DtKinematicStateCS Class Reference

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

Inheritance diagram for DtKinematicStateCS:

Public Types
enum	DtSimOrientationType { BodyToLocal, BodyToBody, BodyToGeocentric }
enum	DtRotationConstraint {   FixedRotation, RotateAboutX, RotateAboutY, RotateAboutZ,   UnconstrainedRotation }
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
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()

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.
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
bool	operator== (const DtReaderWriter &) const
	Equivalence operator.
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
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 void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively.
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 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.
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
	DtKinematicStateCS ()
	Default Constructor. Do not use.

Additional Inherited Members
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 void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
	Sets the function to create the DtReaderWriterFactory.
static void	createReaderWriterFactory ()
static DtReaderWriterFactory *	factory ()
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.
Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue
static DtGetSelfCallbackInfo	thePostGetSelfCallback
static DtPutSelfCallbackInfo	thePrePutSelfCallback
static const DtVariableBindingsList	theEmptyVariableBindingsList
static bool	theCreatorFcnSet
static DtReaderWriterFactory *	theFactory
static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

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

mutableprotected

bool DtKinematicStateCS::myRecomputeEulers

mutableprotected

bool DtKinematicStateCS::myRecomputeSpeed

mutableprotected

DtRwVector DtKinematicStateCS::myPosition

protected

DtRwVector DtKinematicStateCS::myVelocity

protected

DtRwVector DtKinematicStateCS::myAcceleration

protected

DtSimOrientationType DtKinematicStateCS::myOrientationType

protected

DtRwTaitBryan DtKinematicStateCS::myOrientation

mutableprotected

DtDcm DtKinematicStateCS::myOrientationMatrix

mutableprotected

DtRotationConstraint DtKinematicStateCS::myCurrentRotationConstraint

protected

DtReal DtKinematicStateCS::myCurrentSpeed

mutableprotected

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:

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfobjcore/kinStateCS.h