Base class for mobility models where movement consists of a sequence of linear movements of constant speed. More...
#include <LineSegmentsMobilityBase.h>
Public Member Functions | |
| 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 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 void | initializePosition () override |
| Initializes mobility position. More... | |
| virtual void | move () override |
| Moves according to the mobility model to the current simulation time. More... | |
| virtual void | setTargetPosition ()=0 |
| Should be redefined in subclasses. More... | |
| Protected Member Functions inherited from inet::MovingMobilityBase | |
| MovingMobilityBase () | |
| virtual | ~MovingMobilityBase () |
| virtual void | initialize (int stage) override |
| Initializes mobility model parameters. More... | |
| 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 int | numInitStages () const override |
| Returns the required number of initialize stages. 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 | |
| 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
Base class for mobility models where movement consists of a sequence of linear movements of constant speed.
Subclasses must redefine setTargetPosition() which is supposed to set a new targetPosition and nextChange once the previous target is reached.
Constructor & Destructor Documentation
◆ LineSegmentsMobilityBase()
| inet::LineSegmentsMobilityBase::LineSegmentsMobilityBase | ( | ) |
Member Function Documentation
◆ initializePosition()
|
overrideprotectedvirtual |
Initializes mobility position.
Reimplemented from inet::MovingMobilityBase.
◆ move()
|
overrideprotectedvirtual |
Moves according to the mobility model to the current simulation time.
Subclasses must override and update lastPosition, lastVelocity, lastUpdate, nextChange and other state according to the mobility model.
Implements inet::MovingMobilityBase.
Reimplemented in inet::Ns2MotionMobility, inet::TurtleMobility, inet::MassMobility, inet::AnsimMobility, inet::BonnMotionMobility, inet::GaussMarkovMobility, inet::ChiangMobility, and inet::RandomWaypointMobility.
Referenced by inet::RandomWaypointMobility::move(), inet::ChiangMobility::move(), inet::GaussMarkovMobility::move(), inet::BonnMotionMobility::move(), inet::AnsimMobility::move(), inet::TurtleMobility::move(), and inet::Ns2MotionMobility::move().
◆ setTargetPosition()
|
protectedpure virtual |
Should be redefined in subclasses.
This method gets called when targetPosition and nextChange has been reached, and its task is to set a new targetPosition and nextChange. At the end of the movement sequence, it should set nextChange to -1.
Implemented in inet::MoBanCoordinator, inet::MoBanLocal, inet::Ns2MotionMobility, inet::MassMobility, inet::TurtleMobility, inet::GaussMarkovMobility, inet::TractorMobility, inet::AnsimMobility, inet::BonnMotionMobility, inet::ChiangMobility, and inet::RandomWaypointMobility.
Referenced by initializePosition(), and move().
Member Data Documentation
◆ targetPosition
|
protected |
End position of current linear movement.
Referenced by inet::TurtleMobility::executeStatement(), inet::AnsimMobility::extractDataFrom(), initializePosition(), LineSegmentsMobilityBase(), move(), inet::MassMobility::move(), inet::TurtleMobility::move(), inet::TurtleMobility::resumeScript(), inet::AnsimMobility::setInitialPosition(), inet::TurtleMobility::setInitialPosition(), inet::MoBanLocal::setMoBANParameters(), inet::RandomWaypointMobility::setTargetPosition(), inet::ChiangMobility::setTargetPosition(), inet::BonnMotionMobility::setTargetPosition(), inet::AnsimMobility::setTargetPosition(), inet::TractorMobility::setTargetPosition(), inet::GaussMarkovMobility::setTargetPosition(), inet::MassMobility::setTargetPosition(), inet::Ns2MotionMobility::setTargetPosition(), inet::MoBanLocal::setTargetPosition(), and inet::MoBanCoordinator::setTargetPosition().
The documentation for this class was generated from the following files:
