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makVrf::DtKinematicStateCS Class Reference

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.

Inheritance diagram for makVrf::DtKinematicStateCS:
Inheritance graph
[legend]

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)
 
 DtKinematicStateCS (DtSimOrientationType orientationType, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
 
 DtKinematicStateCS (const DtKinematicStateCS &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL)
 
 DtKinematicStateCS (const DtKinematicStateCS &orig, const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL)
 
const DtKinematicStateCS & operator= (const DtKinematicStateCS &orig)
 
bool operator== (const DtKinematicStateCS &) const
 
bool operator!= (const DtKinematicStateCS &rhs) const
 
virtual ~DtKinematicStateCS ()
 
virtual DtKinematicStateCS * clone (const DtString &name=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=NULL) const
 
virtual DtKinematicStateCS * clone (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL) const
 
virtual void setUpdatesEnabled (bool)
 
bool updatesEnabled () const
 
virtual const DtVector & position () const
 
virtual void setPosition (const DtVector &position)
 
virtual const DtVector & velocity () const
 
virtual void setVelocity (const DtVector &velocity, bool recomputeSpeed=true)
 
virtual DtReal speed () const
 
virtual void setSpeed (DtReal speed)
 
virtual const DtVector & acceleration () const
 
virtual void setAcceleration (const DtVector &acceleration)
 
virtual const DtTaitBryan & orientation () const
 
virtual void setOrientation (const DtTaitBryan &orientation, DtRotationConstraint recomputeMatrix=RotateAboutX)
 
virtual const DtDcm & orientationMatrix () const
 
virtual DtDcm orientationMatrix (const DtTaitBryan &b) const
 
virtual void setOrientationMatrix (const DtDcm &orientationMatrix, bool recomputeEulers=true)
 
virtual DtSimOrientationType orientationType () const
 
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)
 
- Public Member Functions inherited from DtReaderWriter
 DtReaderWriter ()
 
 DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
 
 DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
 
 DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
 
 DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
 
 DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
 
const DtReaderWriter & operator= (const DtReaderWriter &orig)
 
bool operator== (const DtReaderWriter &) const
 
bool operator!= (const DtReaderWriter &rhs)
 
virtual ~DtReaderWriter ()
 
virtual void putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
 
virtual void postPutSelf ()
 
virtual void prePutSelf ()
 
virtual void postGetSelf ()
 
virtual void preGetSelf ()
 
virtual void writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
 
virtual DtSymbolString name () const
 
virtual void addAlias (const DtSymbolString &alias)
 
virtual void addAlias (const DtString &alias)
 
virtual bool hasAlias (const DtSymbolString &alias)
 
virtual const aliasContainer & aliases () const
 
virtual void setReadonly (bool flag)
 
bool isReadonly () const
 
virtual void reset ()
 
virtual int alignment () const
 
virtual bool variableIsBound () const
 
virtual void unbindVariable ()
 
virtual void setName (const DtString &)
 
virtual const char * readerWriterType () const
 
virtual const char * xmlType () const
 
virtual DtString prettyPrint () const
 
std::string debugText () const
 
virtual void bindVariables (DtVariableBindingsList variableBindings)
 
virtual std::list
< DtVariableNameType > 		unboundVariables () const
 
bool invalid () const
 
virtual bool hasChild (const DtReaderWriter *p) const
 
virtual bool hasVariableReference () const
 
virtual void bindLocalVariables (const DtVariableBindingsList &variableBindings)
 
virtual void recordUpdateTime () const
 
virtual bool wasUpdatedSince (DtTime t) const
 
virtual bool changedSinceLastChecked ()
 
virtual bool peekChangedSinceLastChecked () const
 
virtual void putData (std::string &fp, int indentLevel=0)
 
virtual DtlObjPtr getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
 
virtual void setValueSpecified (bool specified, bool recurse=false)
 
virtual bool valueSpecified () const
 
virtual bool isVariableReference () const
 
virtual void setIsVariableReference (bool value)
 
virtual void clearAllVariableReferenceFlags ()
 
virtual DtSymbolString variableName () const
 
virtual void setVariableName (const DtSymbolString variableName)
 
virtual const DtReaderWriter * defaultRWValue () const
 
virtual DtReaderWriter * defaultRWValue ()
 
virtual void setDefaultRWValue (DtReaderWriter *)
 
virtual bool checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
 
const DtReaderWriterRegistry & registry () const
 
DtReaderWriterRegistry & registry ()
 
virtual DtPropertyInterface * property ()
 
virtual const DtPropertyInterface * property () const
 
virtual DtString toXml () const
 
virtual DtRwVariableBindings * generateVariableBindings () const
 
virtual bool toXml (const DtFilename &) const
 
virtual bool fromXml (const DtString &)
 
virtual bool fromXmlFile (const DtFilename &)
 
virtual void putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
 
virtual void putData (DtEnvironmentSP, DtEnvValueSP value) const
 
virtual void putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
 
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())
 
virtual void unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
 
virtual void getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
 

Protected Attributes

DtRotationConstraint myRecomputeMatrix
 
bool myRecomputeEulers
 
bool myRecomputeSpeed
 
bool myUpdatesEnabled
 
DtRwVector myPosition
 
DtRwVector myVelocity
 
DtRwVector myAcceleration
 
DtSimOrientationType myOrientationType
 
DtRwTaitBryan myOrientation
 
DtDcm myOrientationMatrix
 
DtRotationConstraint myCurrentRotationConstraint
 
DtReal myCurrentSpeed
 
const Coordinate_System * myCoordinateSystemPtr
 
DtRwTaitBryan myTopoOrientation
 
- 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
 
bool myInvalid
 
bool myChangedFlag
 

Private Member Functions

 DtKinematicStateCS ()
 

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 ()
 
static const DtFilename & appPath ()
 
static void setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
 
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)
 
static DtReaderWriter * createFromXml (const DtString &, bool createAsProperty=false)
 
static DtReaderWriter * createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
 
static DtString getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)
 
- Protected Member Functions inherited from DtReaderWriter
virtual void bindToRwAsVariable (const DtReaderWriter *rw)
 
- 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
 

Member Enumeration Documentation

enum makVrf::DtKinematicStateCS::DtSimOrientationType
Enumerator
BodyToLocal 
BodyToBody 
BodyToGeocentric 
enum makVrf::DtKinematicStateCS::DtRotationConstraint
Enumerator
FixedRotation 
RotateAboutX 
RotateAboutY 
RotateAboutZ 
UnconstrainedRotation 

Constructor & Destructor Documentation

makVrf::DtKinematicStateCS::DtKinematicStateCS ( DtSimOrientationType  orientationType,
const DtString &  name = DtString::nullString(),
DtReaderWriterRegistry *  parentRegistry = NULL 
)

Constructor which optionally sets the object up for reading/writing.

makVrf::DtKinematicStateCS::DtKinematicStateCS ( DtSimOrientationType  orientationType,
const DtSymbolString &  name,
DtReaderWriterRegistry *  parentRegistry = NULL 
)
makVrf::DtKinematicStateCS::DtKinematicStateCS ( const DtKinematicStateCS &  orig,
const DtString &  rwName = DtString::nullString(),
DtReaderWriterRegistry *  parentRegistry = NULL 
)

Copy Constructor.

makVrf::DtKinematicStateCS::DtKinematicStateCS ( const DtKinematicStateCS &  orig,
const DtSymbolString &  name,
DtReaderWriterRegistry *  parentRegistry = NULL 
)
virtual makVrf::DtKinematicStateCS::~DtKinematicStateCS ( )
virtual

Destructor.

makVrf::DtKinematicStateCS::DtKinematicStateCS ( )
private

Default Constructor. Do not use.

Member Function Documentation

const DtKinematicStateCS& makVrf::DtKinematicStateCS::operator= ( const DtKinematicStateCS &  orig)

Assignment operator.

bool makVrf::DtKinematicStateCS::operator== ( const DtKinematicStateCS &  ) const
bool makVrf::DtKinematicStateCS::operator!= ( const DtKinematicStateCS &  rhs) const
inline
virtual DtKinematicStateCS* makVrf::DtKinematicStateCS::clone ( const DtString &  name = DtString::nullString(),
DtReaderWriterRegistry *  parentRegistry = NULL 
) const
virtual

Clone.

virtual DtKinematicStateCS* makVrf::DtKinematicStateCS::clone ( const DtSymbolString &  name,
DtReaderWriterRegistry *  parentRegistry = NULL 
) const
virtual
virtual void makVrf::DtKinematicStateCS::setUpdatesEnabled ( bool  )
virtual
bool makVrf::DtKinematicStateCS::updatesEnabled ( ) const
inline
virtual const DtVector& makVrf::DtKinematicStateCS::position ( ) const
virtual

Get / set position in this coordinate system.

virtual void makVrf::DtKinematicStateCS::setPosition ( const DtVector &  position)
virtual
virtual const DtVector& makVrf::DtKinematicStateCS::velocity ( ) const
virtual

Get / set velocity in this coordinate system.

virtual void makVrf::DtKinematicStateCS::setVelocity ( const DtVector &  velocity,
bool  recomputeSpeed = true 
)
virtual
virtual DtReal makVrf::DtKinematicStateCS::speed ( ) const
virtual

You must set velocity, but you can access speed as well. This is recomputed only as needed.

virtual void makVrf::DtKinematicStateCS::setSpeed ( DtReal  speed)
virtual
virtual const DtVector& makVrf::DtKinematicStateCS::acceleration ( ) const
virtual

Get / set acceleration in this coordinate system.

virtual void makVrf::DtKinematicStateCS::setAcceleration ( const DtVector &  acceleration)
virtual
virtual const DtTaitBryan& makVrf::DtKinematicStateCS::orientation ( ) const
virtual

Get / set orientation in this coordinate system.

virtual void makVrf::DtKinematicStateCS::setOrientation ( const DtTaitBryan &  orientation,
DtRotationConstraint  recomputeMatrix = RotateAboutX 
)
virtual
virtual const DtDcm& makVrf::DtKinematicStateCS::orientationMatrix ( ) const
virtual

Get / set orientation matrix in this coordinate system.

virtual DtDcm makVrf::DtKinematicStateCS::orientationMatrix ( const DtTaitBryan &  b) const
virtual
virtual void makVrf::DtKinematicStateCS::setOrientationMatrix ( const DtDcm &  orientationMatrix,
bool  recomputeEulers = true 
)
virtual
virtual DtSimOrientationType makVrf::DtKinematicStateCS::orientationType ( ) const
virtual

Get / set orientation type in this coordinate system.

virtual void makVrf::DtKinematicStateCS::setOrientationType ( DtSimOrientationType  orientationType)
virtual
virtual DtRotationConstraint makVrf::DtKinematicStateCS::rotationConstraint ( ) const
virtual
virtual void makVrf::DtKinematicStateCS::setRotationConstraint ( DtRotationConstraint  contraint)
virtual
virtual void makVrf::DtKinematicStateCS::setCoordinateSystem ( const Coordinate_System *  coordinateSystem)
virtual
virtual void makVrf::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 makVrf::DtKinematicStateCS::myRecomputeMatrix
mutableprotected
bool makVrf::DtKinematicStateCS::myRecomputeEulers
mutableprotected
bool makVrf::DtKinematicStateCS::myRecomputeSpeed
mutableprotected
bool makVrf::DtKinematicStateCS::myUpdatesEnabled
protected
DtRwVector makVrf::DtKinematicStateCS::myPosition
protected
DtRwVector makVrf::DtKinematicStateCS::myVelocity
protected
DtRwVector makVrf::DtKinematicStateCS::myAcceleration
protected
DtSimOrientationType makVrf::DtKinematicStateCS::myOrientationType
protected
DtRwTaitBryan makVrf::DtKinematicStateCS::myOrientation
mutableprotected
DtDcm makVrf::DtKinematicStateCS::myOrientationMatrix
mutableprotected
DtRotationConstraint makVrf::DtKinematicStateCS::myCurrentRotationConstraint
protected
DtReal makVrf::DtKinematicStateCS::myCurrentSpeed
mutableprotected

derived quantity; used so much, it's worth caching

const Coordinate_System* makVrf::DtKinematicStateCS::myCoordinateSystemPtr
protected
DtRwTaitBryan makVrf::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:
Document ID: Generated on Sun Dec 4 20:22:03 EST 2022 from SVN revision 249613
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