approximator.h

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


#pragma once

#include <matrix/vlTaitBryan.h>
#include <matrix/vlVector.h>
#include <matrix/vlMath.h>

#include <vlutil/vlMachineTypes.h>
#include <vlutil/vlTime.h>

class DT_DLL_VLPROTIND DtApproximator
{
public:

   virtual ~DtApproximator();

   DtApproximator& operator = ( const DtApproximator& orig );

   virtual DtApproximator* clone() const = 0;

   virtual void setAll(
      const DtVector& loc, 
      const DtVector32& vel,
      const DtTaitBryan& ori,
      const DtVector32& acc,
      const DtVector32& rotVel,
      DtTime t) = 0;

   virtual void setLocation( const DtVector& loc, DtTime t ) = 0;
   virtual const DtVector & approxLocation( DtTime t ) const = 0;
   virtual const DtTime& locationUpdateTime() const = 0;

   virtual void setVelocity( const DtVector32& vel, DtTime t ) = 0;
   virtual const DtVector32 & approxVelocity( DtTime t ) const = 0;
   virtual const DtTime& velocityUpdateTime() const = 0;

   virtual void setOrientation( const DtTaitBryan& ori, DtTime t ) = 0;
   virtual const DtTaitBryan& approxEuler( DtTime t ) const = 0;
   virtual const DtTime& orientationUpdateTime() const = 0;

   virtual void setAcceleration( const DtVector32& acc, DtTime t ) = 0;
   virtual const DtVector32 & acceleration( DtTime t ) const = 0;

   virtual void setRotationalVelocity( const DtVector32& vel, DtTime t ) = 0;
   virtual const DtVector32 & rotationalVelocity( DtTime t ) const = 0;

   virtual const DtDcm & approxBodyToGeoc( DtTime t ) const = 0;

   virtual void setFrozen( bool frozen );
   virtual bool isFrozen() const;

protected:

   DtApproximator();

   DtApproximator( const DtApproximator& orig );

protected:

   bool myFrozenFlag;

};