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InterpolatedMovingPlatform::InterpolationScope | scope |
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InterpolatedMovingPlatform::RotationSpec | rotspec |
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std::shared_ptr< TemporalDesignMatrix< double, double > > | tdm |
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std::shared_ptr< DiffDesignMatrix< double, double > > | ddm |
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bool | syncGPSTime |
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double | startTime |
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std::string | id = "" |
| Asset identifier.
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std::string | name = "Unnamed Asset" |
| Asset name.
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std::string | sourceFilePath = "" |
| Path to asset file.
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glm::dvec3 | cfg_device_relativeMountPosition = glm::dvec3(0, 0, 0) |
| Device mount position relative to the platform.
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Rotation | cfg_device_relativeMountAttitude |
| Device mount attitude relative to the platform. More...
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double | lastCheckZ = 0 |
| Not used at the moment. Might be removed in the future.
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glm::dvec3 | lastGroundCheck = glm::dvec3(0, 0, 0) |
| Not used at the moment. Might be removed in the future.
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std::shared_ptr< Scene > | scene = nullptr |
| Scene where the platform belongs to.
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std::shared_ptr< NoiseSource< double > > | positionXNoiseSource = nullptr |
| Noise source for x component of platform position.
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std::shared_ptr< NoiseSource< double > > | positionYNoiseSource = nullptr |
| Noise source for y component of platform position.
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std::shared_ptr< NoiseSource< double > > | positionZNoiseSource = nullptr |
| Noise source for z component of platform position.
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std::shared_ptr< NoiseSource< double > > | attitudeXNoiseSource = nullptr |
| Noise source for x component of platform attitude.
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std::shared_ptr< NoiseSource< double > > | attitudeYNoiseSource = nullptr |
| Noise source for y component of platform attitude.
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std::shared_ptr< NoiseSource< double > > | attitudeZNoiseSource = nullptr |
| Noise source for z component of platform attitude.
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double | dmax = std::numeric_limits<double>::max() |
| Not used at the moment. Might be removed in the future.
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glm::dvec3 | prevWrittenPos = glm::dvec3(dmax, dmax, dmax) |
| Not used at the moment. Might be removed in the future.
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double | cfg_settings_movePerSec_m = 0 |
| How meters per seconds the platform moves. NOTICE this behavior must be overridden by platforms implementing its own physics model.
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glm::dvec3 | originWaypoint = glm::dvec3(0, 0, 0) |
| Origin waypoint.
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glm::dvec3 | targetWaypoint = glm::dvec3(0, 0, 0) |
| Target waypoint (destination)
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glm::dvec3 | nextWaypoint = glm::dvec3(0, 0, 0) |
| Waypoint after target. For the last target, waypoint after target is equal to the target itself.
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bool | onGround = false |
| Flag to specify if the platform must be placed on ground (true) or not (false)
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bool | stopAndTurn = false |
| Flag to specify if platform must work in stop and turn mode (true) or not (false). Not all platforms support this mode, so it will only be used when possible.
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bool | smoothTurn = false |
| Flag to specify if platform must work in smooth turn mode (true) or not (false). Not all platforms support this mode, so it will only be used when possible.
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bool | slowdownEnabled = true |
| Flag to specify if slowdown stage must be enabled (true) or not (false). Not all platforms have a slowdown stage, so this flag will only be applied when it is necessary.
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glm::dvec3 | position = glm::dvec3(0, 0, 0) |
| Platform 3D position.
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Rotation | attitude = Rotation(Directions::up, 0) |
| Platform 3D attitude.
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bool | mSetOrientationOnLegInit = false |
| Not used at the moment. Might be removed in the future.
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bool | writeNextTrajectory = true |
| Flag to specify if next trajectory needs to be written (true) or not (false)
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glm::dvec3 | cached_absoluteMountPosition = glm::dvec3(0, 0, 0) |
| Cached absolute mount position.
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Rotation | cached_absoluteMountAttitude = Rotation(glm::dvec3(0, 1, 0), 0) |
| Cached absolute mount attitude.
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glm::dvec3 | cached_dir_current = glm::dvec3(0, 0, 0) |
| Current director vector over XY plane.
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glm::dvec3 | cached_dir_current_xy = glm::dvec3(0, 0, 0) |
| Current director vector over XY plane (z is always 0)
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glm::dvec3 | cached_vectorToTarget = glm::dvec3(0, 0, 0) |
| Distance vector from current position to target.
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glm::dvec3 | cached_vectorToTarget_xy = glm::dvec3(0, 0, 0) |
| Distance vector from current position to target over XY plane (z is always 0)
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double | cached_distanceToTarget_xy = 0 |
| Distance on XY plane between current position and target.
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glm::dvec3 | cached_originToTargetDir_xy = glm::dvec3(0, 0, 0) |
| Director vector from origin to target over the XY plane (z is always 0).
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glm::dvec3 | cached_targetToNextDir_xy = glm::dvec3(0, 0, 0) |
| Director vector from target to after target waypoint over the XY plane (z is always 0).
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double | cached_endTargetAngle_xy |
| Angle between director vector from origin to target and director vector from target to waypoint after target.
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double | cached_currentAngle_xy |
| Angle between current director vector and director vector from target to waypoint after target.
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double | cached_originToTargetAngle_xy |
| Angle in \([0, 2\pi)\) which identifies director vector from origin waypoint to target waypoint.
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double | cached_targetToNextAngle_xy |
| Angle in \([0, 2\pi)\) which identifies director vector from target waypoint to waypoint after target.
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Egg class that can hatch to a full InterpolatedMovingPlatform class.
- Author
- Alberto M. Esmoris Pena
- Version
- 1.0
It is mainly used to facilitate asset loading of InterpolatedMovingPlatform
- See also
- InterpolatedMovingPlatform