makVrl.DeadReckoner Class Reference

Inheritance diagram for makVrl.DeadReckoner:

Collaboration diagram for makVrl.DeadReckoner:

Public Member Functions
	DeadReckoner ()
virtual void	setLocation (Vector3d loc, double timeNow)
virtual Vector3d	approxLocation (double curTime)
virtual void	setVelocity (Vector3f vel, double curTime)
virtual Vector3f	approxVelocity (double curTime)
virtual Vector3f	acceleration (double curTime)
virtual Vector3f	rotationalVelocity (double t)
virtual TaitBryan	approxEuler (double curTime)
virtual void	setAcceleration (Vector3f acc, double curTime)
virtual void	setOrientation (TaitBryan orient, double timeNow)
virtual void	setRotationalVelocity (Vector3f bodyRates, double curTime)
virtual bool	isRotational ()
virtual Vector3f	deadReckonedVelocity (double curTime)
virtual Vector3d	deadReckonedLocation (double curTime)
virtual Matrix3d	deadReckonedBodyToGeoc (double curTime)
virtual Matrix3d	approxBodyToGeoc (double curTime)
virtual TaitBryan	deadReckonedEuler (double curTime)
virtual void	deadReckonLoc (double curTime)
virtual void	deadReckonBodyToGeoc (double curTime)
virtual void	deadReckonEuler (double curTime)
virtual void	deadReckonOrientation (double dt, Matrix3d old_b2w, Vector3f drr, double drrTheta, out Matrix3d new_b2w)
virtual void	deadReckonPosition (double dt, Vector3d oldPos, Vector3f oldVel, Vector3f accel, ref Vector3f newVel, ref Vector3d newPos)

Static Public Member Functions
static bool	isRotational (DeadReckonTypes algorithm)
static void	deadReckonPosition (double dt, DeadReckonTypes algorithm, Vector3d oldPos, Vector3d oldVel, Vector3d accel, ref Vector3d newVel, ref Vector3d newPos)
static void	deadReckonOrientation (double dt, DeadReckonTypes algorithm, Matrix3d old_b2w, Vector3f drr, double drrTheta, out Matrix3d new_b2w)

Static Public Attributes
static int	drTick = 0
static int	DRVelTick = 0
static int	DRAccTick = 0

Properties
virtual Vector3d	locationAtTimeOfValidity [get, set]
virtual Vector3f	velocityAtTimeOfValidity [get, set]
virtual double	timeOfLastLocationValidity [get, set]
virtual double	timeOfLastOrientationValidity [get, set]
Matrix3d	bodyToGeocAtTimeOfValidity [get, set]
TaitBryan	orientationAtTimeOfValidity [get, set]
virtual Vector3d	DRLoc [get, set]
virtual Vector3f	DRVel [get, set]
virtual double	DRPosTime [get, set]
Matrix3d	DRBodyToGeoc [get, set]
virtual double	DRBodyToGeocTime [get, set]
virtual TaitBryan	DREuler [get, set]
virtual double	DREulerTime [get, set]
virtual Vector3f	accel [get, set]
virtual Vector3f	rotVel [get, set]
virtual DeadReckonTypes	algorithm [get, set]
virtual double	DRRTheta [get, set]
virtual Vector3f	DRRVec [get, set]
Properties inherited from makVrl.Approximator
DeadReckonTypes	algorithm [get, set]
double	timeOfLastLocationValidity [get, set]
double	timeOfLastOrientationValidity [get, set]
Vector3d	locationAtTimeOfValidity [get, set]
Vector3f	velocityAtTimeOfValidity [get, set]
TaitBryan	orientationAtTimeOfValidity [get, set]

Private Attributes
Vector3d	myLocationAtTimeOfValidity
Vector3f	myVelocityAtTimeOfValidity
Matrix3d	myBodyToGeocAtTimeOfValidity
TaitBryan	myOrientationAtTimeOfValidity
double	myTimeOfLastLocationValidity
double	myTimeOfLastOrientationValidity
Vector3d	myDRLoc
Vector3f	myDRVel
double	myDRPosTime
Matrix3d	myDRBodyToGeoc
double	myDRBodyToGeocTime
TaitBryan	myDREuler
double	myDREulerTime
DeadReckonTypes	myAlgorithm
Vector3f	myAccel
Vector3f	myRotVel
Vector3f	myDRRVec
double	myDRRTheta

Constructor & Destructor Documentation

makVrl.DeadReckoner.DeadReckoner ( )

inline

References makVrl.DeadReckoner.myAccel, makVrl.DeadReckoner.myAlgorithm, makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeoc, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDREuler, makVrl.DeadReckoner.myDREulerTime, makVrl.DeadReckoner.myDRLoc, makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myDRRTheta, makVrl.DeadReckoner.myDRRVec, makVrl.DeadReckoner.myDRVel, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myRotVel, makVrl.DeadReckoner.myTimeOfLastLocationValidity, makVrl.DeadReckoner.myTimeOfLastOrientationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

Member Function Documentation

virtual Vector3f makVrl.DeadReckoner.acceleration ( double  curTime )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myAccel.

Referenced by makVrl.DeadReckoner.deadReckonLoc().

virtual Matrix3d makVrl.DeadReckoner.approxBodyToGeoc ( double  curTime )

inlinevirtual

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedBodyToGeoc().

virtual TaitBryan makVrl.DeadReckoner.approxEuler ( double  curTime )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedEuler().

virtual Vector3d makVrl.DeadReckoner.approxLocation ( double  curTime )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedLocation().

virtual Vector3f makVrl.DeadReckoner.approxVelocity ( double  curTime )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedVelocity().

virtual void makVrl.DeadReckoner.deadReckonBodyToGeoc ( double  curTime )

inlinevirtual

References makVrl.DeadReckoner.deadReckonOrientation(), makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeoc, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDRRTheta, makVrl.DeadReckoner.myDRRVec, and makVrl.DeadReckoner.myTimeOfLastOrientationValidity.

Referenced by makVrl.DeadReckoner.deadReckonedBodyToGeoc().

virtual Matrix3d makVrl.DeadReckoner.deadReckonedBodyToGeoc ( double  curTime )

inlinevirtual

References makVrl.DeadReckoner.deadReckonBodyToGeoc(), and makVrl.DeadReckoner.myDRBodyToGeoc.

Referenced by makVrl.DeadReckoner.approxBodyToGeoc(), makVrl.DeadReckoner.deadReckonEuler(), and makVrl.DeadReckoner.setRotationalVelocity().

virtual TaitBryan makVrl.DeadReckoner.deadReckonedEuler ( double  curTime )

inlinevirtual

References makVrl.DeadReckoner.deadReckonEuler(), and makVrl.DeadReckoner.myDREuler.

Referenced by makVrl.DeadReckoner.approxEuler().

virtual Vector3d makVrl.DeadReckoner.deadReckonedLocation ( double  curTime )

inlinevirtual

References makVrl.DeadReckoner.deadReckonLoc(), and makVrl.DeadReckoner.myDRLoc.

Referenced by makVrl.DeadReckoner.approxLocation(), makVrl.DeadReckoner.setAcceleration(), and makVrl.DeadReckoner.setVelocity().

virtual Vector3f makVrl.DeadReckoner.deadReckonedVelocity ( double  curTime )

inlinevirtual

References makVrl.DeadReckoner.deadReckonLoc(), and makVrl.DeadReckoner.myDRVel.

Referenced by makVrl.DeadReckoner.approxVelocity(), and makVrl.DeadReckoner.setAcceleration().

virtual void makVrl.DeadReckoner.deadReckonEuler ( double  curTime )

inlinevirtual

References makVrl.TaitBryan.BodyToRef_to_Euler(), makVrl.DeadReckoner.deadReckonedBodyToGeoc(), makVrl.DeadReckoner.myDREuler, and makVrl.DeadReckoner.myDREulerTime.

Referenced by makVrl.DeadReckoner.deadReckonedEuler().

virtual void makVrl.DeadReckoner.deadReckonLoc ( double  curTime )

inlinevirtual

References makVrl.DeadReckoner.acceleration(), makVrl.DeadReckoner.deadReckonPosition(), makVrl.DeadReckoner.myDRLoc, makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myDRVel, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myTimeOfLastLocationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

Referenced by makVrl.DeadReckoner.deadReckonedLocation(), and makVrl.DeadReckoner.deadReckonedVelocity().

virtual void makVrl.DeadReckoner.deadReckonOrientation ( double  dt, Matrix3d  old_b2w, Vector3f  drr, double  drrTheta, out Matrix3d  new_b2w  )

inlinevirtual

References makVrl.Matrix3d.CreateFromAxisAngle(), and makVrl.DeadReckoner.isRotational().

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc().

static void makVrl.DeadReckoner.deadReckonOrientation ( double  dt, DeadReckonTypes  algorithm, Matrix3d  old_b2w, Vector3f  drr, double  drrTheta, out Matrix3d  new_b2w  )

inlinestatic

References makVrl.Matrix3d.CreateFromAxisAngle(), and makVrl.DeadReckoner.isRotational().

virtual void makVrl.DeadReckoner.deadReckonPosition ( double  dt, Vector3d  oldPos, Vector3f  oldVel, Vector3f  accel, ref Vector3f  newVel, ref Vector3d  newPos  )

inlinevirtual

References makVrl.DeadReckoner.algorithm.

Referenced by makVrl.DeadReckoner.deadReckonLoc().

static void makVrl.DeadReckoner.deadReckonPosition ( double  dt, DeadReckonTypes  algorithm, Vector3d  oldPos, Vector3d  oldVel, Vector3d  accel, ref Vector3d  newVel, ref Vector3d  newPos  )

inlinestatic

virtual bool makVrl.DeadReckoner.isRotational ( )

inlinevirtual

References makVrl.DeadReckoner.algorithm.

Referenced by makVrl.DeadReckoner.deadReckonOrientation().

static bool makVrl.DeadReckoner.isRotational ( DeadReckonTypes  algorithm )

inlinestatic

virtual Vector3f makVrl.DeadReckoner.rotationalVelocity ( double  t )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myRotVel.

virtual void makVrl.DeadReckoner.setAcceleration ( Vector3f  acc, double  curTime  )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedLocation(), makVrl.DeadReckoner.deadReckonedVelocity(), makVrl.DeadReckoner.myAccel, makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myTimeOfLastLocationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

virtual void makVrl.DeadReckoner.setLocation ( Vector3d  loc, double  timeNow  )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myLocationAtTimeOfValidity, and makVrl.DeadReckoner.myTimeOfLastLocationValidity.

virtual void makVrl.DeadReckoner.setOrientation ( TaitBryan  orient, double  timeNow  )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.TaitBryan.Euler_to_BodyToRef(), makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDREulerTime, makVrl.DeadReckoner.myOrientationAtTimeOfValidity, and makVrl.DeadReckoner.myTimeOfLastOrientationValidity.

virtual void makVrl.DeadReckoner.setRotationalVelocity ( Vector3f  bodyRates, double  curTime  )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedBodyToGeoc(), makVrl.MathHelper.directedRotRateFromVec(), makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDREulerTime, makVrl.DeadReckoner.myDRRTheta, makVrl.DeadReckoner.myDRRVec, makVrl.DeadReckoner.myRotVel, and makVrl.DeadReckoner.myTimeOfLastOrientationValidity.

virtual void makVrl.DeadReckoner.setVelocity ( Vector3f  vel, double  curTime  )

inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedLocation(), makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myTimeOfLastLocationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

Member Data Documentation

int makVrl.DeadReckoner.DRAccTick = 0

static

int makVrl.DeadReckoner.drTick = 0

static

int makVrl.DeadReckoner.DRVelTick = 0

static

Vector3f makVrl.DeadReckoner.myAccel

private

Referenced by makVrl.DeadReckoner.acceleration(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.setAcceleration().

DeadReckonTypes makVrl.DeadReckoner.myAlgorithm

private

Referenced by makVrl.DeadReckoner.DeadReckoner().

Matrix3d makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity

private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

Matrix3d makVrl.DeadReckoner.myDRBodyToGeoc

private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.deadReckonedBodyToGeoc(), and makVrl.DeadReckoner.DeadReckoner().

double makVrl.DeadReckoner.myDRBodyToGeocTime

private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

TaitBryan makVrl.DeadReckoner.myDREuler

private

Referenced by makVrl.DeadReckoner.deadReckonedEuler(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.deadReckonEuler().

double makVrl.DeadReckoner.myDREulerTime

private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonEuler(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3d makVrl.DeadReckoner.myDRLoc

private

Referenced by makVrl.DeadReckoner.deadReckonedLocation(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.deadReckonLoc().

double makVrl.DeadReckoner.myDRPosTime

private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), makVrl.DeadReckoner.setLocation(), and makVrl.DeadReckoner.setVelocity().

double makVrl.DeadReckoner.myDRRTheta

private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3f makVrl.DeadReckoner.myDRRVec

private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3f makVrl.DeadReckoner.myDRVel

private

Referenced by makVrl.DeadReckoner.deadReckonedVelocity(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.deadReckonLoc().

Vector3d makVrl.DeadReckoner.myLocationAtTimeOfValidity

private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), makVrl.DeadReckoner.setLocation(), and makVrl.DeadReckoner.setVelocity().

TaitBryan makVrl.DeadReckoner.myOrientationAtTimeOfValidity

private

Referenced by makVrl.DeadReckoner.setOrientation().

Vector3f makVrl.DeadReckoner.myRotVel

private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.rotationalVelocity(), and makVrl.DeadReckoner.setRotationalVelocity().

double makVrl.DeadReckoner.myTimeOfLastLocationValidity

private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), makVrl.DeadReckoner.setLocation(), and makVrl.DeadReckoner.setVelocity().

double makVrl.DeadReckoner.myTimeOfLastOrientationValidity

private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3f makVrl.DeadReckoner.myVelocityAtTimeOfValidity

private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), and makVrl.DeadReckoner.setVelocity().

Property Documentation

virtual Vector3f makVrl.DeadReckoner.accel

getset

Referenced by makVrl.Smoother.initSmootherParams().

virtual DeadReckonTypes makVrl.DeadReckoner.algorithm

getset

Referenced by makVrl.DeadReckoner.deadReckonPosition(), makVrl.DeadReckoner.isRotational(), and f18.f18.Main().

Matrix3d makVrl.DeadReckoner.bodyToGeocAtTimeOfValidity

getset

Referenced by makVrl.Smoother.initSmoothOriParams().

Matrix3d makVrl.DeadReckoner.DRBodyToGeoc

getset

Referenced by makVrl.Smoother.resetOriSmoother().

virtual double makVrl.DeadReckoner.DRBodyToGeocTime

getset

virtual TaitBryan makVrl.DeadReckoner.DREuler

getset

Referenced by makVrl.Smoother.approxEuler().

virtual double makVrl.DeadReckoner.DREulerTime

getset

virtual Vector3d makVrl.DeadReckoner.DRLoc

getset

virtual double makVrl.DeadReckoner.DRPosTime

getset

virtual double makVrl.DeadReckoner.DRRTheta

getset

virtual Vector3f makVrl.DeadReckoner.DRRVec

getset

virtual Vector3f makVrl.DeadReckoner.DRVel

getset

virtual Vector3d makVrl.DeadReckoner.locationAtTimeOfValidity

getset

Referenced by makVrl.Smoother.initSmootherParams().

TaitBryan makVrl.DeadReckoner.orientationAtTimeOfValidity

getset

virtual Vector3f makVrl.DeadReckoner.rotVel

getset

Referenced by makVrl.Smoother.initSmoothOriParams().

virtual double makVrl.DeadReckoner.timeOfLastLocationValidity

getset

virtual double makVrl.DeadReckoner.timeOfLastOrientationValidity

getset

virtual Vector3f makVrl.DeadReckoner.velocityAtTimeOfValidity

getset

Referenced by makVrl.Smoother.initSmootherParams().

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The documentation for this class was generated from the following file:

• deadReckoner.cs