DtDeadReckoner Class Reference

Instances of DtDeadReckoner are used to provide approximated position and orientation information for entities using various dead reckoning algorithms. More...

Inheritance diagram for DtDeadReckoner:

Collaboration diagram for DtDeadReckoner:

Public Member Functions
	DtDeadReckoner ()
	Default CTOR.
	DtDeadReckoner (const DtDeadReckoner &orig)
	Copy CTOR.
virtual	~DtDeadReckoner ()
	Virtual DTOR.
DtDeadReckoner &	operator= (const DtDeadReckoner &orig)
	Assignment Operator.
bool	operator== (const DtDeadReckoner &orig) const
	equality Operator.
virtual DtApproximator *	clone () const
	Create a copy of this object.
virtual void	setAll (const DtVector &loc, const DtVector32 &vel, const DtTaitBryan &ori, const DtVector32 &acc, const DtVector32 &rotVel, DtTime t)
	Coherently set all DR parameters, thus avoiding DR computations associated with a partial set.
virtual void	setLocation (const DtVector &loc, DtTime curTime)
	Set absolute location.
virtual const DtVector &	approxLocation (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtVector &	deadReckonedLocation (DtTime curTime) const
	Get the dead-reckoned location at the specified time.
virtual void	setVelocity (const DtVector32 &vel, DtTime curTime)
	Set absolute velocity.
virtual const DtVector32 &	approxVelocity (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtVector32 &	deadReckonedVelocity (DtTime curTime) const
	Get the dead-reckoned velocity at the specified time.
virtual void	setOrientation (const DtTaitBryan &ori, DtTime curTime)
	Set absolute orientation.
virtual const DtTaitBryan &	approxEuler (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtTaitBryan &	deadReckonedEuler (DtTime curTime) const
	Get dead-reckoned orientation (Euler angles) at the specified time.
virtual const DtTime &	locationUpdateTime () const
	Get the last update time of the absolute location.
virtual const DtTime &	velocityUpdateTime () const
	Get the last update time of the absolute velocity.
virtual const DtTime &	orientationUpdateTime () const
	Get the last update time of the absolute orientation.
virtual void	setAcceleration (const DtVector32 &acc, DtTime curTime)
	Set/Get absolute acceleration.
virtual const DtVector32 &	acceleration (DtTime curTime) const
virtual void	setRotationalVelocity (const DtVector32 &vel, DtTime curTime)
	Set/Get absolute rotational velocity.
virtual const DtVector32 &	rotationalVelocity (DtTime curTime) const
virtual const DtDcm &	approxBodyToGeoc (DtTime curTime) const
	Get the approximated (i.e.
virtual const DtDcm &	deadReckonedBodyToGeoc (DtTime curTime) const
	Get the dead-reckoned body to geocentric coordinate matrix.
virtual void	setAlgorithm (DtDeadReckonTypes alg)
	Set/Get the dead reckoning algorithm used for generating the approximated values from the absolute values.
virtual DtDeadReckonTypes	algorithm () const
Virtual Dead Reckoning Calculation Functions.
virtual int	isRotational () const
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
virtual void	deadReckonPosition (DtTime dt, const DtVector &oldPos, const DtVector32 &oldVel, const DtVector32 &oldAccel, DtVector32 &newVel, DtVector &newPos) const
	Calculate the dead reckon position information based on the algorithm type.
virtual void	deadReckonOrientation (DtTime dt, const DtDcm &old_b2w, const DtDirectedRotRate &drr, DtDcm &new_b2w) const
	Calculate the orientation matrix based on the algorithm type.
Public Member Functions inherited from DtApproximator
virtual	~DtApproximator ()
	Virtual DTOR.
DtApproximator &	operator= (const DtApproximator &orig)
	Assignment operator.
virtual void	setFrozen (bool frozen)
	Set/Get whether the dead-reckoner is frozen.
virtual bool	isFrozen () const

Static Public Member Functions
Static Dead Reckoning Calculation Functions.
static int	isRotational (DtDeadReckonTypes algorithm)
	Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.
static void	deadReckonPosition (DtTime dt, DtDeadReckonTypes algorithm, const DtVector &oldPos, const DtVector32 &oldVel, const DtVector32 &oldAccel, DtVector32 &newVel, DtVector &newPos)
	Calculate the dead reckon position information.
static void	deadReckonOrientation (DtTime dt, DtDeadReckonTypes algorithm, const DtDcm &old_b2w, const DtDirectedRotRate &drr, DtDcm &new_b2w)
	Calculate the orientation matrix.

Protected Member Functions
virtual void	deadReckonLoc (DtTime curTime) const
	If the last dead reckoned position is not valid for the specified time, recalculate it and update the time at which this value is valid.
virtual void	deadReckonBodyToGeoc (DtTime curTime) const
	If the last dead reckoned body to geocentric coordinate matrix is not valid for the specified time, recalculate it and update the time at which this value is valid.
virtual void	deadReckonEuler (DtTime curTime) const
	If the last dead reckoned orientation (Euler angles) is not valid for the specified time, recalculate it and update the time at which this value is valid.
Protected Member Functions inherited from DtApproximator
	DtApproximator ()
	Default CTOR.
	DtApproximator (const DtApproximator &orig)
	Copy CTOR.

Protected Attributes
DtVector	myLocAtTimeOfValidity
DtVector32	myVelAtTimeOfValidity
DtTime	mySimTimePosDataValid
DtDcm	myBodyToGeocAtTimeOfValidity
DtTime	mySimTimeOrientDataValid
DtVector	myDRLoc
DtVector32	myDRVel
DtTime	myDRPosTime
DtDcm	myDRBodyToGeoc
DtTime	myDRBodyToGeocTime
DtTaitBryan	myDREuler
DtTime	myDREulerTime
DtDirectedRotRate	myDirectedRotRate
DtDeadReckonTypes	myAlgorithm
DtVector32	myAccel
DtBodyRates	myRotVel
Protected Attributes inherited from DtApproximator
bool	myFrozenFlag

Detailed Description

Instances of DtDeadReckoner are used to provide approximated position and orientation information for entities using various dead reckoning algorithms.

Position and orientation information is approximated over time from the last set absolute (non-approximated) information. Functions that start with deadReckoned return dead-reckoned values. Functions that start with approx return approximated values - which default to the dead-reckoned values, but this might be overridden in classes derived from DtDeadReckoner.

Constructor & Destructor Documentation

DtDeadReckoner::DtDeadReckoner

(

)

Default CTOR.

DtDeadReckoner::DtDeadReckoner

(

const DtDeadReckoner &

orig

)

Copy CTOR.

virtual DtDeadReckoner::~DtDeadReckoner ( )

virtual

Virtual DTOR.

Member Function Documentation

const DtVector32 & DtDeadReckoner::acceleration ( DtTime  curTime ) const

inlinevirtual

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

References myAccel.

DtDeadReckonTypes DtDeadReckoner::algorithm ( ) const

inlinevirtual

References myAlgorithm.

const DtDcm & DtDeadReckoner::approxBodyToGeoc ( DtTime  curTime ) const

inlinevirtual

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) body to geocentric coordinate matrix.

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

References deadReckonedBodyToGeoc().

const DtTaitBryan & DtDeadReckoner::approxEuler ( DtTime  curTime ) const

inlinevirtual

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) orientation at the specified time.

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

References deadReckonedEuler().

const DtVector & DtDeadReckoner::approxLocation ( DtTime  curTime ) const

inlinevirtual

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) location at the specified time.

Implements DtApproximator.

Reimplemented in DtExponentialSmoother, and DtTrigonometricSmoother.

References deadReckonedLocation().

const DtVector32 & DtDeadReckoner::approxVelocity ( DtTime  curTime ) const

inlinevirtual

Get the approximated (i.e.

dead-reckoned for base DtDeadReckoner) velocity at the specified time.

Implements DtApproximator.

Reimplemented in DtExponentialSmoother, and DtTrigonometricSmoother.

References deadReckonedVelocity().

virtual DtApproximator* DtDeadReckoner::clone ( ) const

virtual

Create a copy of this object.

Memory is allocated and it is the responsibility of the caller to free the memory via delete.

Implements DtApproximator.

Reimplemented in DtExponentialSmoother, and DtTrigonometricSmoother.

virtual void DtDeadReckoner::deadReckonBodyToGeoc ( DtTime  curTime ) const

protectedvirtual

If the last dead reckoned body to geocentric coordinate matrix is not valid for the specified time, recalculate it and update the time at which this value is valid.

Referenced by deadReckonedBodyToGeoc().

const DtDcm & DtDeadReckoner::deadReckonedBodyToGeoc ( DtTime  curTime ) const

inlinevirtual

Get the dead-reckoned body to geocentric coordinate matrix.

References deadReckonBodyToGeoc(), and myDRBodyToGeoc.

Referenced by approxBodyToGeoc().

const DtTaitBryan & DtDeadReckoner::deadReckonedEuler ( DtTime  curTime ) const

inlinevirtual

Get dead-reckoned orientation (Euler angles) at the specified time.

References deadReckonEuler(), and myDREuler.

Referenced by approxEuler().

const DtVector & DtDeadReckoner::deadReckonedLocation ( DtTime  curTime ) const

inlinevirtual

Get the dead-reckoned location at the specified time.

References deadReckonLoc(), and myDRLoc.

Referenced by approxLocation().

const DtVector32 & DtDeadReckoner::deadReckonedVelocity ( DtTime  curTime ) const

inlinevirtual

Get the dead-reckoned velocity at the specified time.

References deadReckonLoc(), and myDRVel.

Referenced by approxVelocity().

virtual void DtDeadReckoner::deadReckonEuler ( DtTime  curTime ) const

protectedvirtual

If the last dead reckoned orientation (Euler angles) is not valid for the specified time, recalculate it and update the time at which this value is valid.

Referenced by deadReckonedEuler().

virtual void DtDeadReckoner::deadReckonLoc ( DtTime  curTime ) const

protectedvirtual

If the last dead reckoned position is not valid for the specified time, recalculate it and update the time at which this value is valid.

Referenced by deadReckonedLocation(), and deadReckonedVelocity().

virtual void DtDeadReckoner::deadReckonOrientation ( DtTime  dt, const DtDcm &  old_b2w, const DtDirectedRotRate &  drr, DtDcm &  new_b2w  ) const

virtual

Calculate the orientation matrix based on the algorithm type.

Over-ride this function when substituting your own dead reckoning algorithm for calculating orientation

static void DtDeadReckoner::deadReckonOrientation ( DtTime  dt, DtDeadReckonTypes  algorithm, const DtDcm &  old_b2w, const DtDirectedRotRate &  drr, DtDcm &  new_b2w  )

static

Calculate the orientation matrix.

virtual void DtDeadReckoner::deadReckonPosition ( DtTime  dt, const DtVector &  oldPos, const DtVector32 &  oldVel, const DtVector32 &  oldAccel, DtVector32 &  newVel, DtVector &  newPos  ) const

virtual

Calculate the dead reckon position information based on the algorithm type.

Over-ride this function when substituting your own dead reckoning algorithm for calculating position

static void DtDeadReckoner::deadReckonPosition ( DtTime  dt, DtDeadReckonTypes  algorithm, const DtVector &  oldPos, const DtVector32 &  oldVel, const DtVector32 &  oldAccel, DtVector32 &  newVel, DtVector &  newPos  )

static

Calculate the dead reckon position information.

virtual int DtDeadReckoner::isRotational ( ) const

virtual

Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.

static int DtDeadReckoner::isRotational ( DtDeadReckonTypes  algorithm )

static

Returns 1 if the dead reckoning algorithm is a rotational one, 0 otherwise.

const DtTime & DtDeadReckoner::locationUpdateTime ( ) const

inlinevirtual

Get the last update time of the absolute location.

Implements DtApproximator.

References mySimTimePosDataValid.

DtDeadReckoner& DtDeadReckoner::operator=

(

const DtDeadReckoner &

orig

)

Assignment Operator.

bool DtDeadReckoner::operator==

(

const DtDeadReckoner &

orig

)

const

equality Operator.

const DtTime & DtDeadReckoner::orientationUpdateTime ( ) const

inlinevirtual

Get the last update time of the absolute orientation.

Implements DtApproximator.

References mySimTimeOrientDataValid.

const DtVector32 & DtDeadReckoner::rotationalVelocity ( DtTime  curTime ) const

inlinevirtual

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

References myRotVel.

virtual void DtDeadReckoner::setAcceleration ( const DtVector32 &  acc, DtTime  curTime  )

virtual

Set/Get absolute acceleration.

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

void DtDeadReckoner::setAlgorithm ( DtDeadReckonTypes  alg )

inlinevirtual

Set/Get the dead reckoning algorithm used for generating the approximated values from the absolute values.

References myAlgorithm.

virtual void DtDeadReckoner::setAll ( const DtVector &  loc, const DtVector32 &  vel, const DtTaitBryan &  ori, const DtVector32 &  acc, const DtVector32 &  rotVel, DtTime  t  )

virtual

Coherently set all DR parameters, thus avoiding DR computations associated with a partial set.

Implements DtApproximator.

Reimplemented in DtExponentialSmoother, and DtTrigonometricSmoother.

virtual void DtDeadReckoner::setLocation ( const DtVector &  loc, DtTime  curTime  )

virtual

Set absolute location.

Implements DtApproximator.

Reimplemented in DtExponentialSmoother, and DtTrigonometricSmoother.

virtual void DtDeadReckoner::setOrientation ( const DtTaitBryan &  ori, DtTime  curTime  )

virtual

Set absolute orientation.

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

virtual void DtDeadReckoner::setRotationalVelocity ( const DtVector32 &  vel, DtTime  curTime  )

virtual

Set/Get absolute rotational velocity.

Implements DtApproximator.

Reimplemented in DtTrigonometricSmoother, and DtExponentialSmoother.

virtual void DtDeadReckoner::setVelocity ( const DtVector32 &  vel, DtTime  curTime  )

virtual

Set absolute velocity.

Implements DtApproximator.

Reimplemented in DtExponentialSmoother, and DtTrigonometricSmoother.

const DtTime & DtDeadReckoner::velocityUpdateTime ( ) const

inlinevirtual

Get the last update time of the absolute velocity.

Implements DtApproximator.

References mySimTimePosDataValid.

Member Data Documentation

DtVector32 DtDeadReckoner::myAccel

protected

Referenced by acceleration().

DtDeadReckonTypes DtDeadReckoner::myAlgorithm

protected

Referenced by algorithm(), and setAlgorithm().

DtDcm DtDeadReckoner::myBodyToGeocAtTimeOfValidity

protected

DtDirectedRotRate DtDeadReckoner::myDirectedRotRate

protected

DtDcm DtDeadReckoner::myDRBodyToGeoc

mutableprotected

Referenced by deadReckonedBodyToGeoc().

DtTime DtDeadReckoner::myDRBodyToGeocTime

mutableprotected

DtTaitBryan DtDeadReckoner::myDREuler

mutableprotected

Referenced by deadReckonedEuler().

DtTime DtDeadReckoner::myDREulerTime

mutableprotected

DtVector DtDeadReckoner::myDRLoc

mutableprotected

Referenced by deadReckonedLocation().

DtTime DtDeadReckoner::myDRPosTime

mutableprotected

DtVector32 DtDeadReckoner::myDRVel

mutableprotected

Referenced by deadReckonedVelocity().

DtVector DtDeadReckoner::myLocAtTimeOfValidity

protected

DtBodyRates DtDeadReckoner::myRotVel

protected

Referenced by rotationalVelocity().

DtTime DtDeadReckoner::mySimTimeOrientDataValid

protected

Referenced by orientationUpdateTime().

DtTime DtDeadReckoner::mySimTimePosDataValid

protected

Referenced by locationUpdateTime(), and velocityUpdateTime().

DtVector32 DtDeadReckoner::myVelAtTimeOfValidity

protected

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

• deadReckoner.h