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makVrv::DtMotionModel Class Referenceabstract
vrvCore

The base motion model class.

Inheritance diagram for makVrv::DtMotionModel:
Inheritance graph
[legend]

Public Member Functions

 DtMotionModel ()
 
virtual ~DtMotionModel ()
 
virtual void updateMotion (double dtTime)=0
 
virtual void setAll (const DtVector &loc, const DtVector32 &vel, const DtTaitBryan &ori, const DtVector32 &acc, const DtVector32 &rotVel, DtTime t)=0
 
virtual const DtTime & velocityUpdateTime () const =0
 
virtual const DtTime & locationUpdateTime () const =0
 
virtual void setLocation (const DtVector &loc, DtTime curTime)=0
 
virtual const DtVector & approxLocation (DtTime curTime) const =0
 
virtual void setVelocity (const DtVector32 &vel, DtTime curTime)=0
 
virtual const DtVector32 & approxVelocity (DtTime curTime) const =0
 
virtual const DtVector32 & approxUnsmoothedVelocity (DtTime curTime) const =0
 
virtual void setOrientation (const DtTaitBryan &ori, DtTime curTime)=0
 
virtual const DtTaitBryan & approxEuler (DtTime curTime) const =0
 
virtual void setAcceleration (const DtVector32 &acc, DtTime curTime)=0
 
virtual const DtVector32 & acceleration (DtTime curTime) const =0
 
virtual void setRotationalVelocity (const DtVector32 &vel, DtTime curTime)=0
 
virtual const DtVector32 & rotationalVelocity (DtTime curTime) const =0
 
virtual void setSmoothPeriod (float period)=0
 
virtual void setSmoothingEnabled (bool enabled)=0
 
virtual void setAlgorithm (DtDeadReckonTypes alg)=0
 
virtual DtDeadReckonTypes algorithm () const =0
 
virtual DtMotionModel * clone (double time)=0
 
virtual void reset ()=0
 
virtual void setFrozen (bool frozen)=0
 
virtual bool isFrozen () const =0
 
virtual void setDeadReckoningEnabled (bool enabled)=0
 
virtual bool isDeadReckoningEnabled () const =0
 

Constructor & Destructor Documentation

makVrv::DtMotionModel::DtMotionModel ( )
virtual makVrv::DtMotionModel::~DtMotionModel ( )
virtual

Member Function Documentation

virtual void makVrv::DtMotionModel::updateMotion ( double  dtTime)
pure virtual

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setAll ( const DtVector &  loc,
const DtVector32 &  vel,
const DtTaitBryan &  ori,
const DtVector32 &  acc,
const DtVector32 &  rotVel,
DtTime  t 
)
pure virtual

Coherently set all DR parameters, thus avoiding DR computations associated with a partial set.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtTime& makVrv::DtMotionModel::velocityUpdateTime ( ) const
pure virtual

Times at which velocity and position were last updated from the network.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtTime& makVrv::DtMotionModel::locationUpdateTime ( ) const
pure virtual

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setLocation ( const DtVector &  loc,
DtTime  curTime 
)
pure virtual

Set absolute location.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtVector& makVrv::DtMotionModel::approxLocation ( DtTime  curTime) const
pure virtual

Get the approximated (i.e. dead-reckoned for base DtDeadReckoner) location at the specified time.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setVelocity ( const DtVector32 &  vel,
DtTime  curTime 
)
pure virtual

Set absolute velocity.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtVector32& makVrv::DtMotionModel::approxVelocity ( DtTime  curTime) const
pure virtual

Get the approximated (i.e. dead-reckoned for base DtDeadReckoner) velocity at the specified time. Note that this velocity has been potentially 'de-smoothed' to provide a smoothed location when used to do smoothing.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtVector32& makVrv::DtMotionModel::approxUnsmoothedVelocity ( DtTime  curTime) const
pure virtual

Get the approximated (i.e. dead-reckoned for base DtDeadReckoner) velocity at the specified time.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setOrientation ( const DtTaitBryan &  ori,
DtTime  curTime 
)
pure virtual

Set absolute orientation.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtTaitBryan& makVrv::DtMotionModel::approxEuler ( DtTime  curTime) const
pure virtual

Get the approximated (i.e. dead-reckoned for base DtDeadReckoner) orientation at the specified time.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setAcceleration ( const DtVector32 &  acc,
DtTime  curTime 
)
pure virtual

Set/Get absolute acceleration.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtVector32& makVrv::DtMotionModel::acceleration ( DtTime  curTime) const
pure virtual

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setRotationalVelocity ( const DtVector32 &  vel,
DtTime  curTime 
)
pure virtual

Set/Get absolute rotational velocity.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual const DtVector32& makVrv::DtMotionModel::rotationalVelocity ( DtTime  curTime) const
pure virtual

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setSmoothPeriod ( float  period)
pure virtual

Set the smoothing period.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setSmoothingEnabled ( bool  enabled)
pure virtual

Enable or disable smoothing.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setAlgorithm ( DtDeadReckonTypes  alg)
pure virtual

Set/Get the dead reckoning algorithm used for generating the approximated values from the absolute values.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual DtDeadReckonTypes makVrv::DtMotionModel::algorithm ( ) const
pure virtual

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual DtMotionModel* makVrv::DtMotionModel::clone ( double  time)
pure virtual

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::reset ( )
pure virtual

Used to reset the DeadReckoner.

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setFrozen ( bool  frozen)
pure virtual

Get/Set the frozen state (enable/disable dead reckoning)

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual bool makVrv::DtMotionModel::isFrozen ( ) const
pure virtual

Get/Set the frozen state (enable/disable dead reckoning)

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual void makVrv::DtMotionModel::setDeadReckoningEnabled ( bool  enabled)
pure virtual

Get/Set whether dead reckoning is disabled (independently from frozen/paused state).

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

virtual bool makVrv::DtMotionModel::isDeadReckoningEnabled ( ) const
pure virtual

Get/Set whether dead reckoning is disabled (independently from frozen/paused state).

Implemented in makVrv::DtVRLDeadReckonerMotionModel< DeadReckoner >.

The documentation for this class was generated from the following file:
Document ID: Generated on Thu Oct 23 22:29:17 EDT 2025 from SVN revision 280951
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