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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:
51  virtual void setAll(
52  const DtVector& loc,
53  const DtVector32& vel,
54  const DtTaitBryan& ori,
55  const DtVector32& acc,
56  const DtVector32& rotVel,
57  DtTime t);
58 
60  virtual void setLocation( const DtVector& loc, DtTime t );
62  virtual const DtVector& approxLocation( DtTime t ) const;
63 
65  virtual void setVelocity( const DtVector32& vel, DtTime t );
67  virtual const DtVector32& approxVelocity( DtTime t ) const;
68 
71  const DtVector32& approxUnsmoothedVelocity( DtTime curTime ) const;
72 
74  virtual void setOrientation( const DtTaitBryan& ori, DtTime t );
76  virtual const DtTaitBryan& approxEuler( DtTime t ) const;
77 
79  virtual void setAcceleration( const DtVector32& acc, DtTime t );
80  virtual const DtVector32& acceleration( DtTime t ) const;
81 
83  virtual void setRotationalVelocity( const DtVector32& vel, DtTime t );
84  virtual const DtVector32& rotationalVelocity( DtTime t ) const;
85 
87  virtual const DtDcm& approxBodyToGeoc( DtTime t ) const;
88 
92  virtual void setSmoothPeriod( DtTime t );
93  virtual DtTime smoothPeriod() const;
94 
98  virtual void setOriSmoothPeriod( DtTime t );
99  virtual DtTime oriSmoothPeriod() const;
100 
101  virtual void setSmoothEnable(bool onOff);
102  virtual bool smoothEnable() const;
103 
104 protected:
105  virtual const DtVector& smoothPosition( DtTime t );
106  virtual const DtVector32& smoothVelocity( DtTime t );
107  virtual const DtDcm& smoothBodyToGeoc( DtTime t );
108  virtual void initSmootherParams();
109  virtual void initSmoothOriParams();
110 
118  inline DtTrigonometricSmoother* self() const;
119 
120 public:
122  static void setDfltSmoothPeriod(DtTime smoothPeriod);
123  static DtTime dfltSmoothPeriod();
124 
127  static void setMasterSmoothEnable(bool onOff);
128  static bool masterSmoothEnable();
129 
130 
131  static void rotAngleAndAxisFromRotMatrix(
132  DtVector& n, double& phi, const DtDcm& m );
133  static void rotMatrixFromRotRatesAndTime(
134  DtDcm& m, DtDcm& o, DtVector& n, double& w, const DtVector32& r, double t );
135 
136 protected:
137  static double theTimeTolerance;
138  static bool theMasterSmoothEnable;
139  static DtTime theDfltSmoothPeriod;
140 
141 protected:
142  DtVector myLastDrPos;
143  DtVector32 myLastDrVel;
144  DtVector mySmoothPos;
145  DtVector32 mySmoothVel;
146  DtVector myX1;
147  DtVector myV1;
148  DtVector myA1;
149  DtVector myA2;
150  DtTime myTau;
151  DtTime myTau2;
152  DtTime myTau2Inv;
153  DtTime myTauSq4;
154  DtTime myTauSq4Inv;
155  DtTime myLastSetTime;
156  DtTime myPostSmoothTime;
157  DtTime myHalfSmoothTime;
158  DtTime myOriTau;
159  DtTime myLastSetOriTime;
160  DtTime myPostSmoothOriTime;
161  DtTime myLastSmoothOriTime;
162  DtTime myLastSmoothTbTime;
163  double mySmoothRotRate;
164  DtDcm myLastDrOri;
165  DtDcm mySmoothOri;
166  DtDcm mySmoothOmegaMx;
167  DtVector mySmoothRotAxis;
168  DtTaitBryan mySmoothTb;
169  bool myIsDirty;
170  bool myOriIsDirty;
171  bool myTbIsDirty;
172  bool mySmoothEnable;
173 };
174 
175 
176 inline DtTrigonometricSmoother* DtTrigonometricSmoother::self() const
177 {
178  return (DtTrigonometricSmoother*)this;
179 }
180 
181 
183 typedef DtTrigonometricSmoother DtSmoother;
184 
Document ID: Generated on Mon Jun 22 21:18:40 EDT 2020 from SVN revision 213785
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