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:

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	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.

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrfStateData/kinematicStateCS.h