Instances of DtExponentialSmoother are used to provide approximated position and orientation information for entities. More...

Inheritance diagram for DtExponentialSmoother:

Collaboration diagram for DtExponentialSmoother:

Public Member Functions
	DtExponentialSmoother ()
	constructor More...

virtual	~DtExponentialSmoother ()
	destructor More...

	DtExponentialSmoother (const DtExponentialSmoother &orig)
	copy constructor More...

DtExponentialSmoother &	operator= (const DtExponentialSmoother &orig)
	assignment operator More...

virtual DtApproximator *	clone () const
	Create a copy of this object. More...

virtual void	setAll (const DtVector &loc, const DtVector32 &vel, const DtTaitBryan &ori, const DtVector32 &acc, const DtVector32 &rotVel, DtTime t)
	Coherently set all DR parameters, thus avoiding DR computations associated with a partial set. More...

virtual void	setLocation (const DtVector &loc, DtTime t)
	Set absolute location. More...

virtual const DtVector &	approxLocation (DtTime t) const
	Get the approximated location at the specified time. More...

virtual void	setVelocity (const DtVector32 &vel, DtTime t)
	Set absolute velocity. More...

virtual const DtVector32 &	approxVelocity (DtTime t) const
	Get the approximated velocity at the specified time. More...

virtual void	setOrientation (const DtTaitBryan &ori, DtTime t)
	Set absolute orientation. More...

virtual const DtTaitBryan &	approxEuler (DtTime t) const
	Get approximated orientation (Euler angles) at the specified time. More...

virtual void	setAcceleration (const DtVector32 &acc, DtTime t)
	Set/Get absolute acceleration. More...

virtual const DtVector32 &	acceleration (DtTime t) const

virtual void	setRotationalVelocity (const DtVector32 &vel, DtTime t)
	Set/Get absolute rotational velocity. More...

virtual const DtVector32 &	rotationalVelocity (DtTime t) const

virtual const DtDcm &	approxBodyToGeoc (DtTime t) const
	Get the approximated data body to geocentric coordinate matrix. More...

virtual void	setSmoothEnable (bool on)
	Set/Get the individual smoothing switch. More...

virtual bool	smoothEnable () const

virtual void	setSmoothPeriod (DtTime smoothPeriod)
	Set/Get smoothing period - the amount of time over which smoothing takes place. More...

virtual DtTime	smoothPeriod () const

virtual void	reset ()
	resets the smoothers. More...

virtual void	setFrozen (bool frozen)
	Set/Get whether the dead-reckoner is frozen. More...

Public Member Functions inherited from DtTrigonometricSmoother
	DtTrigonometricSmoother ()
	Default constructor. More...

virtual	~DtTrigonometricSmoother ()
	Destructor. More...

	DtTrigonometricSmoother (const DtTrigonometricSmoother &src)
	Copy constructor. More...

DtTrigonometricSmoother &	operator= (const DtTrigonometricSmoother &src)
	Assignment operator. More...

bool	operator== (const DtTrigonometricSmoother &orig) const
	equality Operator. More...

const DtVector32 &	approxUnsmoothedVelocity (DtTime curTime) const
	Get the approximated velocity at the specified time without taking into account smoothing. More...

virtual void	setOriSmoothPeriod (DtTime t)
	Set/Get orientation smoothing period - the amount of time, in seconds, over which orientation smoothing takes place. More...

virtual DtTime	oriSmoothPeriod () const

Public Member Functions inherited from DtDeadReckoner
	DtDeadReckoner ()
	Default CTOR. More...

	DtDeadReckoner (const DtDeadReckoner &orig)
	Copy CTOR. More...

virtual	~DtDeadReckoner ()
	Virtual DTOR. More...

DtDeadReckoner &	operator= (const DtDeadReckoner &orig)
	Assignment Operator. More...

bool	operator== (const DtDeadReckoner &orig) const
	equality Operator. More...

virtual const DtVector &	deadReckonedLocation (DtTime curTime) const
	Get the dead-reckoned location at the specified time. More...

virtual const DtVector32 &	deadReckonedVelocity (DtTime curTime) const
	Get the dead-reckoned velocity at the specified time. More...

virtual const DtTaitBryan &	deadReckonedEuler (DtTime curTime) const
	Get dead-reckoned orientation (Euler angles) at the specified time. More...

virtual const DtTime &	locationUpdateTime () const
	Get the last update time of the absolute location. More...

virtual const DtTime &	velocityUpdateTime () const
	Get the last update time of the absolute velocity. More...

virtual const DtTime &	orientationUpdateTime () const
	Get the last update time of the absolute orientation. More...

virtual const DtDcm &	deadReckonedBodyToGeoc (DtTime curTime) const
	Get the dead-reckoned body to geocentric coordinate matrix. More...

virtual void	setAlgorithm (DtDeadReckonTypes alg)
	Set/Get the dead reckoning algorithm used for generating the approximated values from the absolute values. More...

virtual DtDeadReckonTypes	algorithm () const

virtual int	isRotational () const
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise. More...

virtual void	deadReckonPosition (DtTime dt, const DtVector &oldPos, const DtVector32 &oldVel, const DtVector32 &oldAccel, DtVector32 &newVel, DtVector &newPos) const
	Calculate the dead reckon position information based on the algorithm type. More...

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. More...

Public Member Functions inherited from DtApproximator
virtual	~DtApproximator ()
	Virtual DTOR. More...

DtApproximator &	operator= (const DtApproximator &orig)
	Assignment operator. More...

virtual bool	isFrozen () const

Static Public Member Functions
static void	setDfltSmoothPeriod (DtTime smoothPeriod)
	Set/Get the default smoothing period. More...

static DtTime	dfltSmoothPeriod ()

static void	setMasterSmoothEnable (bool onOff)
	Set/Get the value of the "master" smoothing-enabled switch. More...

static bool	masterSmoothEnable ()

Static Public Member Functions inherited from DtTrigonometricSmoother
static void	setDfltSmoothPeriod (DtTime smoothPeriod)
	Set/Get the default smoothing period. More...

static DtTime	dfltSmoothPeriod ()

static void	setMasterSmoothEnable (bool onOff)
	Set/Get the value of the "master" smoothing-enabled switch. More...

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 DtVector32 &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. More...

static void	deadReckonPosition (DtTime dt, DtDeadReckonTypes algorithm, const DtVector &oldPos, const DtVector32 &oldVel, const DtVector32 &oldAccel, DtVector32 &newVel, DtVector &newPos)
	Calculate the dead reckon position information. More...

static void	deadReckonOrientation (DtTime dt, DtDeadReckonTypes algorithm, const DtDcm &old_b2w, const DtDirectedRotRate &drr, DtDcm &new_b2w)
	Calculate the orientation matrix. More...

Protected Member Functions
virtual void	feedSmoothing ()
	Provide inputs to the actual smoothing algorithm. More...

DtExponentialSmoother *	self () const
	Get rid of const-ness on the "this" pointer in order to access non-const functions from const member functions (such as simple accessors). More...

Protected Member Functions inherited from DtTrigonometricSmoother
virtual void	resetPosSmoother (DtTime t)

virtual void	resetOriSmoother (DtTime t)

virtual const DtVector &	smoothPosition (DtTime t)

virtual const DtVector32 &	smoothVelocity (DtTime t)

virtual const DtDcm &	smoothBodyToGeoc (DtTime t)

virtual void	initSmootherParams ()

virtual void	initSmoothOriParams ()

DtTrigonometricSmoother *	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). More...

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. More...

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. More...

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. More...

Protected Member Functions inherited from DtApproximator
	DtApproximator ()
	Default CTOR. More...

	DtApproximator (const DtApproximator &orig)
	Copy CTOR. More...

Protected Attributes
DtSmoothPosWithDr	mySpos

DtSmoothOriWithDr	mySorient

DtTaitBryan	myApproxEuler

DtVector32	myRealVelocity

Protected Attributes inherited from DtTrigonometricSmoother
DtVector	myLastDrPos

DtVector32	myLastDrVel

DtVector	mySmoothPos

DtVector32	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

DtVector32	myVelAtTimeOfValidity

DtTime	mySimTimePosDataValid

DtDcm	myBodyToGeocAtTimeOfValidity

DtTime	mySimTimeOrientDataValid

DtVector	myDRLoc

DtVector32	myDRVel

DtTime	myDRPosTime

DtDcm	myDRBodyToGeoc

DtTime	myDRBodyToGeocTime

DtTaitBryan	myDREuler

DtTime	myDREulerTime

DtDirectedRotRate	myDirectedRotRate

DtDeadReckonTypes	myAlgorithm

DtVector32	myAccel

DtBodyRates	myRotVel

Protected Attributes inherited from DtApproximator
bool	myFrozenFlag

Additional Inherited Members
Static Protected Attributes inherited from DtTrigonometricSmoother
static double	theTimeTolerance

static bool	theMasterSmoothEnable

static DtTime	theDfltSmoothPeriod

Detailed Description

Instances of DtExponentialSmoother 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.

This smoother uses an exponential line to approach the new absolute position. Under most circumstances, this is the best smoother currently provided. For a different approach of smoothing, one could try the DtTrigonometricSmoother.

Constructor & Destructor Documentation

DtExponentialSmoother::DtExponentialSmoother ( )

constructor

virtual DtExponentialSmoother::~DtExponentialSmoother ( )

virtual

destructor

DtExponentialSmoother::DtExponentialSmoother ( const DtExponentialSmoother & orig )

copy constructor

Member Function Documentation

virtual const DtVector32& DtExponentialSmoother::acceleration ( DtTime t ) const

virtual

Reimplemented from DtTrigonometricSmoother.

virtual const DtDcm& DtExponentialSmoother::approxBodyToGeoc ( DtTime t ) const

virtual

Get the approximated data body to geocentric coordinate matrix.

Reimplemented from DtTrigonometricSmoother.

virtual const DtTaitBryan& DtExponentialSmoother::approxEuler ( DtTime t ) const

virtual

Get approximated orientation (Euler angles) at the specified time.

Reimplemented from DtTrigonometricSmoother.

virtual const DtVector& DtExponentialSmoother::approxLocation ( DtTime t ) const

virtual

Get the approximated location at the specified time.

Reimplemented from DtTrigonometricSmoother.

virtual const DtVector32& DtExponentialSmoother::approxVelocity ( DtTime t ) const

virtual

Get the approximated velocity at the specified time.

Reimplemented from DtTrigonometricSmoother.

virtual DtApproximator* DtExponentialSmoother::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 DtTrigonometricSmoother.

static DtTime DtExponentialSmoother::dfltSmoothPeriod ( )

static

virtual void DtExponentialSmoother::feedSmoothing ( )

protectedvirtual

Provide inputs to the actual smoothing algorithm.

static bool DtExponentialSmoother::masterSmoothEnable ( )

static

DtExponentialSmoother& DtExponentialSmoother::operator= ( const DtExponentialSmoother & orig )

assignment operator

virtual void DtExponentialSmoother::reset ( )

virtual

resets the smoothers.

This does not change the last updated position or the smoothing period it just clears the smoothing parameters. Calling this function while an entity is being smoothed to a new position may result in a very small jump

virtual const DtVector32& DtExponentialSmoother::rotationalVelocity ( DtTime t ) const

virtual

Reimplemented from DtTrigonometricSmoother.

DtExponentialSmoother * DtExponentialSmoother::self ( ) const

inlineprotected

Get rid of const-ness 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.

virtual void DtExponentialSmoother::setAcceleration	(	const DtVector32 &	acc,
		DtTime	t
	)

virtual

Set/Get absolute acceleration.

Reimplemented from DtTrigonometricSmoother.

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

virtual

Coherently set all DR parameters, thus avoiding DR computations associated with a partial set.

Reimplemented from DtTrigonometricSmoother.

static void DtExponentialSmoother::setDfltSmoothPeriod ( DtTime smoothPeriod )

static

Set/Get the default smoothing period.

virtual void DtExponentialSmoother::setFrozen ( bool frozen )

virtual

Set/Get whether the dead-reckoner is frozen.

Freezing the dead-reckoner prevents values from being dead-reckoned.

Reimplemented from DtApproximator.

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

virtual

Set absolute location.

Reimplemented from DtTrigonometricSmoother.

static void DtExponentialSmoother::setMasterSmoothEnable ( bool onOff )

static

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

Master smoothing switch defaults to on.

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

virtual

Set absolute orientation.

Reimplemented from DtTrigonometricSmoother.

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

virtual

Set/Get absolute rotational velocity.

Reimplemented from DtTrigonometricSmoother.

virtual void DtExponentialSmoother::setSmoothEnable ( bool on )

virtual

Set/Get the individual smoothing switch.

In order for smoothing to be enabled, the "master" smoothing-enabled switch must be on, AND the individual smoothing switch (accessed through these functions), must be on. Individual smoothing switch defaults to on.

Reimplemented from DtTrigonometricSmoother.

virtual void DtExponentialSmoother::setSmoothPeriod ( DtTime smoothPeriod )

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 from DtTrigonometricSmoother.