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baseEntityStateRepository.h
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1 /****************************************************************************
2  * Copyright (c) 2013 VT MAK
3  * All rights reserved.
4  ****************************************************************************/
5 
9 
10 #pragma once
11 
12 #include "stateRepository.h"
13 #include <vlpi/trigonometricSmoother.h>
14 #include <vlpi/thresholder.h>
15 #include <vlpi/entityType.h>
16 #include <vlutil/vlTime.h>
17 #include <matrix/vlDcm.h>
18 
19 class DT_DLL_VL DtApproximator;
20 class DT_DLL_VL DtDeadReckoner;
21 
22 #if DtHLA
23 class DT_DLL_VL DtHlaObjectManager;
24 #else
25 class DT_DLL_VL DtDisObjectManager;
26 #endif
27 
28 
36 class DT_DLL_VL DtBaseEntityStateRepository : public DtStateRepository
37 {
38 public:
39 
41  DtBaseEntityStateRepository();
42 
44  virtual ~DtBaseEntityStateRepository();
45 
47  DtBaseEntityStateRepository(const DtBaseEntityStateRepository& orig);
48 
50  DtBaseEntityStateRepository& operator=(
51  const DtBaseEntityStateRepository& orig);
52 
54  virtual DtStateRepository* clone(bool copy = false) const;
55 
61  void setTimeStampType(DtTimeStampType type);
62  DtTimeStampType timeStampType() const;
63 
76 
77 
80  virtual void setLocation(const DtVector & location, DtTime aTime);
83  virtual void setLocation(const DtVector & location);
84 
85 
89  virtual const DtVector &location(DtTime aTime) const;
94  virtual const DtVector &location() const;
95 
96 
99  virtual const DtVector & lastSetLocation() const;
100 
102  virtual void setVelocity(const DtVector32 & Velocity, DtTime aTime);
105  virtual void setVelocity(const DtVector32 & Velocity);
107  virtual const DtVector32 & velocity(DtTime aTime) const;
109  virtual const DtVector32 & velocity() const;
110 
111 
114  virtual const DtVector32 & lastSetVelocity() const;
115 
117  virtual void setAcceleration(const DtVector32 & Acceleration, DtTime aTime);
119  virtual void setAcceleration(const DtVector32 & Acceleration);
121  virtual const DtVector32 & acceleration(DtTime aTime) const;
123  virtual const DtVector32 & acceleration() const;
124 
127  virtual const DtVector32 & lastSetAcceleration() const;
128 
130  virtual void setOrientation(const DtTaitBryan& orient, DtTime aTime);
132  virtual void setOrientation(const DtTaitBryan& orient);
133 
135  virtual const DtTaitBryan& orientation(DtTime aTime) const;
137  virtual const DtTaitBryan& orientation() const;
138 
141  virtual const DtTaitBryan& lastSetOrientation() const;
142 
144  virtual void setRotationalVelocity(const DtVector32 & BodyRates, DtTime aTime);
146  virtual void setRotationalVelocity(const DtVector32 & BodyRates);
148  virtual const DtVector32 & rotationalVelocity(DtTime aTime) const;
150  virtual const DtVector32 & rotationalVelocity() const;
151 
154  virtual const DtVector32 & lastSetRotationalVelocity() const;
155 
157  virtual void setFrozen(bool on);
159  virtual bool frozen() const;
160 
162  virtual void setAlgorithm(DtDeadReckonTypes alg);
164 
165  virtual DtDeadReckonTypes algorithm() const;
167 
170  static void setDefaultDeadReckoner(DtDeadReckoner* val);
171 
173  static void setDefaultSmoother(DtSmoother* val);
174 
177  static void setDefaultRelativeDeadReckoner(DtDeadReckoner* val);
178 
181  static void setDefaultRelativeSmoother(DtSmoother* val);
182 
183 
199 
200 
201 
203  virtual void setRelativeLocation(const DtVector & location, DtTime aTime);
206  virtual void setRelativeLocation(const DtVector & location);
209  virtual const DtVector & relativeLocation(DtTime aTime) const;
212  virtual const DtVector & relativeLocation() const;
213 
216  virtual const DtVector & lastSetRelativeLocation() const;
217 
220  virtual void setRelativeVelocity(const DtVector32 & Velocity, DtTime aTime);
223  virtual void setRelativeVelocity(const DtVector32 & Velocity);
226  virtual const DtVector32 & relativeVelocity(DtTime aTime) const;
229  virtual const DtVector32 & relativeVelocity() const;
230 
233  virtual const DtVector32 & lastSetRelativeVelocity() const;
234 
237  virtual void setRelativeAcceleration(const DtVector32 & Acceleration,
238  DtTime aTime);
241  virtual void setRelativeAcceleration(const DtVector32 & Acceleration);
244  virtual const DtVector32 & relativeAcceleration(DtTime aTime) const;
247  virtual const DtVector32 & relativeAcceleration() const;
248 
251  virtual const DtVector32 & lastSetRelativeAcceleration() const;
252 
254  virtual void setRelativeOrientation(const DtTaitBryan& orient,
255  DtTime aTime);
257  virtual void setRelativeOrientation(const DtTaitBryan& orient);
259  virtual const DtTaitBryan& relativeOrientation(DtTime aTime) const;
261  virtual const DtTaitBryan& relativeOrientation() const;
262 
265  virtual const DtTaitBryan& lastSetRelativeOrientation() const;
266 
268  virtual void setRelativeRotationalVelocity(const DtVector32 & BodyRates,
269  DtTime aTime);
271  virtual void setRelativeRotationalVelocity(const DtVector32 & BodyRates);
273  virtual const DtVector32 & relativeRotationalVelocity(DtTime aTime) const;
275  virtual const DtVector32 & relativeRotationalVelocity() const;
276 
279  virtual const DtVector32 & lastSetRelativeRotationalVelocity() const;
280 
282  virtual void setRelativeFrozen(bool onOff);
284  virtual bool relativeFrozen() const;
285 
287  virtual void setRelativeAlgorithm(DtDeadReckonTypes alg);
289  virtual DtDeadReckonTypes relativeAlgorithm() const;
290 
292 
302 
303 
305  virtual const DtGlobalObjectDesignator& hostGlobalId() const;
306 
312  virtual void setHostGlobalId( const DtGlobalObjectDesignator& id );
313 
316  virtual void clearHostGlobalId();
317 
319  virtual const DtNature& nature() const;
321  virtual void setNature( const DtNature newVal );
322 
324  virtual const DtPosition& partPosition() const;
326  virtual void setPartPosition( const DtPosition newVal );
327 
329  virtual const DtStationName& stationName() const;
331  virtual void setStationName( const DtStationName newVal );
332 
334  virtual const DtU16& stationNumber() const;
336  virtual void setStationNumber( const DtU16 newVal );
337 
339  virtual const DtVector & relativePosition() const;
341  virtual void setRelativePosition( const DtVector & newVal );
342 
344  virtual const DtFloat32& range() const;
346  virtual void setRange( const DtFloat32 newVal );
347 
349  virtual const DtFloat32& bearing() const;
351  virtual void setBearing( const DtFloat32 newVal );
352 
354 
355 
356 
363 
364 #if DtHLA
365  virtual void setHlaObjectManager( DtHlaObjectManager* mgr );
366 #else
367  virtual void setDisObjectManager( DtDisObjectManager* mgr );
368 #endif
369 
376  virtual void setAmAsSeenByRemote( bool val );
377 
379  virtual const DtDcm & bodyToGeoc(DtTime aTime) const;
381  virtual const DtDcm & bodyToGeoc() const;
382 
384  virtual const DtDcm & relativeBodyToHost(DtTime aTime) const;
386  virtual const DtDcm & relativeBodyToHost() const;
387 
389  virtual void setEntityId(const DtEntityIdentifier& id);
391  virtual const DtEntityIdentifier& entityId() const;
392 
394  virtual void setEntityType(const DtEntityType& type);
396  virtual const DtEntityType& entityType() const;
397 
398 #if DtHLA
399 
400  virtual void setFederateId(const DtFederateId& id);
402  virtual const DtFederateId& federateId() const;
403 #endif
404 
412  virtual void setApproximator(DtApproximator* approx);
413  virtual DtApproximator* approximator() const;
414 
415  virtual void setRelativeApproximator(DtApproximator* approx);
416  virtual DtApproximator* relativeApproximator() const;
418 
419 
424  virtual void useDeadReckoner(DtDeadReckoner* dr);
425 
430  virtual void useRelativeDeadReckoner(DtDeadReckoner* dr);
431 
433  virtual void useDeadReckoner(bool yesNo = true);
435  virtual void useRelativeDeadReckoner(bool yesNo = true);
436 
438  virtual DtDeadReckoner* usingDeadReckoner();
440  virtual DtDeadReckoner* usingRelativeDeadReckoner();
441 
446  virtual void useSmoother(DtSmoother* sm);
447 
452  virtual void useRelativeSmoother(DtSmoother* sm);
453 
455  virtual void useSmoother(bool yesNo = true);
457  virtual void useRelativeSmoother(bool yesNo = true);
458 
460  virtual DtSmoother* usingSmoother();
462  virtual DtSmoother* usingRelativeSmoother();
463 
466  virtual DtThresholder* thresholder();
467 
470  virtual const DtThresholder& thresholder() const;
471 
474  virtual DtClock* clock() const;
477  virtual void setClock(DtClock* clock);
478 
481  virtual void printData() const;
482 
484  void printDataToStream(std::ostream &str) const;
485 
487  friend class DtBaseEntityDecoder;
488  virtual void setTimeForSets( DtTime time );
489  virtual DtTime timeForSets() const;
490 
493  void computeSpatialFromRelativeSpatial();
494 
495 protected:
496 
499  DtBaseEntityStateRepository* self() const;
500 
501 public:
502 
505  DtBaseEntityStateRepository* hostEsr() const;
506 
507 protected:
508 
511  DtClock* myClock;
512 
514  DtApproximator* myApproximator;
515  DtApproximator* myRelativeApproximator;
516 
518  DtDeadReckoner* myDeadReckoner;
519  DtDeadReckoner* myRelativeDeadReckoner;
520 
522  DtSmoother* mySmoother;
523  DtSmoother* myRelativeSmoother;
524 
526  static DtDeadReckoner* theDfltDeadReckoner;
527  static DtSmoother* theDfltSmoother;
528  static DtDeadReckoner* theDfltRelativeDeadReckoner;
529  static DtSmoother* theDfltRelativeSmoother;
530 
532  DtVector myLocation;
533  DtVector32 myVelocity;
534  DtVector32 myAcceleration;
535  DtTaitBryan myOrientation;
536  DtVector32 myRotationalVelocity;
537  DtDeadReckonTypes myAlgorithm;
538  bool myFrozen;
539 
541  DtVector myRelativeLocation;
542  DtVector32 myRelativeVelocity;
543  DtVector32 myRelativeAcceleration;
544  DtTaitBryan myRelativeOrientation;
545  DtVector32 myRelativeRotationalVelocity;
546  DtDeadReckonTypes myRelativeAlgorithm;
547  bool myRelativeFrozen;
548 
553  DtGlobalObjectDesignator myHostGlobalId;
554  bool myHostGlobalIdSetFlag;
555  DtNature myNature;
556  DtPosition myPartPosition;
557  DtStationName myStationName;
558  DtU16 myStationNumber;
559  DtVector myRelativePosition;
560  DtFloat32 myRange;
561  DtFloat32 myBearing;
562 
564 #if DtHLA
565 
566  DtHlaObjectManager* myObjectManager;
567 #else
568  DtDisObjectManager* myObjectManager;
569 #endif
570 
573  bool myAmAsSeenByRemote;
574 
577  DtVector myLastSetLocation;
578  DtVector32 myLastSetVelocity;
579  DtVector32 myLastSetAcceleration;
580  DtTaitBryan myLastSetOrientation;
581  DtVector32 myLastSetRotationalVelocity;
582 
585  DtVector myLastSetRelativeLocation;
586  DtVector32 myLastSetRelativeVelocity;
587  DtVector32 myLastSetRelativeAcceleration;
588  DtTaitBryan myLastSetRelativeOrientation;
589  DtVector32 myLastSetRelativeRotationalVelocity;
590 
591  DtDcm myBodyToGeoc;
592  bool myBodyToGeocDirty;
593  DtDcm myRelativeBodyToHost;
594  bool myRelativeBodyToHostDirty;
595  DtTimeStampType myTimeStampType;
596 
597  DtEntityIdentifier myEntityId;
598 #if DtHLA
599 
600  mutable DtFederateId myFederateId;
601 #endif
602  DtEntityType myEntityType;
603  DtThresholder myThresholder;
604 
605 protected:
606  DtTime myTimeForSets;
607 };
608 
609 inline DtThresholder* DtBaseEntityStateRepository::thresholder()
610 {
611  return &myThresholder;
612 }
613 
614 inline const DtThresholder& DtBaseEntityStateRepository::thresholder() const
615 {
616  return myThresholder;
617 }
618 
619 inline void DtBaseEntityStateRepository::setTimeStampType(
620  DtTimeStampType type)
621 {
622  myTimeStampType = type;
623 }
624 
625 inline DtTimeStampType DtBaseEntityStateRepository::timeStampType() const
626 {
627  return myTimeStampType;
628 }
629 
630 inline const DtEntityType& DtBaseEntityStateRepository::entityType() const
631 {
632  return myEntityType;
633 }
634 
635 inline void DtBaseEntityStateRepository::setEntityType(
636  const DtEntityType& type)
637 {
638  myEntityType = type;
639 }
640 
641 inline const DtEntityIdentifier&
642  DtBaseEntityStateRepository::entityId() const
643 {
644  return myEntityId;
645 }
646 
647 inline void DtBaseEntityStateRepository::setEntityId(
648  const DtEntityIdentifier& id)
649 {
650  myEntityId = id;
651 }
652 
653 #if DtHLA
654 inline const DtFederateId& DtBaseEntityStateRepository::federateId() const
655 {
656  myFederateId.setSiteId(myEntityId.site());
657  myFederateId.setApplicationId(myEntityId.host());
658  return myFederateId;
659 }
660 
661 inline void DtBaseEntityStateRepository::setFederateId(
662  const DtFederateId& id)
663 {
664  myEntityId.setSite(id.siteId());
665  myEntityId.setHost(id.applicationId());
666 }
667 #endif
668 
670 
671 inline const DtVector32 & DtBaseEntityStateRepository::lastSetRotationalVelocity(
672  ) const
673 {
674  return myLastSetRotationalVelocity;
675 }
676 
677 inline const DtTaitBryan& DtBaseEntityStateRepository::lastSetOrientation(
678  ) const
679 {
680  return myLastSetOrientation;
681 }
682 
683 inline const DtVector32 & DtBaseEntityStateRepository::lastSetAcceleration(
684  ) const
685 {
686  return myLastSetAcceleration;
687 }
688 
689 inline const DtVector32 & DtBaseEntityStateRepository::lastSetVelocity() const
690 {
691  return myLastSetVelocity;
692 }
693 
694 inline const DtVector & DtBaseEntityStateRepository::lastSetLocation() const
695 {
696  return myLastSetLocation;
697 }
698 
700 
701 inline const DtVector32 &
702 DtBaseEntityStateRepository::lastSetRelativeRotationalVelocity() const
703 {
704  return myLastSetRelativeRotationalVelocity;
705 }
706 
707 inline const DtTaitBryan&
708 DtBaseEntityStateRepository::lastSetRelativeOrientation() const
709 {
710  return myLastSetRelativeOrientation;
711 }
712 
713 inline const DtVector32 &
714 DtBaseEntityStateRepository::lastSetRelativeAcceleration() const
715 {
716  return myLastSetRelativeAcceleration;
717 }
718 
719 inline const DtVector32 &
720 DtBaseEntityStateRepository::lastSetRelativeVelocity() const
721 {
722  return myLastSetRelativeVelocity;
723 }
724 
725 inline const DtVector &
726 DtBaseEntityStateRepository::lastSetRelativeLocation() const
727 {
728  return myLastSetRelativeLocation;
729 }
730 
731 inline void DtBaseEntityStateRepository::setAmAsSeenByRemote( bool val )
732 {
733  myAmAsSeenByRemote = val;
734 }
Document ID: Generated on Fri Dec 2 02:42:08 EST 2016 from SVN revision 171416
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