DtSmoother Class Reference

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
Public Member Functions inherited from DtDeadReckoner
	DtDeadReckoner ()
	Default CTOR.
	DtDeadReckoner (const DtDeadReckoner &orig)
	Copy CTOR.
virtual	~DtDeadReckoner ()
	Virtual DTOR.
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 DtTime &	locationUpdateTime () const
	Get the last update time of the absolute location.
virtual const DtTime &	velocityUpdateTime () const
	Get the last update time of the absolute velocity.
virtual const DtTime &	orientationUpdateTime () const
	Get the last update time of the absolute orientation.
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 int	isRotational () const
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
virtual void	deadReckonPosition (DtTime dt, const DtVector &oldPos, const DtVector &oldVel, const DtVector &oldAccel, DtVector &newVel, DtVector &newPos) const
	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) const
	Calculate the orientation matrix based on the algorithm type.
Public Member Functions inherited from DtApproximator
virtual	~DtApproximator ()
	Virtual DTOR.
DtApproximator &	operator= (const DtApproximator &orig)
	Assignment operator.
virtual void	setFrozen (bool frozen)
	Set/Get whether the dead-reckoner is frozen.
virtual bool	isFrozen () 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)
Static Public Member Functions inherited from DtDeadReckoner
static int	isRotational (DtDeadReckonTypes algorithm)
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
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	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 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.
Protected Member Functions inherited from DtApproximator
	DtApproximator ()
	Default CTOR.
	DtApproximator (const DtApproximator &orig)
	Copy CTOR.

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
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
Protected Attributes inherited from DtApproximator
bool	myFrozenFlag

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 ( )

protectedvirtual

virtual void DtSmoother::initSmoothOriParams ( )

protectedvirtual

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 )

protectedvirtual

virtual void DtSmoother::resetPosSmoother ( DtTime  t )

protectedvirtual

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

inlineprotected

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.

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

virtual

Set/Get absolute acceleration.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

static void DtSmoother::setDfltSmoothPeriod ( DtTime  smoothPeriod )

static

Set/Get the default smoothing period.

Reimplemented in DtOldSmoother.

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

virtual

Set absolute location.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

static void DtSmoother::setMasterSmoothEnable ( bool  onOff )

static

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

Master smoothing switch defaults to on.

Reimplemented in DtOldSmoother.

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

virtual

Set absolute orientation.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual void DtSmoother::setOriSmoothPeriod ( DtTime  t )

virtual

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

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

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

virtual

Set/Get absolute rotational velocity.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual void DtSmoother::setSmoothEnable ( bool  onOff )

virtual

Reimplemented in DtOldSmoother.

virtual void DtSmoother::setSmoothPeriod ( DtTime  t )

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 in DtOldSmoother.

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

virtual

Set absolute velocity.

Reimplemented from DtDeadReckoner.

Reimplemented in DtOldSmoother.

virtual const DtDcm& DtSmoother::smoothBodyToGeoc ( DtTime  t )

protectedvirtual

virtual bool DtSmoother::smoothEnable ( ) const

virtual

Reimplemented in DtOldSmoother.

virtual DtTime DtSmoother::smoothPeriod ( ) const

virtual

Reimplemented in DtOldSmoother.

virtual const DtVector& DtSmoother::smoothPosition ( DtTime  t )

protectedvirtual

virtual const DtVector& DtSmoother::smoothVelocity ( DtTime  t )

protectedvirtual

Member Data Documentation

DtVector DtSmoother::myA1

protected

DtVector DtSmoother::myA2

protected

DtTime DtSmoother::myHalfSmoothTime

protected

bool DtSmoother::myIsDirty

protected

DtDcm DtSmoother::myLastDrOri

protected

DtVector DtSmoother::myLastDrPos

protected

DtVector DtSmoother::myLastDrVel

protected

DtTime DtSmoother::myLastSetOriTime

protected

DtTime DtSmoother::myLastSetTime

protected

DtTime DtSmoother::myLastSmoothOriTime

protected

DtTime DtSmoother::myLastSmoothTbTime

protected

bool DtSmoother::myOriIsDirty

protected

DtTime DtSmoother::myOriTau

protected

DtTime DtSmoother::myPostSmoothOriTime

protected

DtTime DtSmoother::myPostSmoothTime

protected

bool DtSmoother::mySmoothEnable

protected

DtDcm DtSmoother::mySmoothOmegaMx

protected

DtDcm DtSmoother::mySmoothOri

protected

DtVector DtSmoother::mySmoothPos

protected

DtVector DtSmoother::mySmoothRotAxis

protected

double DtSmoother::mySmoothRotRate

protected

DtTaitBryan DtSmoother::mySmoothTb

protected

DtVector DtSmoother::mySmoothVel

protected

DtTime DtSmoother::myTau

protected

DtTime DtSmoother::myTau2

protected

DtTime DtSmoother::myTau2Inv

protected

DtTime DtSmoother::myTauSq4

protected

DtTime DtSmoother::myTauSq4Inv

protected

bool DtSmoother::myTbIsDirty

protected

DtVector DtSmoother::myV1

protected

DtVector DtSmoother::myX1

protected

DtTime DtSmoother::theDfltSmoothPeriod

staticprotected

bool DtSmoother::theMasterSmoothEnable

staticprotected

double DtSmoother::theTimeTolerance

staticprotected

---

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

• smoother.h