Instances of DtSmoother are used to provide approximated position and orientation information for entities. More...

Inheritance diagram for DtSmoother:

Collaboration diagram for DtSmoother:

Public Member Functions
	DtSmoother ()
	Default constructor.
virtual	~DtSmoother ()
	Destructor.
	DtSmoother (const DtSmoother &src)
	Copy constructor.
DtSmoother &	operator= (const DtSmoother &src)
	Assignment operator.
virtual DtApproximator *	clone () const
	Create a copy of this object.
virtual void	setLocation (const DtVector &loc, DtTime t)
	Set absolute location.
virtual const DtVector &	approxLocation (DtTime t) const
	Get the approximated location at the specified time.
virtual void	setVelocity (const DtVector &vel, DtTime t)
	Set absolute velocity.
virtual const DtVector &	approxVelocity (DtTime t) const
	Get the approximated velocity at the specified time.
virtual void	setOrientation (const DtTaitBryan &ori, DtTime t)
	Set absolute orientation.
virtual const DtTaitBryan &	approxEuler (DtTime t) const
	Get approximated orientation (Euler angles) at the specified time.
virtual void	setAcceleration (const DtVector &acc, DtTime t)
	Set/Get absolute acceleration.
virtual const DtVector &	acceleration (DtTime t) const
virtual void	setRotationalVelocity (const DtVector &vel, DtTime t)
	Set/Get absolute rotational velocity.
virtual const DtVector &	rotationalVelocity (DtTime t) const
virtual const DtDcm &	approxBodyToGeoc (DtTime t) const
	Get the approximated data body to geocentric coordinate matrix.
virtual void	setSmoothPeriod (DtTime t)
	Set/Get smoothing period - the amount of time over which smoothing takes place.
virtual DtTime	smoothPeriod () const
virtual void	setOriSmoothPeriod (DtTime t)
	Set/Get orientation smoothing period - the amount of time over which orientation smoothing takes place.
virtual DtTime	oriSmoothPeriod () const
virtual void	setSmoothEnable (bool onOff)
virtual bool	smoothEnable () const
Static Public Member Functions
static void	setDfltSmoothPeriod (DtTime smoothPeriod)
	Set/Get the default smoothing period.
static DtTime	dfltSmoothPeriod ()
static void	setMasterSmoothEnable (bool onOff)
	Set/Get the value of the "master" smoothing-enabled switch.
static bool	masterSmoothEnable ()
static void	rotAngleAndAxisFromRotMatrix (DtVector &n, double &phi, const DtDcm &m)
static void	rotMatrixFromRotRatesAndTime (DtDcm &m, DtDcm &o, DtVector &n, double &w, const DtVector &r, double t)
Protected Member Functions
virtual void	resetPosSmoother (DtTime t)
virtual void	resetOriSmoother (DtTime t)
virtual const DtVector &	smoothPosition (DtTime t)
virtual const DtVector &	smoothVelocity (DtTime t)
virtual const DtDcm &	smoothBodyToGeoc (DtTime t)
virtual void	initSmootherParams ()
virtual void	initSmoothOriParams ()
DtSmoother *	self () const
	Get rid of constness on the "this" pointer in order to access non-const functions from const member functions (such as simple accessors).
Protected Attributes
DtVector	myLastDrPos
DtVector	myLastDrVel
DtVector	mySmoothPos
DtVector	mySmoothVel
DtVector	myX1
DtVector	myV1
DtVector	myA1
DtVector	myA2
DtTime	myTau
DtTime	myTau2
DtTime	myTau2Inv
DtTime	myTauSq4
DtTime	myTauSq4Inv
DtTime	myLastSetTime
DtTime	myPostSmoothTime
DtTime	myHalfSmoothTime
DtTime	myOriTau
DtTime	myLastSetOriTime
DtTime	myPostSmoothOriTime
DtTime	myLastSmoothOriTime
DtTime	myLastSmoothTbTime
double	mySmoothRotRate
DtDcm	myLastDrOri
DtDcm	mySmoothOri
DtDcm	mySmoothOmegaMx
DtVector	mySmoothRotAxis
DtTaitBryan	mySmoothTb
bool	myIsDirty
bool	myOriIsDirty
bool	myTbIsDirty
bool	mySmoothEnable
Static Protected Attributes
static double	theTimeTolerance
static bool	theMasterSmoothEnable
static DtTime	theDfltSmoothPeriod

Detailed Description

Instances of DtSmoother are used to provide approximated position and orientation information for entities.

Position and orientation information is approximated over time from the last set absolute (non-approximated) information. When a new position is set, the current position moves smoothly to reflect the new information, rather than jumping to the new absolute position.

Constructor & Destructor Documentation

DtSmoother::DtSmoother ( )

Default constructor.

virtual DtSmoother::~DtSmoother ( ) [virtual]

Destructor.

DtSmoother::DtSmoother ( const DtSmoother & src )

Copy constructor.

Member Function Documentation

virtual const DtVector& DtSmoother::acceleration ( DtTime t ) const [virtual]

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual const DtDcm& DtSmoother::approxBodyToGeoc ( DtTime t ) const [virtual]

Get the approximated data body to geocentric coordinate matrix.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual const DtTaitBryan& DtSmoother::approxEuler ( DtTime t ) const [virtual]

Get approximated orientation (Euler angles) at the specified time.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual const DtVector& DtSmoother::approxLocation ( DtTime t ) const [virtual]

Get the approximated location at the specified time.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual const DtVector& DtSmoother::approxVelocity ( DtTime t ) const [virtual]

Get the approximated velocity at the specified time.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual DtApproximator* DtSmoother::clone ( ) const [virtual]

Create a copy of this object.

Memory is allocated and it is the responsibility of the caller to free the memory via delete.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

static DtTime DtSmoother::dfltSmoothPeriod ( ) [static]

Reimplemented in DtOldSmoother.

virtual void DtSmoother::initSmootherParams ( ) [protected, virtual]

virtual void DtSmoother::initSmoothOriParams ( ) [protected, virtual]

static bool DtSmoother::masterSmoothEnable ( ) [static]

Reimplemented in DtOldSmoother.

DtSmoother& DtSmoother::operator= ( const DtSmoother & src )

Assignment operator.

virtual DtTime DtSmoother::oriSmoothPeriod ( ) const [virtual]

virtual void DtSmoother::resetOriSmoother ( DtTime t ) [protected, virtual]

virtual void DtSmoother::resetPosSmoother ( DtTime t ) [protected, virtual]

static void DtSmoother::rotAngleAndAxisFromRotMatrix	(	DtVector &	n,
		double &	phi,
		const DtDcm &	m
	)		`[static]`

virtual const DtVector& DtSmoother::rotationalVelocity ( DtTime t ) const [virtual]

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

static void DtSmoother::rotMatrixFromRotRatesAndTime	(	DtDcm &	m,
		DtDcm &	o,
		DtVector &	n,
		double &	w,
		const DtVector &	r,
		double	t
	)		`[static]`

DtSmoother * DtSmoother::self ( ) const [inline, protected]

Get rid of constness on the "this" pointer in order to access non-const functions from const member functions (such as simple accessors).

This should be used sparingly since it bypasses the const protection. Note: This is essentially like an operator and is non-virtual, since can't override based on return type. Allows derived classes to also define this member.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.