Holds a collection of data vectors. More...

#include <Trajectory.hpp>

Inheritance diagram for OpenFrames::Trajectory:

Classes
struct	DataSource

Public Types
enum	SourceType { ZERO = 0, TIME, POSOPT, ATTITUDE }

enum	DataLockType { READ_LOCK, WRITE_LOCK }

typedef double	DataType

typedef std::vector< DataType >	DataArray

typedef std::vector< TrajectorySubscriber * >	SubscriberArray

Public Member Functions
	Trajectory (unsigned int dof=3, unsigned int nopt=0)

void	reserveMemory (unsigned int numPoints, bool usePos=true, bool useAtt=true)

const DataArray &	getTimeList () const

const DataArray &	getPosOptList () const

const DataArray &	getAttList () const

unsigned int	getNumPos () const

void	setNumOptionals (unsigned int nopt)

unsigned int	getNumOptionals () const

unsigned int	getNumAtt () const

void	setDOF (unsigned int dof)

unsigned int	getDOF () const

unsigned int	getBase () const

virtual int	getTimeIndex (const DataType &t, int &index) const

bool	isEmpty () const

unsigned int	getNumTimes () const

virtual bool	getTimeRange (DataType &begin, DataType &end) const

double	getTimeDistance (const DataType &t) const

virtual bool	addTime (const DataType &t)

virtual bool	addPosition (const DataType &x, const DataType &y, const DataType z=0.0)

virtual bool	addPosition (const DataType *const pos)

virtual bool	getPosition (unsigned int n, DataType &x, DataType &y) const

virtual bool	getPosition (unsigned int n, DataType &x, DataType &y, DataType &z) const

virtual bool	addAttitude (const DataType &x, const DataType &y, const DataType &z, const DataType &w)

virtual bool	addAttitude (const DataType *const att)

virtual bool	getAttitude (unsigned int n, DataType &x, DataType &y, DataType &z, DataType &w) const

virtual bool	setOptional (unsigned int index, const DataType &x, const DataType &y, const DataType z=0.0)

virtual bool	setOptional (unsigned int index, const DataType *const opt)

virtual bool	getOptional (unsigned int n, unsigned int index, DataType &x, DataType &y) const

virtual bool	getOptional (unsigned int n, unsigned int index, DataType &x, DataType &y, DataType &z) const

virtual void	clear ()

virtual void	getPoint (unsigned int i, const DataSource source[], DataType val[]) const

virtual bool	verifyData (const DataSource source[]) const

virtual unsigned int	getNumPoints (const DataSource source[]) const

virtual void	addSubscriber (TrajectorySubscriber *subscriber) const

virtual void	removeSubscriber (TrajectorySubscriber *subscriber) const

virtual void	informSubscribers ()

void	autoInformSubscribers (bool autoinform)

virtual void	lockData (DataLockType lockType=READ_LOCK) const

virtual void	unlockData (DataLockType lockType=READ_LOCK) const

Protected Attributes
DataArray	_time

DataArray	_posopt

DataArray	_att

SubscriberArray	_subscribers

bool	_autoInformSubscribers

unsigned int	_nopt

unsigned int	_base

unsigned int	_numPos

unsigned int	_numAtt

unsigned int	_dof

OpenThreads::ReadWriteMutex	_readWriteMutex

Detailed Description

Holds a collection of data vectors.

A Trajectory holds a collection of times, positions, attitudes and any number of optional data vectors. Data is inserted at the end of the trajectory, and no sorting is done during insertion. This is left to deriving classes.

Member Typedef Documentation

◆ DataType

typedef double OpenFrames::Trajectory::DataType

Type of each data element in the trajectory. Make sure to change return value of getGLDataType() if you change this!

Member Enumeration Documentation

◆ SourceType

enum OpenFrames::Trajectory::SourceType

SourceType is used to specify where the data for the x/y/z component of every point is to be taken from.

Constructor & Destructor Documentation

◆ Trajectory()

OpenFrames::Trajectory::Trajectory	(	unsigned int	dof = `3`,
		unsigned int	nopt = `0`
	)

Initialize with degrees of freedom, an id, and how many optionals are at each point of the trajectory.

Member Function Documentation

◆ addAttitude()

virtual bool OpenFrames::Trajectory::addAttitude	(	const DataType &	x,
		const DataType &	y,
		const DataType &	z,
		const DataType &	w
	)

virtual

Add attitude. For pointer version, the pointer must reference 4 elements (for quaternion).

◆ addPosition()

virtual bool OpenFrames::Trajectory::addPosition	(	const DataType &	x,
		const DataType &	y,
		const DataType	z = `0.0`
	)

virtual

Add position. For pointer version, the DOF determines how many elements will be copied.

◆ addSubscriber()

virtual void OpenFrames::Trajectory::addSubscriber ( TrajectorySubscriber * subscriber ) const

virtual

Register a subscriber with this trajectory. The subscriber will be notified whenever the trajectory changes.

◆ addTime()

virtual bool OpenFrames::Trajectory::addTime ( const DataType & t )

virtual

Add a point with the given time to the end of the time list.

◆ clear()

virtual void OpenFrames::Trajectory::clear ( )

virtual

Remove all points from this trajectory

◆ getBase()

unsigned int OpenFrames::Trajectory::getBase ( ) const

inline

Get number of data elements taken up by each position&optional group. A data element is of type DataType.

◆ getNumAtt()

unsigned int OpenFrames::Trajectory::getNumAtt ( ) const

inline

Get the total number of attitude points. This will always be less than or equal to the number of times in the time list.

◆ getNumPoints()

virtual unsigned int OpenFrames::Trajectory::getNumPoints ( const DataSource source[] ) const

virtual

Get the maximum number of points that can be obtained by the Trajectory's data using the given sources. If each of the source's components is ZERO, then this function returns UINT_MAX.

◆ getNumPos()

unsigned int OpenFrames::Trajectory::getNumPos ( ) const

inline

Get total number of position/optional groups. This will always be less then or equal to the number of times in the time list.

◆ getPoint()

virtual void OpenFrames::Trajectory::getPoint	(	unsigned int	i,
		const DataSource	source[],
		DataType	val[]
	)		const

virtual

Get data point i from the Trajectory. The DataSource defines where in in the trajectory the corresponding (x/y/z) data component comes from.
The resulting point is stored in the supplied 'val' 3-element vector. NOTE: This function does NOT do error checking on it's inputs! You should use verifyData() and getNumPoints() to make sure that the data exists in the trajectory before calling getPoint().

◆ getTimeDistance()

double OpenFrames::Trajectory::getTimeDistance ( const DataType & t ) const

Get the "distance" from given time to this trajectory's time range. Possible return values: = DBL_MAX: No times in trajectory

0.0: Out of range, either after or before time range

= 0.0: At start or end of time range < 0.0: Between start and end of time range

◆ getTimeIndex()

virtual int OpenFrames::Trajectory::getTimeIndex	(	const DataType &	t,
		int &	index
	)		const

virtual

Find the lower bounding index (in the time list) for the given time. Returns -2 if the requested time could not be found after a reasonable number of iterations. In this case, index is the last value computed before quitting the search. Returns -1 if the requested time is out of the time list's bounds: index = -1: Requested time before first time index = numTimes: Requested time after last time Returns 0 if the requested time is at the list's bounds: index = 0: Requested time is at start of time list index = numTimes-1: Requested time is at end of time list Otherwise returns number of iterations required to find the index such that times[index] <= t < times[index+1]. In this case it is guaranteed that 0 <= index <= numTimes-2.

◆ getTimeList()

const DataArray& OpenFrames::Trajectory::getTimeList ( ) const

inline

Get lists.

◆ lockData()

virtual void OpenFrames::Trajectory::lockData ( DataLockType lockType = READ_LOCK ) const

virtual

Synchronization routines which prevent Trajectory's data from being moved around in memory while the data is being read.

◆ reserveMemory()

void OpenFrames::Trajectory::reserveMemory	(	unsigned int	numPoints,
		bool	usePos = `true`,
		bool	useAtt = `true`
	)

Reserve enough memory for specified number of points. This helps avoid unnecessary memory reallocations while adding points. NOTE: Regardless of this setting, any number of points can be added to a Trajectory. Properly reserving based on estimated upper-bound number of points helps in memory management, but is not required.

◆ setDOF()

void OpenFrames::Trajectory::setDOF ( unsigned int dof )

Set/Get number of degrees of freedom for each position&optional. Note that the trajectory will be cleared if its DOF is changed.

◆ setNumOptionals()

void OpenFrames::Trajectory::setNumOptionals ( unsigned int nopt )

Set/Get number of optionals for each position. Note that the trajectory will be cleared if the number of optionals is changed.

◆ setOptional()

virtual bool OpenFrames::Trajectory::setOptional	(	unsigned int	index,
		const DataType &	x,
		const DataType &	y,
		const DataType	z = `0.0`
	)

virtual

Set the optional with the given index. For pointer version, the DOF determines how many elements will be copied. The index must be in the range [0 ... _nopt-1].

◆ verifyData()

virtual bool OpenFrames::Trajectory::verifyData ( const DataSource source[] ) const

virtual

Verify whether the data specified by the source 3-vector is contained in this trajectory.

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

include/OpenFrames/Trajectory.hpp

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ DataType

Member Enumeration Documentation

◆ SourceType

Constructor & Destructor Documentation

◆ Trajectory()

Member Function Documentation

◆ addAttitude()

◆ addPosition()

◆ addSubscriber()

◆ addTime()

◆ clear()

◆ getBase()

◆ getNumAtt()

◆ getNumPoints()

◆ getNumPos()

◆ getPoint()

◆ getTimeDistance()

◆ getTimeIndex()

◆ getTimeList()

◆ lockData()

◆ reserveMemory()

◆ setDOF()

◆ setNumOptionals()

◆ setOptional()

◆ verifyData()