#include <LinearRotatingMobilityBase.h>

Inheritance diagram for inet::LinearRotatingMobilityBase:

Public Member Functions
	LinearRotatingMobilityBase ()

Public Member Functions inherited from inet::RotatingMobilityBase
virtual const Quaternion &	getCurrentAngularPosition () override
	Returns the current angular position at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularVelocity () override
	Returns the current angular velocity 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 ()

virtual const Coord &	getCurrentPosition ()=0
	Returns the position at the current simulation time. More...

virtual const Coord &	getCurrentVelocity ()=0
	Returns the velocity at the current simulation time. More...

virtual const Coord &	getCurrentAcceleration ()=0
	Returns the acceleration at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularAcceleration ()=0
	Returns the angular acceleration at the current simulation time. More...

Protected Member Functions
virtual void	initializeOrientation () override
	Initializes the orientation from module parameters. More...

virtual void	rotate () override
	Moves according to the mobility model to the current simulation time. More...

virtual void	setTargetOrientation ()=0
	Should be redefined in subclasses. More...

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

virtual	~RotatingMobilityBase ()

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	rotateAndUpdate ()
	Moves and notifies listeners. More...

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	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	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
Quaternion	targetOrientation
	End position of current linear movement. More...

Protected Attributes inherited from inet::RotatingMobilityBase
cMessage *	rotateTimer
	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...

Quaternion	lastAngularVelocity
	The last 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...

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...

Constructor & Destructor Documentation

◆ LinearRotatingMobilityBase()

inet::LinearRotatingMobilityBase::LinearRotatingMobilityBase ( )

13 {

14 }

Member Function Documentation

◆ initializeOrientation()

void inet::LinearRotatingMobilityBase::initializeOrientation ( )

overrideprotectedvirtual

Initializes the orientation from module parameters.

Reimplemented from inet::RotatingMobilityBase.

 {
     MobilityBase::initializeOrientation();
     if (!stationary) {
         setTargetOrientation();
         EV_INFO << "current target orientation = " << targetOrientation << ", next change = " << nextChange << endl;
     }
     lastUpdate = simTime();
     scheduleUpdate();
 }

◆ rotate()

void inet::LinearRotatingMobilityBase::rotate ( )

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::RotatingMobilityBase.

 {
     simtime_t now = simTime();
     if (now == nextChange) {
         lastOrientation = targetOrientation;
         EV_INFO << "reached current target orientation = " << lastOrientation << endl;
         setTargetOrientation();
         EV_INFO << "new target orientation = " << targetOrientation << ", next change = " << nextChange << endl;
     }
     else if (now > lastUpdate) {
         ASSERT(nextChange == -1 || now < nextChange);
         double delta = (simTime() - lastUpdate).dbl() / (nextChange - lastUpdate).dbl();
         lastOrientation = Quaternion::slerp(lastOrientation, targetOrientation, delta);
     }
 }

◆ setTargetOrientation()

virtual void inet::LinearRotatingMobilityBase::setTargetOrientation ( )

protectedpure virtual

Should be redefined in subclasses.

This method gets called when targetOrientation and nextChange has been reached, and its task is to set a new targetOrientation and nextChange. At the end of the movement sequence, it should set nextChange to -1.

Referenced by initializeOrientation(), and rotate().

Member Data Documentation

◆ targetOrientation

Quaternion inet::LinearRotatingMobilityBase::targetOrientation

protected

End position of current linear movement.

Referenced by initializeOrientation(), and rotate().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members