DtOldSmoother Class Reference

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

Inheritance diagram for DtOldSmoother:

Collaboration diagram for DtOldSmoother:

Public Member Functions
	DtOldSmoother ()
	constructor
virtual	~DtOldSmoother ()
	destructor
	DtOldSmoother (const DtOldSmoother &orig)
	copy constructor
DtOldSmoother &	operator= (const DtOldSmoother &orig)
	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	setSmoothEnable (bool on)
	Set/Get the individual smoothing switch.
virtual bool	smoothEnable () const
virtual void	setSmoothPeriod (DtTime smoothPeriod)
	Set/Get smoothing period - the amount of time over which smoothing takes place.
virtual DtTime	smoothPeriod () const
Public Member Functions inherited from DtSmoother
	DtSmoother ()
	Default constructor.
virtual	~DtSmoother ()
	Destructor.
	DtSmoother (const DtSmoother &src)
	Copy constructor.
DtSmoother &	operator= (const DtSmoother &src)
	Assignment operator.
virtual void	setOriSmoothPeriod (DtTime t)
	Set/Get orientation smoothing period - the amount of time over which orientation smoothing takes place.
virtual DtTime	oriSmoothPeriod () const
Public Member Functions inherited from DtDeadReckoner
	DtDeadReckoner ()
	default constructor
virtual	~DtDeadReckoner ()
	destructor
	DtDeadReckoner (const DtDeadReckoner &orig)
	copy constructor
DtDeadReckoner &	operator= (const DtDeadReckoner &orig)
	assignment operator
virtual const DtVector &	deadReckonedLocation (DtTime curTime) const
	Get the dead-reckoned location at the specified time.
virtual const DtVector &	deadReckonedVelocity (DtTime curTime) const
	Get the dead-reckoned velocity at the specified time.
virtual const DtTaitBryan &	deadReckonedEuler (DtTime curTime) const
	Get dead-reckoned orientation (Euler angles) at the specified time.
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.
Public Member Functions inherited from DtApproximator
virtual	~DtApproximator ()
	destructor
DtApproximator &	operator= (const DtApproximator &orig)
	assignment operator

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 Public Member Functions inherited from DtSmoother
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)
Static Public Member Functions inherited from DtDeadReckoner
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	feedSmoothing ()
	Provide inputs to the actual smoothing algorithm.
DtOldSmoother *	self () const
	Get rid of const-ness on the "this" pointer in order to access non-const functions from const member functions (such as simple accessors).
Protected Member Functions inherited from DtSmoother
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 ()
Protected Member Functions inherited from DtDeadReckoner
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.
Protected Member Functions inherited from DtApproximator
	DtApproximator ()
	Constructors are protected since this is an abstract base class.
	DtApproximator (const DtApproximator &orig)
	copy constructor

Protected Attributes
DtSmoothPosWithDr	mySpos
DtSmoothOriWithDr	mySorient
DtTaitBryan	myApproxEuler
DtVector	myRealVelocity
Protected Attributes inherited from DtSmoother
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
Protected Attributes inherited from DtDeadReckoner
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

Additional Inherited Members
Static Protected Member Functions inherited from DtDeadReckoner
static int	isRotational (DtDeadReckonTypes algorithm)
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
Static Protected Attributes inherited from DtSmoother
static double	theTimeTolerance
static bool	theMasterSmoothEnable
static DtTime	theDfltSmoothPeriod

Detailed Description

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

This class was the default smoother prior to VR-Link 3.11. It has been rewritten and replaced by DtSmoother. Customers who need the previous behavior should use this class.

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.

Deprecated:

This class was replaced by DtSmoother in VR-Link 3.11 and is provided for backwards compatibility only.

Constructor & Destructor Documentation

DtOldSmoother::DtOldSmoother

(

)

constructor

virtual DtOldSmoother::~DtOldSmoother ( )

virtual

destructor

DtOldSmoother::DtOldSmoother

(

const DtOldSmoother &

orig

)

copy constructor

Member Function Documentation

virtual const DtVector& DtOldSmoother::acceleration ( DtTime  t ) const

virtual

Reimplemented from DtSmoother.

virtual const DtDcm& DtOldSmoother::approxBodyToGeoc ( DtTime  t ) const

virtual

Get the approximated data body to geocentric coordinate matrix.

Reimplemented from DtSmoother.

virtual const DtTaitBryan& DtOldSmoother::approxEuler ( DtTime  t ) const

virtual

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

Reimplemented from DtSmoother.

virtual const DtVector& DtOldSmoother::approxLocation ( DtTime  t ) const

virtual

Get the approximated location at the specified time.

Reimplemented from DtSmoother.

virtual const DtVector& DtOldSmoother::approxVelocity ( DtTime  t ) const

virtual

Get the approximated velocity at the specified time.

Reimplemented from DtSmoother.

virtual DtApproximator* DtOldSmoother::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 DtSmoother.

static DtTime DtOldSmoother::dfltSmoothPeriod ( )

static

Reimplemented from DtSmoother.

virtual void DtOldSmoother::feedSmoothing ( )

protectedvirtual

Provide inputs to the actual smoothing algorithm.

static bool DtOldSmoother::masterSmoothEnable ( )

static

Reimplemented from DtSmoother.

DtOldSmoother& DtOldSmoother::operator=

(

const DtOldSmoother &

orig

)

assignment operator

virtual const DtVector& DtOldSmoother::rotationalVelocity ( DtTime  t ) const

virtual

Reimplemented from DtSmoother.

DtOldSmoother * DtOldSmoother::self ( ) const

inlineprotected

Get rid of const-ness 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 DtSmoother.

virtual void DtOldSmoother::setAcceleration ( const DtVector &  acc, DtTime  t  )

virtual

Set/Get absolute acceleration.

Reimplemented from DtSmoother.

static void DtOldSmoother::setDfltSmoothPeriod ( DtTime  smoothPeriod )

static

Set/Get the default smoothing period.

Reimplemented from DtSmoother.

virtual void DtOldSmoother::setLocation ( const DtVector &  loc, DtTime  t  )

virtual

Set absolute location.

Reimplemented from DtSmoother.

static void DtOldSmoother::setMasterSmoothEnable ( bool  onOff )

static

Set/Get the value of the "master" smoothing-enabled switch.

Master smoothing switch defaults to on.

Reimplemented from DtSmoother.

virtual void DtOldSmoother::setOrientation ( const DtTaitBryan &  ori, DtTime  t  )

virtual

Set absolute orientation.

Reimplemented from DtSmoother.

virtual void DtOldSmoother::setRotationalVelocity ( const DtVector &  vel, DtTime  t  )

virtual

Set/Get absolute rotational velocity.

Reimplemented from DtSmoother.

virtual void DtOldSmoother::setSmoothEnable ( bool  on )

virtual

Set/Get the individual smoothing switch.

In order for smoothing to be enabled, the "master" smoothing-enabled switch must be on, AND the individual smoothing switch (accessed through these functions), must be on. Individual smoothing switch defaults to on.

Reimplemented from DtSmoother.

virtual void DtOldSmoother::setSmoothPeriod ( DtTime  smoothPeriod )

virtual

Set/Get smoothing period - the amount of time over which smoothing takes place.

Pass a value of -1 to indicate use of the default smoothing period.

Reimplemented from DtSmoother.

virtual void DtOldSmoother::setVelocity ( const DtVector &  vel, DtTime  t  )

virtual

Set absolute velocity.

Reimplemented from DtSmoother.

virtual bool DtOldSmoother::smoothEnable ( ) const

virtual

Reimplemented from DtSmoother.

virtual DtTime DtOldSmoother::smoothPeriod ( ) const

virtual

Reimplemented from DtSmoother.

Member Data Documentation

DtTaitBryan DtOldSmoother::myApproxEuler

protected

DtVector DtOldSmoother::myRealVelocity

protected

DtSmoothOriWithDr DtOldSmoother::mySorient

protected

DtSmoothPosWithDr DtOldSmoother::mySpos

protected

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

• oldSmoother.h