DtVrfKinematicState Class Reference

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.
Public Member Functions inherited from DtSimKinematicState
	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 DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL) const
virtual const DtVector &	parentPosition () const
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 const DtDcm &	parentOrientationMatrix () const
virtual void	setParentOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
virtual DtReal	worldSpeed () const
virtual const DtDcm &	worldOrientationMatrix () 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 void	setAffectAttachments (bool)
	Set to false if you do not want changes to the kinematic state to affect any attached objects.
bool	affectAttachments () const
virtual DtKinematicStateCS::DtRotationConstraint	rotationConstraint () const
virtual DtKinematicStateCS::DtSimOrientationType	orientationType () const
	Wrapper for DtKinematicStateCS functions.
virtual void	setOrientationType (DtKinematicStateCS::DtSimOrientationType orientationType)
virtual DtSimObjectStateRepository *	stateRepository () const
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	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 const DtVertexList &	worldVertices () const
	Returns world vertices and iterator of world vertices.
virtual const DtRwVectorIterator &	worldVertexIterator () const
virtual void	invalidateWorldGeometry ()
	Sets the myObjectGeometryInvalid flag to true.
virtual bool	calculateGeometricCenter (const DtList &vertices, DtVector &geometricCenter) const
	Given the list, finds the geometric center of the points in the list.
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.
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)
	pseudo-copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
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	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op.
virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op.
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op.
virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op.
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 void	addAlias (const DtString &alias)
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 void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to iriginal state Default is no-op.
virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment.
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 const char *	xmlType () const
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
std::string	debugText () const
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 bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference.
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	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated.
virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time.
virtual void	putData (FILE *fp, int indentLevel=0)
	Deriving class overrides these to get/put class specific data.
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.
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.
virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriter *	defaultRWValue ()
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable.
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Give the stream, if the stream contains a default value then set it here.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename.
virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid.
virtual bool	fromXmlFile (const DtFilename &)
	Restires object from given xml file.
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data.
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference.
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
	Gets data from the environment value.
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
	Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op.
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference.

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 Member Functions inherited from DtSimKinematicState
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.
Protected Member Functions inherited from DtObjectDebugger< DtReaderWriter >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()

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
tbb::spin_mutex	myLocalVerticesMutex
Protected Attributes inherited from DtSimKinematicState
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.
bool	myAffectAttachments
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
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
	DtVrfKinematicState ()

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::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()
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 char *	theXmlType ()
	The type that is used when archiving to an XML stream.
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 void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &)
	Given a filename, returns a newly created reader/writer object from the object found within.
static DtReaderWriter *	createFromXml (const DtString &)
	Given a xml string, returns a newly created reader/writer object from the object found within.
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP)
	Given a xml environment, returns a newly created reader/writer object from the object found within.
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)
	Gets the named attribute from a DtEnvValueSP.
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

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 )

inlinevirtual

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

protectedvirtual

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 ( )

protectedvirtual

virtual void DtVrfKinematicState::setLocalKinematicState ( const DtKinematicStateCS &  localKinematicState )

protectedvirtual

virtual void DtVrfKinematicState::clearLocalVertices ( )

protectedvirtual

Member Data Documentation

DtKinematicStateCS DtVrfKinematicState::myLocalKinematicState

mutableprotected

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

mutableprotected

Referenced by setGeometryNeedsUpdate().

DtLocalVertexList DtVrfKinematicState::myLocalVertexList

mutableprotected

tbb::spin_mutex DtVrfKinematicState::myLocalVerticesMutex

mutableprotected

---

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

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