Helios++
Helios software for LiDAR simulations
MovingPlatform.h
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#pragma once
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#include "Platform.h"
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8
class
MovingPlatform
:
public
Platform
{
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private
:
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// *** ATTRIBUTES *** //
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// ******************** //
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glm::dvec3
velocity
= glm::dvec3(0, 0, 0);
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public
:
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// *** CONSTRUCTION / DESTRUCTION *** //
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// ************************************ //
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MovingPlatform
() =
default
;
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std::shared_ptr<Platform> clone()
override
;
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void
_clone(std::shared_ptr<Platform> p)
override
;
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// *** M E T H O D S *** //
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// *********************** //
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void
applySettings
(
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std::shared_ptr<PlatformSettings> settings,
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bool
manual
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)
override
;
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void
doSimStep
(
int
simFrequency_hz)
override
;
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void
initLegManual
()
override
;
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void
initLegManualIterative
();
// To be used when initLegManual fails
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bool
waypointReached
()
override
;
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glm::dvec3
getVelocity
()
override
{
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return
velocity
;
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}
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void
setVelocity
(glm::dvec3 v) {
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this->velocity = v;
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}
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bool
canMove
()
override
{
return
true
;}
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};
Platform
Class representing a platform asset.
Definition:
Platform.h:21
MovingPlatform::waypointReached
bool waypointReached() override
Definition:
MovingPlatform.cpp:105
MovingPlatform::MovingPlatform
MovingPlatform()=default
Moving platform default constructor.
MovingPlatform::initLegManual
void initLegManual() override
Definition:
MovingPlatform.cpp:49
MovingPlatform::getVelocity
glm::dvec3 getVelocity() override
Definition:
MovingPlatform.h:59
MovingPlatform::initLegManualIterative
void initLegManualIterative()
Method to assist manual leg initialization for moving platform when it fails.
Definition:
MovingPlatform.cpp:78
MovingPlatform::setVelocity
void setVelocity(glm::dvec3 v)
Set velocity vector for moving platform.
Definition:
MovingPlatform.h:66
MovingPlatform::doSimStep
void doSimStep(int simFrequency_hz) override
Definition:
MovingPlatform.cpp:43
MovingPlatform::applySettings
void applySettings(std::shared_ptr< PlatformSettings > settings, bool manual) override
Definition:
MovingPlatform.cpp:28
MovingPlatform::canMove
bool canMove() override
Definition:
MovingPlatform.h:72
MovingPlatform
Class representing a moving platform.
Definition:
MovingPlatform.h:8
MovingPlatform::velocity
glm::dvec3 velocity
Moving platform velocity vector.
Definition:
MovingPlatform.h:16
src
platform
MovingPlatform.h
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