKinematicState::worldAcceleration ( ) const [virtual]

Acceleration in geocentric coordinates, in meters/second/second.

Reimplemented from DtSimKinematicState.

virtual void DtVrfKinematicState::setWorldAcceleration ( const DtVector & gecoentricAcceleration ) [virtual]

Reimplemented from DtSimKinematicState.

virtual const DtTaitBryan& DtVrfKinematicState::worldOrientation ( ) const [virtual]

Euler angles with respect to the geocentric coordinate system, in radians.

Reimplemented from DtSimKinematicState.

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

Reimplemented from DtSimKinematicState.

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

Overridden to invalidate the localVV.

Reimplemented from DtSimKinematicState.

virtual void DtVrfKinematicState::setParentPosition ( const DtVector & position ) [virtual]

Overridden to invalidate the localVV.

Reimplemented from DtSimKinematicState.

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

Directed cosine matrix for rotating from body coordinates to the geocentric coordinate system.

Reimplemented from DtSimKinematicState.

virtual void DtVrfKinematicState::parentKinematicsChanged ( ) [virtual]

Overridden to invalidate the localVV.

Reimplemented from DtSimKinematicState.

DtCoordSysValidationVector& DtVrfKinematicState::localVV ( )

No user serviceable parts inside! This accessor makes the validation vectors accessible to the object manager so that it set them when reading from the Order of battle file...

virtual void DtVrfKinematicState::validateLocalState ( ) [virtual]

Called from validateState(), validates all local variables. Called from putSelf.

virtual void DtVrfKinematicState::validateState ( ) [virtual]

Reimplemented from DtSimKinematicState.

virtual const DtTaitBryan& DtVrfKinematicState::localOrientation ( ) const [virtual]

Deprecated:: To be removed after VR-Forces version 3.11 The following functions are only applicable for UTM databases.

Set/get topocentric Euler angles (heading, pitch, and roll). Use localOrientationWrtDatabase() instead, to get Euler angles with respect to the local (database) coordinate system, independent of the particular type of coordinate system in use (e.g. UTM, geocentric).

virtual void DtVrfKinematicState::setLocalOrientation	(	const DtTaitBryan &	topoOrientation,
		DtKinematicStateCS::DtRotationConstraint	recomputeMatrix = `DtKinematicStateCS::RotateAboutX`
	)		`[virtual]`

Deprecated:: To be removed after VR-Forces version 3.11 The following functions are only applicable for UTM databases.

Set/get topocentric Euler angles (heading, pitch, and roll). Use localOrientationWrtDatabase() instead, to get Euler angles with respect to the local (database) coordinate system, independent of the particular type of coordinate system in use (e.g. UTM, geocentric).

virtual void DtVrfKinematicState::addLocalVertex	(	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 DtVrfKinematicState::setLocalVertices	(	const DtLocalVertexList &	vertices,
		DtVector &	newGeometricCenter
	)		`[virtual]`

Sets local vertices and also translates to body coordinates.

The new newGeometricCenter parameter is updated based on the verticies provided.

virtual void DtVrfKinematicState::setLocalVertices	(	const DtList &	vertices,
		DtVector &	newGeometricCenter
	)		`[virtual]`

Sets local vertices and also translates to body coordinates.

The new newGeometricCenter parameter is updated based on the verticies provided.

virtual const DtLocalVertexList& DtVrfKinematicState::localVertices ( ) const [virtual]

Returns local vertex list and iterator.

virtual const DtLocalVectorIterator& DtVrfKinematicState::localVertexIterator ( ) const [virtual]

virtual void DtVrfKinematicState::removeVertex ( int ) [virtual]

Removes vertex at the specified position.

Reimplemented from DtSimKinematicState.

void DtVrfKinematicState::setGeometryNeedsUpdate ( bool b ) [inline, virtual]

Sets flags to update vertices.

Reimplemented from DtSimKinematicState.

References myLocalObjectGeometryInvalid.

virtual void DtVrfKinematicState::invalidateLocalGeometry ( ) [virtual]

Sets the myLocalObjectGeometryInvalid flag to true.

Should be called by anyone who sets the object geometry without going though this class. Also calls invalidateWorldGeometry().

virtual const DtKinematicStateCS& DtVrfKinematicState::localKinematicState ( ) const [protected, virtual]

Get / set kinematic state in local coords.

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

virtual DtKinematicStateCS& DtVrfKinematicState::localKinematicState ( ) [protected, virtual]

virtual void DtVrfKinematicState::setLocalKinematicState ( const DtKinematicStateCS & localKinematicState ) [protected, virtual]

virtual void DtVrfKinematicState::clearLocalVertices ( ) [protected, virtual]

Member Data Documentation

DtKinematicStateCS DtVrfKinematicState::myLocalKinematicState [mutable, protected]

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

DtCoordSysValidationVector DtVrfKinematicState::myLocalVV [protected]

const Coordinate_System* DtVrfKinematicState::myCoordinateSystemPtr [protected]

DtTaitBryan DtVrfKinematicState::myTopoOrientation [protected]

This data member is used in localOrientation(), to provide a way to return a const reference to a DtTaitBryan representing topo Euler angles.

It is needed to provide a backwards compatible interface only.

DtVector DtVrfKinematicState::myRelativeAcceleration [protected]

bool DtVrfKinematicState::myRelativeAccelerationInvalid [protected]

DtVector DtVrfKinematicState::myRelativeVelocity [protected]

bool DtVrfKinematicState::myRelativeVelocityInvalid [protected]

bool DtVrfKinematicState::myLocalObjectGeometryInvalid [mutable, protected]

Referenced by setGeometryNeedsUpdate().

DtLocalVertexList DtVrfKinematicState::myLocalVertexList [mutable, protected]