#include <AttachedMobility.h>

Inheritance diagram for inet::AttachedMobility:

Public Member Functions
virtual const Coord &	getCurrentPosition () override
	Returns the position at the current simulation time. More...

virtual const Coord &	getCurrentVelocity () override
	Returns the velocity at the current simulation time. More...

virtual const Coord &	getCurrentAcceleration () override
	Returns the acceleration at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularPosition () override
	Returns the angular position at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularVelocity () override
	Returns the angular velocity at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularAcceleration () override
	Returns the angular acceleration at the current simulation time. More...

virtual void	receiveSignal (cComponent source, simsignal_t signal, cObject object, cObject *details) override

Public Member Functions inherited from inet::MobilityBase
virtual double	getMaxSpeed () const override
	Returns the maximum possible speed at any future time. More...

virtual const Coord &	getConstraintAreaMax () const override
	Returns the maximum position along each axes for. More...

virtual const Coord &	getConstraintAreaMin () const override
	Returns the minimum position along each axes for. More...

Public Member Functions inherited from inet::IMobility
virtual	~IMobility ()

Protected Member Functions
virtual int	numInitStages () const override
	Returns the required number of initialize stages. More...

virtual void	initialize (int stage) override
	Initializes mobility model parameters. More...

virtual void	handleSelfMessage (cMessage *msg) override
	Called upon arrival of a self messages, subclasses must override. More...

Protected Member Functions inherited from inet::MobilityBase
	MobilityBase ()

virtual int	getId () const override

virtual void	initializePosition ()
	Initializes mobility position. More...

virtual void	setInitialPosition ()
	Initializes the position from the display string or from module parameters. More...

virtual void	checkPosition ()
	Checks whether the position is valid or not. More...

virtual void	initializeOrientation ()
	Initializes the orientation from module parameters. More...

virtual void	refreshDisplay () const override
	Moves the visual representation module's icon to the new position on the screen. More...

virtual void	updateDisplayStringFromMobilityState () const

virtual void	handleParameterChange (const char *name) override
	Allows changing parameters from the GUI. More...

virtual void	handleMessage (cMessage *msg) override
	This modules should only receive self-messages. More...

virtual void	emitMobilityStateChangedSignal ()
	Emits a signal with the updated mobility state. More...

virtual Coord	getRandomPosition ()
	Returns a new random position satisfying the constraint area. More...

virtual cModule *	findSubjectModule ()
	Returns the module that represents the object moved by this mobility module. More...

virtual bool	isOutside ()
	Returns true if the mobility is outside of the constraint area. More...

virtual void	reflectIfOutside (Coord &targetPosition, Coord &velocity, rad &angle, rad &elevation, Quaternion &quaternion)
	Utility function to reflect the node if it goes outside the constraint area. More...

virtual void	wrapIfOutside (Coord &targetPosition)
	Utility function to wrap the node to the opposite edge (torus) if it goes outside the constraint area. More...

virtual void	placeRandomlyIfOutside (Coord &targetPosition)
	Utility function to place the node randomly if it goes outside the constraint area. More...

virtual void	raiseErrorIfOutside ()
	Utility function to raise an error if the node gets outside the constraint area. More...

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity)
	Invokes one of reflectIfOutside(), wrapIfOutside() and placeRandomlyIfOutside(), depending on the given border policy. More...

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity, rad &heading)

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity, rad &heading, rad &elevation)

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity, rad &heading, rad &elevation, Quaternion &quaternion)

Protected Attributes
ModuleRefByPar< IMobility >	mobility

Coord	positionOffset = Coord::NIL

Quaternion	orientationOffset = Quaternion::NIL

bool	isZeroOffset = false

Coord	lastVelocity

Quaternion	lastAngularPosition

Protected Attributes inherited from inet::MobilityBase
cModule *	subjectModule
	Pointer to visual representation module, to speed up repeated access. More...

const CanvasProjection *	canvasProjection
	The 2D projection used on the canvas. More...

Coord	constraintAreaMin
	3 dimensional position and size of the constraint area (in meters). More...

Coord	constraintAreaMax

Coord	lastPosition
	The last position that was reported. More...

Quaternion	lastOrientation
	The last orientation that was reported. More...

StringFormat	format

Additional Inherited Members
Public Types inherited from inet::MobilityBase
enum	BorderPolicy { REFLECT, WRAP, PLACERANDOMLY, RAISEERROR }
	Selects how a mobility module should behave if it reaches the edge of the constraint area. More...

Static Public Attributes inherited from inet::IMobility
static simsignal_t	mobilityStateChangedSignal = cComponent::registerSignal("mobilityStateChanged")
	A signal used to publish mobility state changes. More...

Member Function Documentation

◆ getCurrentAcceleration()

const Coord & inet::AttachedMobility::getCurrentAcceleration ( )

overridevirtual

Returns the acceleration at the current simulation time.

Implements inet::IMobility.

 {
     if (isZeroOffset)
         return mobility->getCurrentAcceleration();
     else {
         // TODO
         return Coord::NIL;
     }
 }

◆ getCurrentAngularAcceleration()

const Quaternion & inet::AttachedMobility::getCurrentAngularAcceleration ( )

overridevirtual

Returns the angular acceleration at the current simulation time.

Implements inet::IMobility.

 {
     return mobility->getCurrentAngularAcceleration();
 }

◆ getCurrentAngularPosition()

const Quaternion & inet::AttachedMobility::getCurrentAngularPosition ( )

overridevirtual

Returns the angular position at the current simulation time.

Implements inet::IMobility.

 {
     lastAngularPosition = mobility->getCurrentAngularPosition();
     lastAngularPosition *= Quaternion(orientationOffset);
     return lastAngularPosition;
 }

◆ getCurrentAngularVelocity()

const Quaternion & inet::AttachedMobility::getCurrentAngularVelocity ( )

overridevirtual

Returns the angular velocity at the current simulation time.

Implements inet::IMobility.

 {
     return mobility->getCurrentAngularVelocity();
 }

◆ getCurrentPosition()

const Coord & inet::AttachedMobility::getCurrentPosition ( )

overridevirtual

Returns the position at the current simulation time.

Implements inet::IMobility.

 {
     if (isZeroOffset)
         lastPosition = mobility->getCurrentPosition();
     else {
         RotationMatrix rotation(mobility->getCurrentAngularPosition().toEulerAngles());
         lastPosition = mobility->getCurrentPosition() + rotation.rotateVector(positionOffset);
     }
     return lastPosition;
 }

◆ getCurrentVelocity()

const Coord & inet::AttachedMobility::getCurrentVelocity ( )

overridevirtual

Returns the velocity at the current simulation time.

Implements inet::IMobility.

 {
     if (isZeroOffset)
         lastVelocity = mobility->getCurrentVelocity();
     else {
         RotationMatrix rotation(mobility->getCurrentAngularPosition().toEulerAngles());
         Coord rotatedOffset = rotation.rotateVector(positionOffset);
         Quaternion quaternion(mobility->getCurrentAngularVelocity());
         Coord rotationAxis;
         double rotationAngle;
         quaternion.getRotationAxisAndAngle(rotationAxis, rotationAngle);
         auto additionalVelocity = rotationAngle == 0 ? Coord::ZERO : rotationAxis % rotatedOffset * rotationAngle;
         lastVelocity = mobility->getCurrentVelocity() + additionalVelocity;
     }
     return lastVelocity;
 }

◆ handleSelfMessage()

virtual void inet::AttachedMobility::handleSelfMessage ( cMessage * msg )

inlineoverrideprotectedvirtual

Called upon arrival of a self messages, subclasses must override.

Implements inet::MobilityBase.

29 { throw cRuntimeError("Unknown self message"); }

◆ initialize()

void inet::AttachedMobility::initialize ( int stage )

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented from inet::MobilityBase.

 {
     MobilityBase::initialize(stage);
     EV_TRACE << "initializing AttachedMobility stage " << stage << endl;
     if (stage == INITSTAGE_LOCAL) {
         mobility.reference(this, "mobilityModule", true);
         positionOffset.x = par("offsetX");
         positionOffset.y = par("offsetY");
         positionOffset.z = par("offsetZ");
         auto alpha = deg(par("offsetHeading"));
         auto offsetElevation = deg(par("offsetElevation"));
         // NOTE: negation is needed, see IMobility comments on orientation
         auto beta = -offsetElevation;
         auto gamma = deg(par("offsetBank"));
         orientationOffset = Quaternion(EulerAngles(alpha, beta, gamma));
         isZeroOffset = positionOffset == Coord::ZERO;
         check_and_cast<cModule *>(mobility.get())->subscribe(IMobility::mobilityStateChangedSignal, this);
         WATCH(lastVelocity);
         WATCH(lastAngularPosition);
     }
 }

◆ numInitStages()

virtual int inet::AttachedMobility::numInitStages ( ) const

inlineoverrideprotectedvirtual

Returns the required number of initialize stages.

Reimplemented from inet::MobilityBase.

27 { return NUM_INIT_STAGES; }

◆ receiveSignal()

void inet::AttachedMobility::receiveSignal	(	cComponent *	source,
		simsignal_t	signal,
		cObject *	object,
		cObject *	details
	)

overridevirtual

 {
     Enter_Method("%s", cComponent::getSignalName(signal));
  
     if (IMobility::mobilityStateChangedSignal == signal)
         emitMobilityStateChangedSignal();
 }

Member Data Documentation

◆ isZeroOffset

bool inet::AttachedMobility::isZeroOffset = false

protected

Referenced by getCurrentAcceleration(), getCurrentPosition(), getCurrentVelocity(), and initialize().

◆ lastAngularPosition

Quaternion inet::AttachedMobility::lastAngularPosition

protected

Referenced by getCurrentAngularPosition(), and initialize().

◆ lastVelocity

Coord inet::AttachedMobility::lastVelocity

protected

Referenced by getCurrentVelocity(), and initialize().

◆ mobility

ModuleRefByPar<IMobility> inet::AttachedMobility::mobility

protected

Referenced by getCurrentAcceleration(), getCurrentAngularAcceleration(), getCurrentAngularPosition(), getCurrentAngularVelocity(), getCurrentPosition(), getCurrentVelocity(), and initialize().

◆ orientationOffset

Quaternion inet::AttachedMobility::orientationOffset = Quaternion::NIL

protected

Referenced by getCurrentAngularPosition(), and initialize().

◆ positionOffset

Coord inet::AttachedMobility::positionOffset = Coord::NIL

protected

Referenced by getCurrentPosition(), getCurrentVelocity(), and initialize().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ getCurrentAcceleration()

◆ getCurrentAngularAcceleration()

◆ getCurrentAngularPosition()

◆ getCurrentAngularVelocity()

◆ getCurrentPosition()

◆ getCurrentVelocity()

◆ handleSelfMessage()

◆ initialize()

◆ numInitStages()

◆ receiveSignal()

Member Data Documentation

◆ isZeroOffset

◆ lastAngularPosition

◆ lastVelocity

◆ mobility

◆ orientationOffset

◆ positionOffset