Gauss Markov movement model. More...

#include <GaussMarkovMobility.h>

Inheritance diagram for inet::GaussMarkovMobility:

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

	GaussMarkovMobility ()

Public Member Functions inherited from inet::LineSegmentsMobilityBase
	LineSegmentsMobilityBase ()

Public Member Functions inherited from inet::MovingMobilityBase
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...

Public Member Functions inherited from inet::MobilityBase
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...

void	preventBorderHugging ()
	If the host is too close to the border it is repelled. More...

virtual void	move () override
	Move the host. More...

virtual void	setTargetPosition () override
	Calculate a new target position to move to. More...

Protected Member Functions inherited from inet::LineSegmentsMobilityBase
virtual void	initializePosition () override
	Initializes mobility position. More...

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

virtual	~MovingMobilityBase ()

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

void	scheduleUpdate ()
	Schedules the move timer that will update the mobility state. More...

void	moveAndUpdate ()
	Moves and notifies listeners. More...

virtual void	orient ()

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

virtual int	getId () const override

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
double	speed = 0.0
	speed of the host More...

double	speedMean = 0.0
	speed mean More...

double	speedStdDev = 0.0
	speed standard deviation More...

rad	angle = rad(0.0)
	angle of linear motion More...

rad	angleMean = rad(0.0)
	angle mean More...

rad	angleStdDev = rad(0.0)
	angle standard deviation More...

double	alpha = 0.0
	alpha parameter in [0;1] interval More...

double	margin = 0.0
	margin at which the host gets repelled from the border More...

Protected Attributes inherited from inet::LineSegmentsMobilityBase
Coord	targetPosition
	End position of current linear movement. More...

Protected Attributes inherited from inet::MovingMobilityBase
cMessage *	moveTimer
	The message used for mobility state changes. More...

simtime_t	updateInterval
	The simulation time interval used to regularly signal mobility state changes. More...

bool	stationary
	A mobility model may decide to become stationary at any time. More...

Coord	lastVelocity
	The last velocity that was reported at lastUpdate. More...

Quaternion	lastAngularVelocity
	The last angular velocity that was reported at lastUpdate. More...

simtime_t	lastUpdate
	The simulation time when the mobility state was last updated. More...

simtime_t	nextChange
	The next simulation time when the mobility module needs to update its internal state. More...

bool	faceForward

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...

Detailed Description

Gauss Markov movement model.

See NED file for more info.

Author: Marcin Kosiba

Constructor & Destructor Documentation

◆ GaussMarkovMobility()

inet::GaussMarkovMobility::GaussMarkovMobility ( )

17 {

18 }

Member Function Documentation

◆ getMaxSpeed()

virtual double inet::GaussMarkovMobility::getMaxSpeed ( ) const

inlineoverridevirtual

Returns the maximum possible speed at any future time.

Reimplemented from inet::MobilityBase.

48 { return speed; }

◆ initialize()

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

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented from inet::MovingMobilityBase.

 {
     LineSegmentsMobilityBase::initialize(stage);
  
     EV_TRACE << "initializing GaussMarkovMobility stage " << stage << endl;
     if (stage == INITSTAGE_LOCAL) {
         speedMean = par("speed");
         speedStdDev = par("speedStdDev");
         angleMean = deg(fmod(deg(par("angle")).get(), 360.0));
         angleStdDev = deg(par("angleStdDev"));
         alpha = par("alpha");
         if (alpha < 0.0 || alpha > 1.0)
             throw cRuntimeError("The parameter 'alpha' is out of [0;1] interval");
         // constrain alpha to [0.0;1.0]
         margin = par("margin");
         speed = speedMean;
         angle = angleMean;
         stationary = (speed == 0);
     }
 }

◆ move()

void inet::GaussMarkovMobility::move ( )

overrideprotectedvirtual

Move the host.

Reimplemented from inet::LineSegmentsMobilityBase.

 {
     preventBorderHugging();
     LineSegmentsMobilityBase::move();
     handleIfOutside(REFLECT, lastPosition, lastVelocity, angle);
 }

◆ numInitStages()

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

inlineoverrideprotectedvirtual

Returns the required number of initialize stages.

Reimplemented from inet::MobilityBase.

33 { return NUM_INIT_STAGES; }

◆ preventBorderHugging()

void inet::GaussMarkovMobility::preventBorderHugging ( )

protected

If the host is too close to the border it is repelled.

 {
     bool left = (lastPosition.x < constraintAreaMin.x + margin);
     bool right = (lastPosition.x >= constraintAreaMax.x - margin);
     bool top = (lastPosition.y < constraintAreaMin.y + margin);
     bool bottom = (lastPosition.y >= constraintAreaMax.y - margin);
     if (top || bottom) {
         angleMean = bottom ? deg(270.0) : deg(90.0);
         if (right)
             angleMean -= deg(45.0);
         else if (left)
             angleMean += deg(45.0);
     }
     else if (left)
         angleMean = deg(0.0);
     else if (right)
         angleMean = deg(180.0);
 }

Referenced by move().

◆ setTargetPosition()

void inet::GaussMarkovMobility::setTargetPosition ( )

overrideprotectedvirtual

Calculate a new target position to move to.

Implements inet::LineSegmentsMobilityBase.

 {
     // calculate new speed and direction based on the model
     speed = alpha * speed
         + (1.0 - alpha) * speedMean
         + sqrt(1.0 - alpha * alpha) * normal(0.0, 1.0) * speedStdDev;
  
     angle = alpha * angle
         + (1.0 - alpha) * angleMean
         + rad(sqrt(1.0 - alpha * alpha) * normal(0.0, 1.0) * angleStdDev);
  
     Coord direction(cos(rad(angle).get()), sin(rad(angle).get()));
     nextChange = simTime() + updateInterval;
     targetPosition = lastPosition + direction * (speed * updateInterval.dbl());
  
     EV_DEBUG << " speed = " << speed << " angle = " << angle << endl;
     EV_DEBUG << " mspeed = " << speedMean << " mangle = " << angleMean << endl;
 }

Member Data Documentation

◆ alpha

double inet::GaussMarkovMobility::alpha = 0.0

protected

alpha parameter in [0;1] interval

Referenced by initialize(), and setTargetPosition().

◆ angle

rad inet::GaussMarkovMobility::angle = rad(0.0)

protected

angle of linear motion

Referenced by initialize(), move(), and setTargetPosition().

◆ angleMean

rad inet::GaussMarkovMobility::angleMean = rad(0.0)

protected

angle mean

Referenced by initialize(), preventBorderHugging(), and setTargetPosition().

◆ angleStdDev

rad inet::GaussMarkovMobility::angleStdDev = rad(0.0)

protected

angle standard deviation

Referenced by initialize(), and setTargetPosition().

◆ margin

double inet::GaussMarkovMobility::margin = 0.0

protected

margin at which the host gets repelled from the border

Referenced by initialize(), and preventBorderHugging().

◆ speed

double inet::GaussMarkovMobility::speed = 0.0

protected

speed of the host

Referenced by initialize(), and setTargetPosition().

◆ speedMean

double inet::GaussMarkovMobility::speedMean = 0.0

protected

speed mean

Referenced by initialize(), and setTargetPosition().

◆ speedStdDev

double inet::GaussMarkovMobility::speedStdDev = 0.0

protected

speed standard deviation

Referenced by initialize(), and setTargetPosition().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GaussMarkovMobility()

Member Function Documentation

◆ getMaxSpeed()

◆ initialize()

◆ move()

◆ numInitStages()

◆ preventBorderHugging()

◆ setTargetPosition()

Member Data Documentation

◆ alpha

◆ angle

◆ angleMean

◆ angleStdDev

◆ margin

◆ speed

◆ speedMean

◆ speedStdDev