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makVrl.DeadReckoner Class Reference
+ Inheritance diagram for makVrl.DeadReckoner:
+ Collaboration diagram for makVrl.DeadReckoner:

Public Member Functions

 DeadReckoner ()
 
virtual void setLocation (Vector3d loc, double timeNow)
 
virtual Vector3d approxLocation (double curTime)
 
virtual void setVelocity (Vector3f vel, double curTime)
 
virtual Vector3f approxVelocity (double curTime)
 
virtual Vector3f acceleration (double curTime)
 
virtual Vector3f rotationalVelocity (double t)
 
virtual TaitBryan approxEuler (double curTime)
 
virtual void setAcceleration (Vector3f acc, double curTime)
 
virtual void setOrientation (TaitBryan orient, double timeNow)
 
virtual void setRotationalVelocity (Vector3f bodyRates, double curTime)
 
virtual bool isRotational ()
 
virtual Vector3f deadReckonedVelocity (double curTime)
 
virtual Vector3d deadReckonedLocation (double curTime)
 
virtual Matrix3d deadReckonedBodyToGeoc (double curTime)
 
virtual Matrix3d approxBodyToGeoc (double curTime)
 
virtual TaitBryan deadReckonedEuler (double curTime)
 
virtual void deadReckonLoc (double curTime)
 
virtual void deadReckonBodyToGeoc (double curTime)
 
virtual void deadReckonEuler (double curTime)
 
virtual void deadReckonOrientation (double dt, Matrix3d old_b2w, Vector3f drr, double drrTheta, out Matrix3d new_b2w)
 
virtual void deadReckonPosition (double dt, Vector3d oldPos, Vector3f oldVel, Vector3f accel, ref Vector3f newVel, ref Vector3d newPos)
 

Static Public Member Functions

static bool isRotational (DeadReckonTypes algorithm)
 
static void deadReckonPosition (double dt, DeadReckonTypes algorithm, Vector3d oldPos, Vector3d oldVel, Vector3d accel, ref Vector3d newVel, ref Vector3d newPos)
 
static void deadReckonOrientation (double dt, DeadReckonTypes algorithm, Matrix3d old_b2w, Vector3f drr, double drrTheta, out Matrix3d new_b2w)
 

Static Public Attributes

static int drTick = 0
 
static int DRVelTick = 0
 
static int DRAccTick = 0
 

Properties

virtual Vector3d locationAtTimeOfValidity [get, set]
 
virtual Vector3f velocityAtTimeOfValidity [get, set]
 
virtual double timeOfLastLocationValidity [get, set]
 
virtual double timeOfLastOrientationValidity [get, set]
 
Matrix3d bodyToGeocAtTimeOfValidity [get, set]
 
TaitBryan orientationAtTimeOfValidity [get, set]
 
virtual Vector3d DRLoc [get, set]
 
virtual Vector3f DRVel [get, set]
 
virtual double DRPosTime [get, set]
 
Matrix3d DRBodyToGeoc [get, set]
 
virtual double DRBodyToGeocTime [get, set]
 
virtual TaitBryan DREuler [get, set]
 
virtual double DREulerTime [get, set]
 
virtual Vector3f accel [get, set]
 
virtual Vector3f rotVel [get, set]
 
virtual DeadReckonTypes algorithm [get, set]
 
virtual double DRRTheta [get, set]
 
virtual Vector3f DRRVec [get, set]
 
- Properties inherited from makVrl.Approximator
DeadReckonTypes algorithm [get, set]
 
double timeOfLastLocationValidity [get, set]
 
double timeOfLastOrientationValidity [get, set]
 
Vector3d locationAtTimeOfValidity [get, set]
 
Vector3f velocityAtTimeOfValidity [get, set]
 
TaitBryan orientationAtTimeOfValidity [get, set]
 

Private Attributes

Vector3d myLocationAtTimeOfValidity
 
Vector3f myVelocityAtTimeOfValidity
 
Matrix3d myBodyToGeocAtTimeOfValidity
 
TaitBryan myOrientationAtTimeOfValidity
 
double myTimeOfLastLocationValidity
 
double myTimeOfLastOrientationValidity
 
Vector3d myDRLoc
 
Vector3f myDRVel
 
double myDRPosTime
 
Matrix3d myDRBodyToGeoc
 
double myDRBodyToGeocTime
 
TaitBryan myDREuler
 
double myDREulerTime
 
DeadReckonTypes myAlgorithm
 
Vector3f myAccel
 
Vector3f myRotVel
 
Vector3f myDRRVec
 
double myDRRTheta
 

Constructor & Destructor Documentation

makVrl.DeadReckoner.DeadReckoner ( )
inline

References makVrl.DeadReckoner.myAccel, makVrl.DeadReckoner.myAlgorithm, makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeoc, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDREuler, makVrl.DeadReckoner.myDREulerTime, makVrl.DeadReckoner.myDRLoc, makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myDRRTheta, makVrl.DeadReckoner.myDRRVec, makVrl.DeadReckoner.myDRVel, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myRotVel, makVrl.DeadReckoner.myTimeOfLastLocationValidity, makVrl.DeadReckoner.myTimeOfLastOrientationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

Member Function Documentation

virtual Vector3f makVrl.DeadReckoner.acceleration ( double  curTime)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myAccel.

Referenced by makVrl.DeadReckoner.deadReckonLoc().

virtual Matrix3d makVrl.DeadReckoner.approxBodyToGeoc ( double  curTime)
inlinevirtual

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedBodyToGeoc().

virtual TaitBryan makVrl.DeadReckoner.approxEuler ( double  curTime)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedEuler().

virtual Vector3d makVrl.DeadReckoner.approxLocation ( double  curTime)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedLocation().

virtual Vector3f makVrl.DeadReckoner.approxVelocity ( double  curTime)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedVelocity().

virtual void makVrl.DeadReckoner.deadReckonBodyToGeoc ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.deadReckonOrientation(), makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeoc, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDRRTheta, makVrl.DeadReckoner.myDRRVec, and makVrl.DeadReckoner.myTimeOfLastOrientationValidity.

Referenced by makVrl.DeadReckoner.deadReckonedBodyToGeoc().

virtual Matrix3d makVrl.DeadReckoner.deadReckonedBodyToGeoc ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.deadReckonBodyToGeoc(), and makVrl.DeadReckoner.myDRBodyToGeoc.

Referenced by makVrl.DeadReckoner.approxBodyToGeoc(), makVrl.DeadReckoner.deadReckonEuler(), and makVrl.DeadReckoner.setRotationalVelocity().

virtual TaitBryan makVrl.DeadReckoner.deadReckonedEuler ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.deadReckonEuler(), and makVrl.DeadReckoner.myDREuler.

Referenced by makVrl.DeadReckoner.approxEuler().

virtual Vector3d makVrl.DeadReckoner.deadReckonedLocation ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.deadReckonLoc(), and makVrl.DeadReckoner.myDRLoc.

Referenced by makVrl.DeadReckoner.approxLocation(), makVrl.DeadReckoner.setAcceleration(), and makVrl.DeadReckoner.setVelocity().

virtual Vector3f makVrl.DeadReckoner.deadReckonedVelocity ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.deadReckonLoc(), and makVrl.DeadReckoner.myDRVel.

Referenced by makVrl.DeadReckoner.approxVelocity(), and makVrl.DeadReckoner.setAcceleration().

virtual void makVrl.DeadReckoner.deadReckonEuler ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.deadReckonedBodyToGeoc(), makVrl.DeadReckoner.myDREuler, and makVrl.DeadReckoner.myDREulerTime.

Referenced by makVrl.DeadReckoner.deadReckonedEuler().

virtual void makVrl.DeadReckoner.deadReckonLoc ( double  curTime)
inlinevirtual

References makVrl.DeadReckoner.acceleration(), makVrl.DeadReckoner.deadReckonPosition(), makVrl.DeadReckoner.myDRLoc, makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myDRVel, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myTimeOfLastLocationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

Referenced by makVrl.DeadReckoner.deadReckonedLocation(), and makVrl.DeadReckoner.deadReckonedVelocity().

virtual void makVrl.DeadReckoner.deadReckonOrientation ( double  dt,
Matrix3d  old_b2w,
Vector3f  drr,
double  drrTheta,
out Matrix3d  new_b2w 
)
inlinevirtual

References makVrl.DeadReckoner.isRotational().

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc().

static void makVrl.DeadReckoner.deadReckonOrientation ( double  dt,
DeadReckonTypes  algorithm,
Matrix3d  old_b2w,
Vector3f  drr,
double  drrTheta,
out Matrix3d  new_b2w 
)
inlinestatic

References makVrl.DeadReckoner.isRotational().

virtual void makVrl.DeadReckoner.deadReckonPosition ( double  dt,
Vector3d  oldPos,
Vector3f  oldVel,
Vector3f  accel,
ref Vector3f  newVel,
ref Vector3d  newPos 
)
inlinevirtual

References makVrl.DeadReckoner.algorithm.

Referenced by makVrl.DeadReckoner.deadReckonLoc().

static void makVrl.DeadReckoner.deadReckonPosition ( double  dt,
DeadReckonTypes  algorithm,
Vector3d  oldPos,
Vector3d  oldVel,
Vector3d  accel,
ref Vector3d  newVel,
ref Vector3d  newPos 
)
inlinestatic
virtual bool makVrl.DeadReckoner.isRotational ( )
inlinevirtual

References makVrl.DeadReckoner.algorithm.

Referenced by makVrl.DeadReckoner.deadReckonOrientation().

static bool makVrl.DeadReckoner.isRotational ( DeadReckonTypes  algorithm)
inlinestatic
virtual Vector3f makVrl.DeadReckoner.rotationalVelocity ( double  t)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myRotVel.

virtual void makVrl.DeadReckoner.setAcceleration ( Vector3f  acc,
double  curTime 
)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedLocation(), makVrl.DeadReckoner.deadReckonedVelocity(), makVrl.DeadReckoner.myAccel, makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myTimeOfLastLocationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

virtual void makVrl.DeadReckoner.setLocation ( Vector3d  loc,
double  timeNow 
)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myLocationAtTimeOfValidity, and makVrl.DeadReckoner.myTimeOfLastLocationValidity.

virtual void makVrl.DeadReckoner.setOrientation ( TaitBryan  orient,
double  timeNow 
)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDREulerTime, makVrl.DeadReckoner.myOrientationAtTimeOfValidity, and makVrl.DeadReckoner.myTimeOfLastOrientationValidity.

virtual void makVrl.DeadReckoner.setRotationalVelocity ( Vector3f  bodyRates,
double  curTime 
)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedBodyToGeoc(), makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity, makVrl.DeadReckoner.myDRBodyToGeocTime, makVrl.DeadReckoner.myDREulerTime, makVrl.DeadReckoner.myDRRTheta, makVrl.DeadReckoner.myDRRVec, makVrl.DeadReckoner.myRotVel, and makVrl.DeadReckoner.myTimeOfLastOrientationValidity.

virtual void makVrl.DeadReckoner.setVelocity ( Vector3f  vel,
double  curTime 
)
inlinevirtual

Implements makVrl.Approximator.

Reimplemented in makVrl.Smoother.

References makVrl.DeadReckoner.deadReckonedLocation(), makVrl.DeadReckoner.myDRPosTime, makVrl.DeadReckoner.myLocationAtTimeOfValidity, makVrl.DeadReckoner.myTimeOfLastLocationValidity, and makVrl.DeadReckoner.myVelocityAtTimeOfValidity.

Member Data Documentation

int makVrl.DeadReckoner.DRAccTick = 0
static
int makVrl.DeadReckoner.drTick = 0
static
int makVrl.DeadReckoner.DRVelTick = 0
static
Vector3f makVrl.DeadReckoner.myAccel
private

Referenced by makVrl.DeadReckoner.acceleration(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.setAcceleration().

DeadReckonTypes makVrl.DeadReckoner.myAlgorithm
private

Referenced by makVrl.DeadReckoner.DeadReckoner().

Matrix3d makVrl.DeadReckoner.myBodyToGeocAtTimeOfValidity
private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

Matrix3d makVrl.DeadReckoner.myDRBodyToGeoc
private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.deadReckonedBodyToGeoc(), and makVrl.DeadReckoner.DeadReckoner().

double makVrl.DeadReckoner.myDRBodyToGeocTime
private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

TaitBryan makVrl.DeadReckoner.myDREuler
private

Referenced by makVrl.DeadReckoner.deadReckonedEuler(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.deadReckonEuler().

double makVrl.DeadReckoner.myDREulerTime
private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonEuler(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3d makVrl.DeadReckoner.myDRLoc
private

Referenced by makVrl.DeadReckoner.deadReckonedLocation(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.deadReckonLoc().

double makVrl.DeadReckoner.myDRPosTime
private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), makVrl.DeadReckoner.setLocation(), and makVrl.DeadReckoner.setVelocity().

double makVrl.DeadReckoner.myDRRTheta
private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3f makVrl.DeadReckoner.myDRRVec
private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3f makVrl.DeadReckoner.myDRVel
private

Referenced by makVrl.DeadReckoner.deadReckonedVelocity(), makVrl.DeadReckoner.DeadReckoner(), and makVrl.DeadReckoner.deadReckonLoc().

Vector3d makVrl.DeadReckoner.myLocationAtTimeOfValidity
private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), makVrl.DeadReckoner.setLocation(), and makVrl.DeadReckoner.setVelocity().

TaitBryan makVrl.DeadReckoner.myOrientationAtTimeOfValidity
private

Referenced by makVrl.DeadReckoner.setOrientation().

Vector3f makVrl.DeadReckoner.myRotVel
private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.rotationalVelocity(), and makVrl.DeadReckoner.setRotationalVelocity().

double makVrl.DeadReckoner.myTimeOfLastLocationValidity
private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), makVrl.DeadReckoner.setLocation(), and makVrl.DeadReckoner.setVelocity().

double makVrl.DeadReckoner.myTimeOfLastOrientationValidity
private

Referenced by makVrl.DeadReckoner.deadReckonBodyToGeoc(), makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.setOrientation(), and makVrl.DeadReckoner.setRotationalVelocity().

Vector3f makVrl.DeadReckoner.myVelocityAtTimeOfValidity
private

Referenced by makVrl.DeadReckoner.DeadReckoner(), makVrl.DeadReckoner.deadReckonLoc(), makVrl.DeadReckoner.setAcceleration(), and makVrl.DeadReckoner.setVelocity().

Property Documentation

virtual Vector3f makVrl.DeadReckoner.accel
getset

Referenced by makVrl.Smoother.initSmootherParams().

virtual DeadReckonTypes makVrl.DeadReckoner.algorithm
getset

Referenced by makVrl.DeadReckoner.deadReckonPosition(), and makVrl.DeadReckoner.isRotational().

Matrix3d makVrl.DeadReckoner.bodyToGeocAtTimeOfValidity
getset

Referenced by makVrl.Smoother.initSmoothOriParams().

Matrix3d makVrl.DeadReckoner.DRBodyToGeoc
getset

Referenced by makVrl.Smoother.resetOriSmoother().

virtual double makVrl.DeadReckoner.DRBodyToGeocTime
getset
virtual TaitBryan makVrl.DeadReckoner.DREuler
getset

Referenced by makVrl.Smoother.approxEuler().

virtual double makVrl.DeadReckoner.DREulerTime
getset
virtual Vector3d makVrl.DeadReckoner.DRLoc
getset
virtual double makVrl.DeadReckoner.DRPosTime
getset
virtual double makVrl.DeadReckoner.DRRTheta
getset
virtual Vector3f makVrl.DeadReckoner.DRRVec
getset
virtual Vector3f makVrl.DeadReckoner.DRVel
getset
virtual Vector3d makVrl.DeadReckoner.locationAtTimeOfValidity
getset

Referenced by makVrl.Smoother.initSmootherParams().

TaitBryan makVrl.DeadReckoner.orientationAtTimeOfValidity
getset
virtual Vector3f makVrl.DeadReckoner.rotVel
getset

Referenced by makVrl.Smoother.initSmoothOriParams().

virtual double makVrl.DeadReckoner.timeOfLastLocationValidity
getset
virtual double makVrl.DeadReckoner.timeOfLastOrientationValidity
getset
virtual Vector3f makVrl.DeadReckoner.velocityAtTimeOfValidity
getset

Referenced by makVrl.Smoother.initSmootherParams().

The documentation for this class was generated from the following file:
Document ID: Generated on Tue Aug 10 00:12:31 EDT 2021 from SVN revision 232765
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