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::vector< DtFilename >	SearchPaths
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. More...
	DtKinematicStateCS (DtSimOrientationType orientationType, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
	DtKinematicStateCS (const DtKinematicStateCS &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL)
	Copy Constructor. More...
	DtKinematicStateCS (const DtKinematicStateCS &orig, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
const DtKinematicStateCS &	operator= (const DtKinematicStateCS &orig)
	Assignment operator. More...
virtual	~DtKinematicStateCS ()
	Destructor. More...
virtual DtKinematicStateCS *	clone (const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL) const
	Clone. More...
virtual DtKinematicStateCS *	clone (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL) const
virtual const DtVector &	position () const
	Get / set position in this coordinate system. More...
virtual void	setPosition (const DtVector &position)
virtual const DtVector &	velocity () const
	Get / set velocity in this coordinate system. More...
virtual void	setVelocity (const DtVector &velocity, bool recomputeSpeed=true)
virtual DtReal	speed () const
	You must set velocity, but you can access speed as well. More...
virtual void	setSpeed (DtReal speed)
virtual const DtVector &	acceleration () const
	Get / set acceleration in this coordinate system. More...
virtual void	setAcceleration (const DtVector &acceleration)
virtual const DtTaitBryan &	orientation () const
	Get / set orientation in this coordinate system. More...
virtual void	setOrientation (const DtTaitBryan &orientation, DtRotationConstraint recomputeMatrix=RotateAboutX)
virtual const DtDcm &	orientationMatrix () const
	Get / set orientation matrix in this coordinate system. More...
virtual void	setOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
virtual DtSimOrientationType	orientationType () const
	Get / set orientation type in this coordinate system. More...
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 DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	Overridden to initialize myRecomputeMatrix to true. More...
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor More...
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream. More...
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	pseudo-copy constructor More...
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor More...
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator More...
bool	operator== (const DtReaderWriter &) const
	Equivalence operator. More...
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
	destructor More...
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file. More...
virtual void	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op. More...
virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op. More...
virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op. More...
virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op. More...
virtual void	writeSelf (std::string &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. More...
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object. More...
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object. More...
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. More...
bool	isReadonly () const
virtual void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to original state Default is no-op. More...
virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment. More...
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false. More...
virtual void	setName (const DtString &)
	Set the name of the object. More...
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is. More...
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable. More...
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children. More...
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. More...
virtual bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference. More...
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. More...
virtual void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated. More...
virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time. More...
virtual bool	changedSinceLastChecked ()
	Returns true if this objects value has changed since the last time this function was called. More...
virtual bool	peekChangedSinceLastChecked () const
	Returns the value that changedSinceLastChecked would return but does not reset the internal flag. More...
virtual void	putData (std::string &fp, int indentLevel=0)
	Deriving class overrides these to get/put class specific data. More...
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values. More...
virtual bool	valueSpecified () const
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere. More...
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively. More...
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference. More...
virtual void	setVariableName (const DtSymbolString variableName)
virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified. More...
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable. More...
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. More...
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object. More...
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual DtRwVariableBindings *	generateVariableBindings () const
	Iterates over the registry (recursively) and returns a variable bindings object that contains all the variables that are contained in this read/writer class. More...
virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename. More...
virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid. More...
virtual bool	fromXmlFile (const DtFilename &)
	Restores object from given xml file. More...
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data. More...
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference. More...
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. More...
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. More...
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference. More...

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 More...
const Coordinate_System *	myCoordinateSystemPtr
DtRwTaitBryan	myTopoOrientation
	Retained for backwards compatibility. More...
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. More...
bool	myInvalid
	Set to true if there is a problem reading this item. More...
bool	myChangedFlag
	Set to true when value changes Set to false when value checked with changedSinceLastChecked. More...

Private Member Functions
	DtKinematicStateCS ()
	Default Constructor. Do not use. More...

Additional Inherited Members
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static void	setPutIndent (bool)
static bool	putIndent ()
static const char *	theXmlType ()
	The type that is used when archiving to an XML stream. More...
static const DtFilename &	appPath ()
	Gets the current working directory. More...
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
	Sets the function to create the DtReaderWriterFactory. More...
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static void	setOutputStream (DtOutputStream *stream)
static DtOutputStream &	outputStream ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
	Given a filename, returns a newly created reader/writer object from the object found within. More...
static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
	Given a xml string, returns a newly created reader/writer object from the object found within. More...
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
	Given a xml environment, returns a newly created reader/writer object from the object found within. More...
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)
	Gets the named attribute from a DtEnvValueSP. More...
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter. More...
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
static bool	thePutIndent
static DtOutputStream *	theOutputStream

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 DtReaderWriter::SearchPaths &  searchPaths, 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.

Reimplemented from DtReaderWriter.

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.

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf4-8-branch/include/vrfobjcore/kinematicStateCS.h