oldSmoother.h

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/*********************************************************************
** Copyright (c) 1992-2010 VT MAK
** All rights reserved.
*********************************************************************/

#ifndef oldSmoother_H_
#define oldSmoother_H_

#include "smoother.h"
#include "smoothPosWithDr.h"
#include "smoothOriWithDr.h"

class DT_DLL_VLPROTIND DtOldSmoother : public DtSmoother
{
public:

   DtOldSmoother();

   virtual ~DtOldSmoother();

   DtOldSmoother(const DtOldSmoother& orig);

   DtOldSmoother& operator=(const DtOldSmoother& orig);

   virtual DtApproximator* clone() const;

   virtual void setLocation(const DtVector & loc, DtTime t);
   virtual const DtVector & approxLocation(DtTime t) const;

   virtual void setVelocity(const DtVector & vel, DtTime t);
   virtual const DtVector & approxVelocity(DtTime t) const;

   virtual void setOrientation(const DtTaitBryan& ori, DtTime t);
   virtual const DtTaitBryan& approxEuler(DtTime t) const;

   virtual void setAcceleration(const DtVector & acc, DtTime t);
   virtual const DtVector & acceleration(DtTime t) const;

   virtual void setRotationalVelocity(const DtVector & vel, DtTime t);
   virtual const DtVector & rotationalVelocity(DtTime t) const;

   virtual const DtDcm & approxBodyToGeoc(DtTime t) const;

   virtual void setSmoothEnable(bool on); 
   virtual bool smoothEnable() const;

   virtual void setSmoothPeriod(DtTime smoothPeriod);
   virtual DtTime smoothPeriod() const;

   virtual void reset();

   virtual void setFrozen( bool frozen );

public:

   static void setDfltSmoothPeriod(DtTime smoothPeriod);
   static DtTime dfltSmoothPeriod();

   static void setMasterSmoothEnable(bool onOff);
   static bool masterSmoothEnable();
   
   virtual void feedSmoothing();

protected:

   DtOldSmoother* self() const;

protected:

   DtSmoothPosWithDr mySpos;
   DtSmoothOriWithDr mySorient;
   DtTaitBryan myApproxEuler;

   DtVector myRealVelocity;
};

inline DtOldSmoother* DtOldSmoother::self() const
{
   return (DtOldSmoother*) this;
}

#endif