Updates FrameTransform objects from Trajectory objects. More...

#include <TrajectoryFollower.hpp>

Inheritance diagram for OpenFrames::TrajectoryFollower:

Public Types
enum	FollowMode { LOOP = 0, LIMIT }

enum	FollowData { POSITION = 1, ATTITUDE = 2 }

Public Member Functions
	TrajectoryFollower (Trajectory *traj=NULL)

	TrajectoryFollower (const TrajectoryFollower &tf, const osg::CopyOp &copyop)

	META_Object (OpenFrames, TrajectoryFollower)

void	setTrajectory (Trajectory *traj)

void	addTrajectory (Trajectory *traj)

void	removeTrajectory (Trajectory *traj)

void	setFollowType (unsigned int data, FollowMode mode)

void	getFollowType (unsigned int &data, FollowMode &mode) const

bool	setXData (const Trajectory::DataSource &src)

bool	setYData (const Trajectory::DataSource &src)

bool	setZData (const Trajectory::DataSource &src)

const Trajectory::DataSource *	getDataSource () const

void	setDefaultData ()

bool	getUsingDefaultData ()

void	setTime (double time)

void	setOffsetTime (double offsetTime)

bool	isFollowingTime () const

double	getLastTime () const

Trajectory *	getLastTrajectory () const

virtual bool	run (osg::Object object, osg::Object data)

virtual void	dataCleared (Trajectory *traj)

virtual void	dataAdded (Trajectory *traj)

Protected Types
typedef std::vector< osg::ref_ptr< Trajectory > >	TrajList

Protected Member Functions
double	_computeTime (double time)

Trajectory *	_chooseTrajectory (double time)

bool	_updateState (double time, FollowData data)

bool	_verifyDataSources () const

Protected Attributes
TrajList	_trajList

osg::observer_ptr< Trajectory >	_follow

FollowMode	_mode

unsigned int	_data

Trajectory::DataSource	_dataSource [3]

bool	_dataValid

bool	_usingDefaultData

bool	_needsUpdate

bool	_followTime

double	_timeVal

double	_lastSimTime

double	_lastAdjustedTime

OpenThreads::Mutex	_mutex

Detailed Description

Updates FrameTransform objects from Trajectory objects.

This class updates a FrameTransform object with the position/attitude of a given set of Trajectory objects. It should be added as an update callback via frameTransformObject->setUpdateCallback(trajectoryFollowerObject). Adjustable parameters are the time scale at which to follow the trajectories, and what to do if the current time is not in the trajectory's time list. If multiple trajectories are specified, then TrajectoryFollower chooses which one to follow based on the current time and follow mode. e.g.: Given trajectory T_i, set of trajectories {T}, and current time t If t not within time of {T}, then wrap t to time of {T} (based on follow mode) If t within time of {T} but not within any T_i, then follow closest T_i If t within time of T_i, then follow T_i.

Member Enumeration Documentation

◆ FollowData

enum OpenFrames::TrajectoryFollower::FollowData

Specifies which of position or attitude we want to follow.

◆ FollowMode

enum OpenFrames::TrajectoryFollower::FollowMode

If a trajectory is being followed, the FollowMode specifies how the transform handles the current time being out of range of the followed trajectory's times. If the current time is in the trajectory's time list, then the trajectory's position/attitude is used regardless of the FollowMode setting.

Member Function Documentation

◆ dataAdded()

virtual void OpenFrames::TrajectoryFollower::dataAdded ( Trajectory * traj )

inlinevirtual

Called by a trajectory when data is added to it. Must be implemented by derived classes.

Implements OpenFrames::TrajectorySubscriber.

◆ dataCleared()

virtual void OpenFrames::TrajectoryFollower::dataCleared ( Trajectory * traj )

inlinevirtual

Inherited from OpenFrames::TrajectorySubscriber Functions that inform about Trajectory changes

Implements OpenFrames::TrajectorySubscriber.

◆ run()

virtual bool OpenFrames::TrajectoryFollower::run	(	osg::Object *	object,
		osg::Object *	data
	)

virtual

Inherited from osg::Callback, implements the callback.

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

include/OpenFrames/TrajectoryFollower.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes