Instances of DtDeadReckoner are used to provide approximated position and orientation information for entities using various dead reckoning algorithms. More...

Inheritance diagram for DtDeadReckoner:

Collaboration diagram for DtDeadReckoner:

List of all members.

Public Member Functions
	DtDeadReckoner ()
	default constructor
virtual	~DtDeadReckoner ()
	destructor
	DtDeadReckoner (const DtDeadReckoner &orig)
	copy constructor
DtDeadReckoner &	operator= (const DtDeadReckoner &orig)
	assignment operator
virtual DtApproximator *	clone () const
	Create a copy of this object.
virtual void	setLocation (const DtVector &loc, DtTime curTime)
	Set absolute location.
virtual const DtVector &	approxLocation (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtVector &	deadReckonedLocation (DtTime curTime) const
	Get the dead-reckoned location at the specified time.
virtual void	setVelocity (const DtVector &vel, DtTime curTime)
	Set absolute velocity.
virtual const DtVector &	approxVelocity (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtVector &	deadReckonedVelocity (DtTime curTime) const
	Get the dead-reckoned velocity at the specified time.
virtual void	setOrientation (const DtTaitBryan &ori, DtTime curTime)
	Set absolute orientation.
virtual const DtTaitBryan &	approxEuler (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtTaitBryan &	deadReckonedEuler (DtTime curTime) const
	Get dead-reckoned orientation (Euler angles) at the specified time.
virtual void	setAcceleration (const DtVector &acc, DtTime curTime)
	Set/Get absolute acceleration.
virtual const DtVector &	acceleration (DtTime curTime) const
virtual void	setRotationalVelocity (const DtVector &vel, DtTime curTime)
	Set/Get absolute rotational velocity.
virtual const DtVector &	rotationalVelocity (DtTime curTime) const
virtual const DtDcm &	approxBodyToGeoc (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtDcm &	deadReckonedBodyToGeoc (DtTime curTime) const
	Get the dead-reckoned body to geocentric coordinate matrix.
virtual void	setAlgorithm (DtDeadReckonTypes alg)
	Set/Get the dead reckoning algorithm used for generating the approximated values from the absolute values.
virtual DtDeadReckonTypes	algorithm () const
virtual void	deadReckonPosition (DtTime dt, const DtVector &oldPos, const DtVector &oldVel, const DtVector &oldAccel, DtVector &newVel, DtVector &newPos)
	Calculate the dead reckon position information based on the algorithm type.
virtual void	deadReckonOrientation (DtTime dt, const DtDcm &old_b2w, const DtDirectedRotRate &drr, DtDcm &new_b2w)
	Calculate the orientation matrix based on the algorithm type.
Static Public Member Functions
static void	deadReckonPosition (DtTime dt, DtDeadReckonTypes algorithm, const DtVector &oldPos, const DtVector &oldVel, const DtVector &oldAccel, DtVector &newVel, DtVector &newPos)
	Calculate the dead reckon position information.
static void	deadReckonOrientation (DtTime dt, DtDeadReckonTypes algorithm, const DtDcm &old_b2w, const DtDirectedRotRate &drr, DtDcm &new_b2w)
	Calculate the orientation matrix.
Protected Member Functions
virtual void	deadReckonLoc (DtTime curTime) const
	If the last dead reckoned position is not valid for the specified time, recalculate it and update the time at which this value is valid.
virtual void	deadReckonBodyToGeoc (DtTime curTime) const
	If the last dead reckoned body to geocentric coordinate matrix is not valid for the specified time, recalculate it and update the time at which this value is valid.
virtual void	deadReckonEuler (DtTime curTime) const
	If the last dead reckoned orientation (Euler angles) is not valid for the specified time, recalculate it and update the time at which this value is valid.
virtual int	isRotational ()
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
DtDeadReckoner *	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).
Static Protected Member Functions
static int	isRotational (DtDeadReckonTypes algorithm)
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
Protected Attributes
DtVector	myLocAtTimeOfValidity
DtVector	myVelAtTimeOfValidity
DtTime	mySimTimePosDataValid
DtDcm	myBodyToGeocAtTimeOfValidity
DtTime	mySimTimeOrientDataValid
DtVector	myDRLoc
DtVector	myDRVel
DtTime	myDRPosTime
DtDcm	myDRBodyToGeoc
DtTime	myDRBodyToGeocTime
DtTaitBryan	myDREuler
DtTime	myDREulerTime
DtDirectedRotRate	myDirectedRotRate
DtDeadReckonTypes	myAlgorithm
DtVector	myAccel
DtBodyRates	myRotVel

Detailed Description

Instances of DtDeadReckoner are used to provide approximated position and orientation information for entities using various dead reckoning algorithms.

Position and orientation information is approximated over time from the last set absolute (non-approximated) information. Functions that start with deadReckoned return dead-reckoned values. Functions that start with approx return approximated values - which default to the dead-reckoned values, but this might be overridden in classes derived from DtDeadReckoner.

Constructor & Destructor Documentation

DtDeadReckoner::DtDeadReckoner ( )

default constructor

virtual DtDeadReckoner::~DtDeadReckoner ( ) [virtual]

destructor

DtDeadReckoner::DtDeadReckoner ( const DtDeadReckoner & orig )

copy constructor

Member Function Documentation

const DtVector & DtDeadReckoner::acceleration ( DtTime curTime ) const [inline, virtual]

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

References myAccel.

DtDeadReckonTypes DtDeadReckoner::algorithm ( ) const [inline, virtual]

References myAlgorithm.

const DtDcm & DtDeadReckoner::approxBodyToGeoc ( DtTime curTime ) const [inline, virtual]

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) body to geocentric coordinate matrix.

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

References deadReckonedBodyToGeoc().

const DtTaitBryan & DtDeadReckoner::approxEuler ( DtTime curTime ) const [inline, virtual]

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) orientation at the specified time.

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

References deadReckonedEuler().

const DtVector & DtDeadReckoner::approxLocation ( DtTime curTime ) const [inline, virtual]

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) location at the specified time.

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

References deadReckonedLocation().

const DtVector & DtDeadReckoner::approxVelocity ( DtTime curTime ) const [inline, virtual]

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) velocity at the specified time.

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

References deadReckonedVelocity().

virtual DtApproximator* DtDeadReckoner::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.

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

virtual void DtDeadReckoner::deadReckonBodyToGeoc ( DtTime curTime ) const [protected, virtual]

If the last dead reckoned body to geocentric coordinate matrix is not valid for the specified time, recalculate it and update the time at which this value is valid.

Referenced by deadReckonedBodyToGeoc().

const DtDcm & DtDeadReckoner::deadReckonedBodyToGeoc ( DtTime curTime ) const [inline, virtual]

Get the dead-reckoned body to geocentric coordinate matrix.

References deadReckonBodyToGeoc(), and myDRBodyToGeoc.

Referenced by approxBodyToGeoc().

const DtTaitBryan & DtDeadReckoner::deadReckonedEuler ( DtTime curTime ) const [inline, virtual]

Get dead-reckoned orientation (Euler angles) at the specified time.

References deadReckonEuler(), and myDREuler.

Referenced by approxEuler().

const DtVector & DtDeadReckoner::deadReckonedLocation ( DtTime curTime ) const [inline, virtual]

Get the dead-reckoned location at the specified time.

References deadReckonLoc(), and myDRLoc.

Referenced by approxLocation().

const DtVector & DtDeadReckoner::deadReckonedVelocity ( DtTime curTime ) const [inline, virtual]

Get the dead-reckoned velocity at the specified time.

References deadReckonLoc(), and myDRVel.

Referenced by approxVelocity().

virtual void DtDeadReckoner::deadReckonEuler ( DtTime curTime ) const [protected, virtual]

If the last dead reckoned orientation (Euler angles) is not valid for the specified time, recalculate it and update the time at which this value is valid.

Referenced by deadReckonedEuler().

virtual void DtDeadReckoner::deadReckonLoc ( DtTime curTime ) const [protected, virtual]

If the last dead reckoned position is not valid for the specified time, recalculate it and update the time at which this value is valid.

Referenced by deadReckonedLocation(), and deadReckonedVelocity().

virtual void DtDeadReckoner::deadReckonOrientation	(	DtTime	dt,
		const DtDcm &	old_b2w,
		const DtDirectedRotRate &	drr,
		DtDcm &	new_b2w
	)		`[virtual]`

Calculate the orientation matrix based on the algorithm type.

Over-ride this function when substituting your own dead reckoning algorithm for calculating orientation

static void DtDeadReckoner::deadReckonOrientation	(	DtTime	dt,
		DtDeadReckonTypes	algorithm,
		const DtDcm &	old_b2w,
		const DtDirectedRotRate &	drr,
		DtDcm &	new_b2w
	)		`[static]`

Calculate the orientation matrix.

virtual void DtDeadReckoner::deadReckonPosition	(	DtTime	dt,
		const DtVector &	oldPos,
		const DtVector &	oldVel,
		const DtVector &	oldAccel,
		DtVector &	newVel,
		DtVector &	newPos
	)		`[virtual]`

Calculate the dead reckon position information based on the algorithm type.

Over-ride this function when substituting your own dead reckoning algorithm for calculating position

static void DtDeadReckoner::deadReckonPosition	(	DtTime	dt,
		DtDeadReckonTypes	algorithm,
		const DtVector &	oldPos,
		const DtVector &	oldVel,
		const DtVector &	oldAccel,
		DtVector &	newVel,
		DtVector &	newPos
	)		`[static]`

Calculate the dead reckon position information.

virtual int DtDeadReckoner::isRotational ( ) [protected, virtual]

Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.

static int DtDeadReckoner::isRotational ( DtDeadReckonTypes algorithm ) [static, protected]

Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.

DtDeadReckoner& DtDeadReckoner::operator= ( const DtDeadReckoner & orig )

assignment operator

const DtVector & DtDeadReckoner::rotationalVelocity ( DtTime curTime ) const [inline, virtual]

Implements DtApproximator.

Reimplemented in DtOldSmoother, and DtSmoother.

References myRotVel.

DtDeadReckoner * DtDeadReckoner::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 in DtOldSmoother, and DtSmoother.