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trigonometricSmoother.h
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1 /*******************************************************************************
2 ** Copyright (c) 1992-2010 VT MAK
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
9 #pragma once
10 
11 #include "deadReckoner.h"
12 
25 class DT_DLL_VLPROTIND DtTrigonometricSmoother : public DtDeadReckoner
26 {
27 public:
29  DtTrigonometricSmoother();
31  virtual ~DtTrigonometricSmoother();
33  DtTrigonometricSmoother( const DtTrigonometricSmoother& src );
35  DtTrigonometricSmoother& operator=( const DtTrigonometricSmoother& src );
36 
38  bool operator == (const DtTrigonometricSmoother& orig ) const;
39 
42  virtual DtApproximator* clone() const;
43 
44 protected:
45  virtual void resetPosSmoother( DtTime t );
46  virtual void resetOriSmoother( DtTime t );
47 
48 public:
50  virtual void setLocation( const DtVector& loc, DtTime t );
52  virtual const DtVector& approxLocation( DtTime t ) const;
53 
55  virtual void setVelocity( const DtVector32& vel, DtTime t );
57  virtual const DtVector32& approxVelocity( DtTime t ) const;
58 
61  const DtVector32& approxUnsmoothedVelocity( DtTime curTime ) const;
62 
64  virtual void setOrientation( const DtTaitBryan& ori, DtTime t );
66  virtual const DtTaitBryan& approxEuler( DtTime t ) const;
67 
69  virtual void setAcceleration( const DtVector32& acc, DtTime t );
70  virtual const DtVector32& acceleration( DtTime t ) const;
71 
73  virtual void setRotationalVelocity( const DtVector32& vel, DtTime t );
74  virtual const DtVector32& rotationalVelocity( DtTime t ) const;
75 
77  virtual const DtDcm& approxBodyToGeoc( DtTime t ) const;
78 
82  virtual void setSmoothPeriod( DtTime t );
83  virtual DtTime smoothPeriod() const;
84 
88  virtual void setOriSmoothPeriod( DtTime t );
89  virtual DtTime oriSmoothPeriod() const;
90 
91  virtual void setSmoothEnable(bool onOff);
92  virtual bool smoothEnable() const;
93 
94 protected:
95  virtual const DtVector& smoothPosition( DtTime t );
96  virtual const DtVector32& smoothVelocity( DtTime t );
97  virtual const DtDcm& smoothBodyToGeoc( DtTime t );
98  virtual void initSmootherParams();
99  virtual void initSmoothOriParams();
100 
108  inline DtTrigonometricSmoother* self() const;
109 
110 public:
112  static void setDfltSmoothPeriod(DtTime smoothPeriod);
113  static DtTime dfltSmoothPeriod();
114 
117  static void setMasterSmoothEnable(bool onOff);
118  static bool masterSmoothEnable();
119 
120 
121  static void rotAngleAndAxisFromRotMatrix(
122  DtVector& n, double& phi, const DtDcm& m );
123  static void rotMatrixFromRotRatesAndTime(
124  DtDcm& m, DtDcm& o, DtVector& n, double& w, const DtVector32& r, double t );
125 
126 protected:
127  static double theTimeTolerance;
128  static bool theMasterSmoothEnable;
129  static DtTime theDfltSmoothPeriod;
130 
131 protected:
132  DtVector myLastDrPos;
133  DtVector32 myLastDrVel;
134  DtVector mySmoothPos;
135  DtVector32 mySmoothVel;
136  DtVector myX1;
137  DtVector myV1;
138  DtVector myA1;
139  DtVector myA2;
140  DtTime myTau;
141  DtTime myTau2;
142  DtTime myTau2Inv;
143  DtTime myTauSq4;
144  DtTime myTauSq4Inv;
145  DtTime myLastSetTime;
146  DtTime myPostSmoothTime;
147  DtTime myHalfSmoothTime;
148  DtTime myOriTau;
149  DtTime myLastSetOriTime;
150  DtTime myPostSmoothOriTime;
151  DtTime myLastSmoothOriTime;
152  DtTime myLastSmoothTbTime;
153  double mySmoothRotRate;
154  DtDcm myLastDrOri;
155  DtDcm mySmoothOri;
156  DtDcm mySmoothOmegaMx;
157  DtVector mySmoothRotAxis;
158  DtTaitBryan mySmoothTb;
159  bool myIsDirty;
160  bool myOriIsDirty;
161  bool myTbIsDirty;
162  bool mySmoothEnable;
163 };
164 
165 
166 inline DtTrigonometricSmoother* DtTrigonometricSmoother::self() const
167 {
168  return (DtTrigonometricSmoother*)this;
169 }
170 
171 
173 typedef DtTrigonometricSmoother DtSmoother;
174 
Document ID: Generated on Fri Dec 2 02:42:08 EST 2016 from SVN revision 171416
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