VR-Link API Documentation for HLA 1.3
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
smoother.h
Go to the documentation of this file.
1 /*******************************************************************************
2 ** Copyright (c) 1992-2010 VT MAK
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
9 #ifndef smoother_H_
10 #define smoother_H_
11 
12 #include "deadReckoner.h"
13 
22 class DT_DLL_VLPROTIND DtSmoother : public DtDeadReckoner
23 {
24 public:
26  DtSmoother();
28  virtual ~DtSmoother();
30  DtSmoother( const DtSmoother& src );
32  DtSmoother& operator=( const DtSmoother& src );
33 
36  virtual DtApproximator* clone() const;
37 
38 protected:
39  virtual void resetPosSmoother( DtTime t );
40  virtual void resetOriSmoother( DtTime t );
41 
42 public:
44  virtual void setLocation( const DtVector& loc, DtTime t );
46  virtual const DtVector& approxLocation( DtTime t ) const;
47 
49  virtual void setVelocity( const DtVector& vel, DtTime t );
51  virtual const DtVector& approxVelocity( DtTime t ) const;
52 
54  virtual void setOrientation( const DtTaitBryan& ori, DtTime t );
56  virtual const DtTaitBryan& approxEuler( DtTime t ) const;
57 
59  virtual void setAcceleration( const DtVector& acc, DtTime t );
60  virtual const DtVector& acceleration( DtTime t ) const;
61 
63  virtual void setRotationalVelocity( const DtVector& vel, DtTime t );
64  virtual const DtVector& rotationalVelocity( DtTime t ) const;
65 
67  virtual const DtDcm& approxBodyToGeoc( DtTime t ) const;
68 
72  virtual void setSmoothPeriod( DtTime t );
73  virtual DtTime smoothPeriod() const;
74 
78  virtual void setOriSmoothPeriod( DtTime t );
79  virtual DtTime oriSmoothPeriod() const;
80 
81  virtual void setSmoothEnable(bool onOff);
82  virtual bool smoothEnable() const;
83 
84 protected:
85  virtual const DtVector& smoothPosition( DtTime t );
86  virtual const DtVector& smoothVelocity( DtTime t );
87  virtual const DtDcm& smoothBodyToGeoc( DtTime t );
88  virtual void initSmootherParams();
89  virtual void initSmoothOriParams();
90 
98  inline DtSmoother* self() const;
99 
100 public:
102  static void setDfltSmoothPeriod(DtTime smoothPeriod);
103  static DtTime dfltSmoothPeriod();
104 
107  static void setMasterSmoothEnable(bool onOff);
108  static bool masterSmoothEnable();
109 
110 
111  static void rotAngleAndAxisFromRotMatrix(
112  DtVector& n, double& phi, const DtDcm& m );
113  static void rotMatrixFromRotRatesAndTime(
114  DtDcm& m, DtDcm& o, DtVector& n, double& w, const DtVector& r, double t );
115 
116 protected:
117  static double theTimeTolerance;
118  static bool theMasterSmoothEnable;
119  static DtTime theDfltSmoothPeriod;
120 
121 protected:
122  DtVector myLastDrPos;
123  DtVector myLastDrVel;
124  DtVector mySmoothPos;
125  DtVector mySmoothVel;
126  DtVector myX1;
127  DtVector myV1;
128  DtVector myA1;
129  DtVector myA2;
130  DtTime myTau;
131  DtTime myTau2;
132  DtTime myTau2Inv;
133  DtTime myTauSq4;
134  DtTime myTauSq4Inv;
135  DtTime myLastSetTime;
136  DtTime myPostSmoothTime;
137  DtTime myHalfSmoothTime;
138  DtTime myOriTau;
139  DtTime myLastSetOriTime;
140  DtTime myPostSmoothOriTime;
141  DtTime myLastSmoothOriTime;
142  DtTime myLastSmoothTbTime;
143  double mySmoothRotRate;
144  DtDcm myLastDrOri;
145  DtDcm mySmoothOri;
146  DtDcm mySmoothOmegaMx;
147  DtVector mySmoothRotAxis;
148  DtTaitBryan mySmoothTb;
149  bool myIsDirty;
150  bool myOriIsDirty;
151  bool myTbIsDirty;
152  bool mySmoothEnable;
153 };
154 
155 
156 inline DtSmoother* DtSmoother::self() const
157 {
158  return (DtSmoother*)this;
159 }
160 
161 #endif
162 
Document ID: Generated on Wed Jan 7 13:31:29 EST 2015 from SVN revision 149162
Copyright © 2005-2014 VT MÄK. All Rights Reserved (www.mak.com)