exponentialSmoother.h

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/*********************************************************************
** Copyright (c) 1992-2025 MAK Technologies, Inc
** All rights reserved.
*********************************************************************/

#ifndef oldSmoother_H_
#define oldSmoother_H_

#include "vlpi/trigonometricSmoother.h"
#include "smoothPosWithDr.h"
#include "smoothOriWithDr.h"

class DT_DLL_VLPROTIND DtExponentialSmoother : public DtTrigonometricSmoother
{
public:

   DtExponentialSmoother();

   virtual ~DtExponentialSmoother();

   DtExponentialSmoother(const DtExponentialSmoother& orig);

   DtExponentialSmoother& operator=(const DtExponentialSmoother& orig);

   virtual DtApproximator* clone() const;

   virtual void setAll(
      const DtVector& loc,
      const DtVector32& vel,
      const DtTaitBryan& ori,
      const DtVector32& acc,
      const DtVector32& rotVel,
      DtTime t);

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

   virtual void setVelocity(const DtVector32 & vel, DtTime t);
   virtual const DtVector32 & approxVelocity(DtTime t) const;

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

   virtual void setAcceleration(const DtVector32 & acc, DtTime t);
   virtual const DtVector32 & acceleration(DtTime t) const;

   virtual void setRotationalVelocity(const DtVector32 & vel, DtTime t);
   virtual const DtVector32 & 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();

protected:

   virtual void feedSmoothing();

   DtExponentialSmoother* self() const;

protected:

   DtSmoothPosWithDr mySpos;
   DtSmoothOriWithDr mySorient;
   DtTaitBryan myApproxEuler;

   DtVector32 myRealVelocity;
};

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

typedef DtExponentialSmoother DtOldSmoother;

#endif