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:

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.
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
virtual	~DtReaderWriter ()
	destructor
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
virtual bool	isReadonly () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

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 Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.
virtual void	putData (FILE *fp, int indentLevel=0)
	Deriving class overrides these to get/put class specific data.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.

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.
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.

Private Member Functions
	DtSimKinematicState ()
	Default Constructor. Do not use.

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (FILE *fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static const DtFilename &	appPath ()
	Gets the current working directory.
static DtReaderWriterFactory *	factory ()
Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue
static DtGetSelfCallbackInfo	thePostGetSelfCallback
static DtPutSelfCallbackInfo	thePrePutSelfCallback
static const DtVariableBindingsList	theEmptyVariableBindingsList
static DtReaderWriterFactory	theFactory

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 )

inlinevirtual

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

protectedvirtual

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 ( )

protectedvirtual

virtual void DtSimKinematicState::setParentKinematicState ( const DtKinematicStateCS &  parentKinematicState )

protectedvirtual

virtual const DtKinematicStateCS& DtSimKinematicState::worldKinematicState ( ) const

protectedvirtual

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 ( )

protectedvirtual

virtual void DtSimKinematicState::setWorldKinematicState ( const DtKinematicStateCS &  worldKinematicState )

protectedvirtual

virtual void DtSimKinematicState::setWorldPositionFromParent ( )

protectedvirtual

Update the world position from the parent's position.

virtual void DtSimKinematicState::setWorldOrientationFromParent ( )

protectedvirtual

Update the world orientation from the parent's orientation.

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

protectedvirtual

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

virtual void DtSimKinematicState::calculateBodyCoordinates ( const DtList &  worldVertices )

protectedvirtual

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

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

mutableprotected

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

mutableprotected

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