DtSmoothPos Class Reference

Inheritance diagram for DtSmoothPos:

Collaboration diagram for DtSmoothPos:

Public Member Functions
	DtSmoothPos (void *usr, DtTime smoothT, const DtVector &pos, const DtVector32 &vel, const DtVector32 &acc)
	Constructors.
	DtSmoothPos (void *usr, DtTime smoothT)
	WARNING: not fully constructed until input() & tick() are called.
virtual	~DtSmoothPos ()
	DtSmoothPos (const DtSmoothPos &)
	Copy Constructor.
DtSmoothPos &	operator= (const DtSmoothPos &)
	Assignment Operator.
void	input (const DtVector &pos, const DtVector32 &vel, const DtVector32 &acc, DtTime simTime, int freeze=0)
void	tick (DtTime simTime)
const DtVector &	position () const
const DtVector32 &	velocity () const
virtual void	setSmoothEnable (int on)
	Set/Get the individual smoothing switch.
virtual int	smoothEnable () const
virtual void	setSmoothPeriod (DtTime t)
	Set/Get smoothPeriod.
virtual DtTime	smoothPeriod () const
virtual void	reset ()
	This resets the smoother parameters.

Static Public Member Functions
static void	setDfltSmoothPeriod (DtTime t)
	Set/Get default smooth period.
static DtTime	dfltSmoothPeriod ()
static void	setMasterSmoothEnable (bool onOff)
	Set/Get the value of the "master" smoothing-enabled switch.
static bool	masterSmoothEnable ()

Protected Member Functions
virtual void	dfltAction (DtTime simTime, void *usr, DtVector32 &vs, DtVector &ps)=0
void	init (void *u, DtTime t)
void	setT1data ()

Protected Attributes
int	myFrozen
DtTime	myT0
DtTime	myT1
DtTime	myT2
DtTime	myLastT
DtTime	myLocalTau
DtTime	myLocalHtau
DtTime	myLocalTauInv
DtTime *	myTau
DtTime *	myHtau
DtTime *	myTauInv
DtVector	ps
DtVector	p0
DtVector	dp
DtVector	p1
DtVector32	vs
DtVector32	v0
DtVector32	v1
DtVector32	dv
DtVector32	a1
DtVector32	a2
DtVector32	ap
int	myEnable
int	myNeedT1Data
int	myNeedT2Data
void *	myUsr

Static Protected Attributes
static DtTime	theDfltTau
static DtTime	theDfltHtau
static DtTime	theDfltTauInv
static bool	theMasterSmoothEnable

Constructor & Destructor Documentation

DtSmoothPos::DtSmoothPos	(	void *	usr,
		DtTime	smoothT,
		const DtVector &	pos,
		const DtVector32 &	vel,
		const DtVector32 &	acc
	)

Constructors.

smoothT is the initial smoothPeriod. Use a value of -1 to indicate use of the default period.

DtSmoothPos::DtSmoothPos	(	void *	usr,
		DtTime	smoothT
	)

WARNING: not fully constructed until input() & tick() are called.

virtual DtSmoothPos::~DtSmoothPos ( )

inlinevirtual

DtSmoothPos::DtSmoothPos

(

const DtSmoothPos &

)

Copy Constructor.

Member Function Documentation

virtual void DtSmoothPos::dfltAction ( DtTime  simTime, void *  usr, DtVector32 &  vs, DtVector &  ps  )

protectedpure virtual

Implemented in DtSmoothPosWithDr.

static DtTime DtSmoothPos::dfltSmoothPeriod ( )

static

void DtSmoothPos::init ( void *  u, DtTime  t  )

protected

void DtSmoothPos::input	(	const DtVector &	pos,
		const DtVector32 &	vel,
		const DtVector32 &	acc,
		DtTime	simTime,
		int	freeze = 0
	)

static bool DtSmoothPos::masterSmoothEnable ( )

static

DtSmoothPos& DtSmoothPos::operator=

(

const DtSmoothPos &

)

Assignment Operator.

const DtVector& DtSmoothPos::position ( ) const

inline

virtual void DtSmoothPos::reset ( )

virtual

This resets the smoother parameters.

This does not change the smoothing period or the last updated position.

static void DtSmoothPos::setDfltSmoothPeriod ( DtTime  t )

static

Set/Get default smooth period.

static void DtSmoothPos::setMasterSmoothEnable ( bool  onOff )

static

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

virtual void DtSmoothPos::setSmoothEnable ( int  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.

virtual void DtSmoothPos::setSmoothPeriod ( DtTime  t )

virtual

Set/Get smoothPeriod.

If set to -1, smooth period reverts to the current default smooth period.

void DtSmoothPos::setT1data ( )

protected

virtual int DtSmoothPos::smoothEnable ( ) const

virtual

DtTime DtSmoothPos::smoothPeriod ( ) const

inlinevirtual

References myTau.

void DtSmoothPos::tick

(

DtTime

simTime

)

const DtVector32& DtSmoothPos::velocity ( ) const

inline

Member Data Documentation

DtVector32 DtSmoothPos::a1

protected

DtVector32 DtSmoothPos::a2

protected

DtVector32 DtSmoothPos::ap

protected

DtVector DtSmoothPos::dp

protected

DtVector32 DtSmoothPos::dv

protected

int DtSmoothPos::myEnable

protected

int DtSmoothPos::myFrozen

protected

DtTime* DtSmoothPos::myHtau

protected

DtTime DtSmoothPos::myLastT

protected

DtTime DtSmoothPos::myLocalHtau

protected

DtTime DtSmoothPos::myLocalTau

protected

DtTime DtSmoothPos::myLocalTauInv

protected

int DtSmoothPos::myNeedT1Data

protected

int DtSmoothPos::myNeedT2Data

protected

DtTime DtSmoothPos::myT0

protected

DtTime DtSmoothPos::myT1

protected

DtTime DtSmoothPos::myT2

protected

DtTime* DtSmoothPos::myTau

protected

Referenced by smoothPeriod().

DtTime* DtSmoothPos::myTauInv

protected

void* DtSmoothPos::myUsr

protected

DtVector DtSmoothPos::p0

protected

DtVector DtSmoothPos::p1

protected

DtVector DtSmoothPos::ps

protected

DtTime DtSmoothPos::theDfltHtau

staticprotected

DtTime DtSmoothPos::theDfltTau

staticprotected

DtTime DtSmoothPos::theDfltTauInv

staticprotected

bool DtSmoothPos::theMasterSmoothEnable

staticprotected

DtVector32 DtSmoothPos::v0

protected

DtVector32 DtSmoothPos::v1

protected

DtVector32 DtSmoothPos::vs

protected

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

• smoothUtil.h