inet::MobilityBase Class Reference

Abstract base class for mobility modules. More...

#include <MobilityBase.h>

Inheritance diagram for inet::MobilityBase:

Classes
class	DirectiveResolver

Public Types
enum	BorderPolicy { REFLECT, WRAP, PLACERANDOMLY, RAISEERROR }
	Selects how a mobility module should behave if it reaches the edge of the constraint area. More...

Public Member Functions
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 &	getCurrentAngularPosition ()=0
	Returns the angular position at the current simulation time. More...
virtual const Quaternion &	getCurrentAngularVelocity ()=0
	Returns the angular velocity at the current simulation time. More...
virtual const Quaternion &	getCurrentAngularAcceleration ()=0
	Returns the angular acceleration at the current simulation time. More...

Protected Member Functions
	MobilityBase ()
virtual int	getId () const override
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	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	handleSelfMessage (cMessage *msg)=0
	Called upon arrival of a self messages, subclasses must override. 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
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
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

Abstract base class for mobility modules.

Mobility modules inheriting from this base class may be stationary or may change their mobility state over simulation time. This base class only provides a few utility methods to handle some common tasks among mobility modules.

Subclasses must redefine handleSelfMessage() to update the mobility state and schedule the next update. Subclasses must also redefine initialize() to read their specific parameters and schedule the first update.

This base class also provides random initial placement as a default mechanism. After initialization the module updates the display and emits a signal to subscribers providing the mobility state. Receivers of this signal can query the mobility state through the IMobility interface.

Member Enumeration Documentation

BorderPolicy

enum inet::MobilityBase::BorderPolicy

Selects how a mobility module should behave if it reaches the edge of the constraint area.

See also

handleIfOutside()

Enumerator
REFLECT	reflect off the wall
WRAP	reappear at the opposite edge (torus)
PLACERANDOMLY	placed at a randomly chosen position within the constraint area
RAISEERROR	stop the simulation with error

                      {
        REFLECT, 
        WRAP, 
        PLACERANDOMLY, 
        RAISEERROR 
    };

Constructor & Destructor Documentation

MobilityBase()

inet::MobilityBase::MobilityBase ( )

protected

                           :
    subjectModule(nullptr),
    canvasProjection(nullptr),
    constraintAreaMin(Coord::ZERO),
    constraintAreaMax(Coord::ZERO),
    lastPosition(Coord::ZERO)
{
}

Member Function Documentation

checkPosition()

void inet::MobilityBase::checkPosition ( )

protectedvirtual

Checks whether the position is valid or not.

{
    if (!isFiniteNumber(lastPosition.x) || !isFiniteNumber(lastPosition.y) || !isFiniteNumber(lastPosition.z))
        throw cRuntimeError("Mobility position is not a finite number after initialize (x=%g,y=%g,z=%g)", lastPosition.x, lastPosition.y, lastPosition.z);
    if (isOutside())
        throw cRuntimeError("Mobility position (x=%g,y=%g,z=%g) is outside the constraint area (%g,%g,%g - %g,%g,%g)",
                lastPosition.x, lastPosition.y, lastPosition.z,
                constraintAreaMin.x, constraintAreaMin.y, constraintAreaMin.z,
                constraintAreaMax.x, constraintAreaMax.y, constraintAreaMax.z);
}

Referenced by initializePosition().

emitMobilityStateChangedSignal()

void inet::MobilityBase::emitMobilityStateChangedSignal ( )

protectedvirtual

Emits a signal with the updated mobility state.

{
    emit(mobilityStateChangedSignal, this);
}

Referenced by inet::FacingMobility::handleParameterChange(), initializePosition(), inet::MovingMobilityBase::moveAndUpdate(), inet::AttachedMobility::receiveSignal(), inet::SuperpositioningMobility::receiveSignal(), and inet::RotatingMobilityBase::rotateAndUpdate().

findSubjectModule()

virtual cModule* inet::MobilityBase::findSubjectModule ( )

inlineprotectedvirtual

Returns the module that represents the object moved by this mobility module.

Reimplemented in inet::MoBanCoordinator.

{ return findModuleFromPar<cModule>(par("subjectModule"), this); }

Referenced by initialize().

getConstraintAreaMax()

virtual const Coord& inet::MobilityBase::getConstraintAreaMax ( ) const

inlineoverridevirtual

Returns the maximum position along each axes for.

Implements inet::IMobility.

Reimplemented in inet::StationaryMobilityBase.

{ return constraintAreaMax; }

getConstraintAreaMin()

virtual const Coord& inet::MobilityBase::getConstraintAreaMin ( ) const

inlineoverridevirtual

Returns the minimum position along each axes for.

Implements inet::IMobility.

Reimplemented in inet::StationaryMobilityBase.

{ return constraintAreaMin; }

getId()

virtual int inet::MobilityBase::getId ( ) const

inlineoverrideprotectedvirtual

Implements inet::IMobility.

{ return cSimpleModule::getId(); }

getMaxSpeed()

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

inlineoverridevirtual

Returns the maximum possible speed at any future time.

Implements inet::IMobility.

Reimplemented in inet::MoBanCoordinator, inet::MoBanLocal, inet::Ns2MotionMobility, inet::TurtleMobility, inet::AnsimMobility, inet::MassMobility, inet::BonnMotionMobility, inet::VehicleMobility, inet::CircleMobility, inet::GaussMarkovMobility, inet::RectangleMobility, inet::TractorMobility, inet::ChiangMobility, inet::RandomWaypointMobility, inet::LinearMobility, and inet::StationaryMobilityBase.

{ return NaN; }

getRandomPosition()

Coord inet::MobilityBase::getRandomPosition ( )

protectedvirtual

Returns a new random position satisfying the constraint area.

{
    Coord p;
    p.x = uniform(constraintAreaMin.x, constraintAreaMax.x);
    p.y = uniform(constraintAreaMin.y, constraintAreaMax.y);
    p.z = uniform(constraintAreaMin.z, constraintAreaMax.z);
    return p;
}

Referenced by placeRandomlyIfOutside(), inet::MoBanCoordinator::selectDestination(), setInitialPosition(), and inet::RandomWaypointMobility::setTargetPosition().

handleIfOutside() [1/4]

void inet::MobilityBase::handleIfOutside ( BorderPolicy  policy, Coord &  targetPosition, Coord &  velocity  )

protectedvirtual

Invokes one of reflectIfOutside(), wrapIfOutside() and placeRandomlyIfOutside(), depending on the given border policy.

{
    rad a;
    handleIfOutside(policy, targetPosition, velocity, a, a, Quaternion::NIL);
}

Referenced by handleIfOutside(), inet::LinearMobility::move(), inet::ChiangMobility::move(), inet::GaussMarkovMobility::move(), inet::CircleMobility::move(), inet::MassMobility::move(), and inet::TurtleMobility::move().

handleIfOutside() [2/4]

void inet::MobilityBase::handleIfOutside ( BorderPolicy  policy, Coord &  targetPosition, Coord &  velocity, rad &  heading  )

protectedvirtual

{
    rad dummy;
    handleIfOutside(policy, targetPosition, velocity, heading, dummy, Quaternion::NIL);
}

handleIfOutside() [3/4]

void inet::MobilityBase::handleIfOutside ( BorderPolicy  policy, Coord &  targetPosition, Coord &  velocity, rad &  heading, rad &  elevation  )

protectedvirtual

{
    handleIfOutside(policy, targetPosition, velocity, heading, elevation, Quaternion::NIL);
}

handleIfOutside() [4/4]

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

protectedvirtual

{
    switch (policy) {
        case REFLECT:
            reflectIfOutside(targetPosition, velocity, heading, elevation, quaternion);
            break;
 
        case WRAP:
            wrapIfOutside(targetPosition);
            break;
 
        case PLACERANDOMLY:
            placeRandomlyIfOutside(targetPosition);
            break;
 
        case RAISEERROR:
            raiseErrorIfOutside();
            break;
 
        default:
            throw cRuntimeError("Invalid outside policy=%d in module '%s'", policy, getFullPath().c_str());
    }
}

handleMessage()

void inet::MobilityBase::handleMessage ( cMessage *  msg )

overrideprotectedvirtual

This modules should only receive self-messages.

{
    if (message->isSelfMessage())
        handleSelfMessage(message);
    else
        throw cRuntimeError("Mobility modules can only receive self messages");
}

handleParameterChange()

void inet::MobilityBase::handleParameterChange ( const char *  name )

overrideprotectedvirtual

Allows changing parameters from the GUI.

Reimplemented in inet::FacingMobility.

{
    if (name != nullptr) {
        if (!strcmp(name, "displayStringTextFormat"))
            format.parseFormat(par("displayStringTextFormat"));
    }
}

handleSelfMessage()

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

protectedpure virtual

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

Implemented in inet::SuperpositioningMobility, inet::AttachedMobility, inet::FacingMobility, inet::MovingMobilityBase, inet::RotatingMobilityBase, and inet::StationaryMobilityBase.

Referenced by handleMessage().

initialize()

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

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented in inet::MoBanCoordinator, inet::MoBanLocal, inet::TractorMobility, inet::Ns2MotionMobility, inet::MovingMobilityBase, inet::SuperpositioningMobility, inet::RotatingMobilityBase, inet::MassMobility, inet::TurtleMobility, inet::VehicleMobility, inet::CircleMobility, inet::RectangleMobility, inet::GaussMarkovMobility, inet::AnsimMobility, inet::BonnMotionMobility, inet::RandomWaypointMobility, inet::StaticLinearMobility, inet::ChiangMobility, inet::LinearMobility, inet::AttachedMobility, inet::StationaryMobility, and inet::FacingMobility.

{
    cSimpleModule::initialize(stage);
    EV_TRACE << "initializing MobilityBase stage " << stage << endl;
    if (stage == INITSTAGE_LOCAL) {
        constraintAreaMin.x = par("constraintAreaMinX");
        constraintAreaMin.y = par("constraintAreaMinY");
        constraintAreaMin.z = par("constraintAreaMinZ");
        constraintAreaMax.x = par("constraintAreaMaxX");
        constraintAreaMax.y = par("constraintAreaMaxY");
        constraintAreaMax.z = par("constraintAreaMaxZ");
        format.parseFormat(par("displayStringTextFormat"));
        subjectModule = findSubjectModule();
        if (subjectModule != nullptr) {
            auto visualizationTarget = subjectModule->getParentModule();
            canvasProjection = CanvasProjection::getCanvasProjection(visualizationTarget->getCanvas());
        }
        WATCH(constraintAreaMin);
        WATCH(constraintAreaMax);
        WATCH(lastPosition);
        WATCH(lastOrientation);
    }
    else if (stage == INITSTAGE_SINGLE_MOBILITY) {
        initializeOrientation();
        initializePosition();
    }
}

Referenced by inet::FacingMobility::initialize(), inet::StationaryMobility::initialize(), inet::AttachedMobility::initialize(), inet::StaticLinearMobility::initialize(), inet::RotatingMobilityBase::initialize(), inet::SuperpositioningMobility::initialize(), and inet::MovingMobilityBase::initialize().

initializeOrientation()

void inet::MobilityBase::initializeOrientation ( )

protectedvirtual

Initializes the orientation from module parameters.

Reimplemented in inet::RotatingMobilityBase, and inet::LinearRotatingMobilityBase.

{
    if (hasPar("initialHeading") && hasPar("initialElevation") && hasPar("initialBank")) {
        auto alpha = deg(par("initialHeading"));
        auto initialElevation = deg(par("initialElevation"));
        // NOTE: negation is needed, see IMobility comments on orientation
        auto beta = -initialElevation;
        auto gamma = deg(par("initialBank"));
        lastOrientation = Quaternion(EulerAngles(alpha, beta, gamma));
    }
}

Referenced by initialize(), inet::LinearRotatingMobilityBase::initializeOrientation(), and inet::RotatingMobilityBase::initializeOrientation().

initializePosition()

void inet::MobilityBase::initializePosition ( )

protectedvirtual

Initializes mobility position.

Reimplemented in inet::MovingMobilityBase, and inet::LineSegmentsMobilityBase.

{
    setInitialPosition();
    checkPosition();
    emitMobilityStateChangedSignal();
}

Referenced by inet::SuperpositioningMobility::initialize(), initialize(), inet::LineSegmentsMobilityBase::initializePosition(), and inet::MovingMobilityBase::initializePosition().

isOutside()

bool inet::MobilityBase::isOutside ( )

protectedvirtual

Returns true if the mobility is outside of the constraint area.

{
    return lastPosition.x < constraintAreaMin.x || lastPosition.x > constraintAreaMax.x
           || lastPosition.y < constraintAreaMin.y || lastPosition.y > constraintAreaMax.y
           || lastPosition.z < constraintAreaMin.z || lastPosition.z > constraintAreaMax.z;
}

Referenced by checkPosition(), placeRandomlyIfOutside(), and raiseErrorIfOutside().

numInitStages()

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

inlineoverrideprotectedvirtual

Returns the required number of initialize stages.

Reimplemented in inet::MoBanCoordinator, inet::MoBanLocal, inet::Ns2MotionMobility, inet::SuperpositioningMobility, inet::MassMobility, inet::TurtleMobility, inet::CircleMobility, inet::GaussMarkovMobility, inet::TractorMobility, inet::AnsimMobility, inet::BonnMotionMobility, inet::RandomWaypointMobility, inet::RectangleMobility, inet::StaticLinearMobility, inet::ChiangMobility, inet::LinearMobility, inet::AttachedMobility, and inet::FacingMobility.

{ return NUM_INIT_STAGES; }

placeRandomlyIfOutside()

void inet::MobilityBase::placeRandomlyIfOutside ( Coord &  targetPosition )

protectedvirtual

Utility function to place the node randomly if it goes outside the constraint area.

Decision is made on lastPosition, but targetPosition will also be updated. (Pass a dummy you don't have it).

{
    if (isOutside()) {
        Coord newPosition = getRandomPosition();
        targetPosition += newPosition - lastPosition;
        lastPosition = newPosition;
    }
}

Referenced by handleIfOutside().

raiseErrorIfOutside()

void inet::MobilityBase::raiseErrorIfOutside ( )

protectedvirtual

Utility function to raise an error if the node gets outside the constraint area.

{
    if (isOutside()) {
        throw cRuntimeError("Mobility moved outside the area %g,%g,%g - %g,%g,%g (x=%g,y=%g,z=%g)",
                constraintAreaMin.x, constraintAreaMin.y, constraintAreaMin.z,
                constraintAreaMax.x, constraintAreaMax.y, constraintAreaMax.z,
                lastPosition.x, lastPosition.y, lastPosition.z);
    }
}

Referenced by handleIfOutside(), inet::RandomWaypointMobility::move(), inet::BonnMotionMobility::move(), inet::AnsimMobility::move(), and inet::Ns2MotionMobility::move().

reflectIfOutside()

void inet::MobilityBase::reflectIfOutside ( Coord &  targetPosition, Coord &  velocity, rad &  angle, rad &  elevation, Quaternion &  quaternion  )

protectedvirtual

Utility function to reflect the node if it goes outside the constraint area.

Decision is made on pos, but the variables passed as args will also be updated. (Pass dummies you don't have some of them).

{
    int sign;
    double dummy = NaN;
    if (lastPosition.x < constraintAreaMin.x || constraintAreaMax.x < lastPosition.x) {
        sign = reflect(constraintAreaMin.x, constraintAreaMax.x, lastPosition.x, velocity.x);
        reflect(constraintAreaMin.x, constraintAreaMax.x, targetPosition.x, dummy);
        heading = deg(90) + (heading - deg(90)) * sign;
        if (sign == -1 && &quaternion != &Quaternion::NIL) {
            std::swap(quaternion.s, quaternion.v.z);
            std::swap(quaternion.v.x, quaternion.v.y);
            quaternion.v.x *= -1;
            quaternion.v.y *= -1;
        }
    }
    if (lastPosition.y < constraintAreaMin.y || constraintAreaMax.y < lastPosition.y) {
        sign = reflect(constraintAreaMin.y, constraintAreaMax.y, lastPosition.y, velocity.y);
        reflect(constraintAreaMin.y, constraintAreaMax.y, targetPosition.y, dummy);
        heading = heading * sign;
        if (sign == -1 && &quaternion != &Quaternion::NIL) {
            quaternion.v.x *= -1;
            quaternion.v.z *= -1;
        }
    }
    if (lastPosition.z < constraintAreaMin.z || constraintAreaMax.z < lastPosition.z) {
        sign = reflect(constraintAreaMin.z, constraintAreaMax.z, lastPosition.z, velocity.z);
        reflect(constraintAreaMin.z, constraintAreaMax.z, targetPosition.z, dummy);
        elevation = elevation * sign;
        if (sign == -1 && &quaternion != &Quaternion::NIL) {
            quaternion.v.x *= -1;
            quaternion.v.y *= -1;
        }
    }
}

Referenced by handleIfOutside().

refreshDisplay()

void inet::MobilityBase::refreshDisplay ( ) const

overrideprotectedvirtual

Moves the visual representation module's icon to the new position on the screen.

Reimplemented in inet::MoBanCoordinator, inet::MoBanLocal, and inet::StationaryMobility.

{
    DirectiveResolver directiveResolver(const_cast<MobilityBase *>(this));
    auto text = format.formatString(&directiveResolver);
    getDisplayString().setTagArg("t", 0, text);
    if (par("updateDisplayString"))
        updateDisplayStringFromMobilityState();
}

Referenced by inet::StationaryMobility::refreshDisplay().

setInitialPosition()

void inet::MobilityBase::setInitialPosition ( )

protectedvirtual

Initializes the position from the display string or from module parameters.

Reimplemented in inet::MoBanCoordinator, inet::MoBanLocal, inet::Ns2MotionMobility, inet::SuperpositioningMobility, inet::TurtleMobility, inet::CircleMobility, inet::VehicleMobility, inet::RectangleMobility, inet::TractorMobility, inet::AnsimMobility, inet::BonnMotionMobility, inet::StaticLinearMobility, inet::StaticConcentricMobility, and inet::StaticGridMobility.

{
    // reading the coordinates from omnetpp.ini makes predefined scenarios a lot easier
    auto coordinateSystem = findModuleFromPar<IGeographicCoordinateSystem>(par("coordinateSystemModule"), this);
    if (subjectModule != nullptr && hasPar("initFromDisplayString") && par("initFromDisplayString")) {
        const char *s = subjectModule->getDisplayString().getTagArg("p", 2);
        if (s && *s)
            throw cRuntimeError("The coordinates of '%s' are invalid. Please remove automatic arrangement"
                                " (3rd argument of 'p' tag) from '@display' attribute.", subjectModule->getFullPath().c_str());
        bool filled = parseIntTo(subjectModule->getDisplayString().getTagArg("p", 0), lastPosition.x) &&
                      parseIntTo(subjectModule->getDisplayString().getTagArg("p", 1), lastPosition.y);
        if (filled) {
            lastPosition.z = hasPar("initialZ") ? par("initialZ") : 0.0;
            lastPosition = canvasProjection->computeCanvasPointInverse(cFigure::Point(lastPosition.x, lastPosition.y), lastPosition.z);
            EV_DEBUG << "position initialized from displayString and initialZ parameter: " << lastPosition << endl;
        }
        else {
            lastPosition = getRandomPosition();
            EV_DEBUG << "position initialized by random values: " << lastPosition << endl;
        }
    }
    // not all mobility models have "initialX", "initialY" and "initialZ" parameters
    else if (coordinateSystem == nullptr && hasPar("initialX") && hasPar("initialY") && hasPar("initialZ")) {
        lastPosition.x = par("initialX");
        lastPosition.y = par("initialY");
        lastPosition.z = par("initialZ");
        EV_DEBUG << "position initialized from initialX/Y/Z parameters: " << lastPosition << endl;
    }
    else if (coordinateSystem != nullptr && hasPar("initialLatitude") && hasPar("initialLongitude") && hasPar("initialAltitude")) {
        auto initialLatitude = deg(par("initialLatitude"));
        auto initialLongitude = deg(par("initialLongitude"));
        auto initialAltitude = m(par("initialAltitude"));
        lastPosition = coordinateSystem->computeSceneCoordinate(GeoCoord(initialLatitude, initialLongitude, initialAltitude));
        EV_DEBUG << "position initialized from initialLatitude/Longitude/Altitude parameters: " << lastPosition << endl;
    }
    else {
        lastPosition = getRandomPosition();
        EV_DEBUG << "position initialized by random values: " << lastPosition << endl;
    }
    if (par("updateDisplayString"))
        updateDisplayStringFromMobilityState();
}

Referenced by initializePosition(), inet::RectangleMobility::setInitialPosition(), and inet::TurtleMobility::setInitialPosition().

updateDisplayStringFromMobilityState()

void inet::MobilityBase::updateDisplayStringFromMobilityState ( ) const

protectedvirtual

{
    if (subjectModule != nullptr) {
        // position
        auto position = const_cast<MobilityBase *>(this)->getCurrentPosition();
        EV_TRACE << "current position = " << position << endl;
        auto subjectModulePosition = canvasProjection->computeCanvasPoint(position);
        char buf[32];
        snprintf(buf, sizeof(buf), "%lf", subjectModulePosition.x);
        buf[sizeof(buf) - 1] = 0;
        auto& displayString = subjectModule->getDisplayString();
        displayString.setTagArg("p", 0, buf);
        snprintf(buf, sizeof(buf), "%lf", subjectModulePosition.y);
        buf[sizeof(buf) - 1] = 0;
        displayString.setTagArg("p", 1, buf);
        // angle
        double angle = 0;
        auto angularPosition = const_cast<MobilityBase *>(this)->getCurrentAngularPosition();
        if (angularPosition != Quaternion::IDENTITY) {
            Quaternion swing;
            Quaternion twist;
            Coord vector = canvasProjection->computeCanvasPointInverse(cFigure::Point(0, 0), 1);
            vector.normalize();
            angularPosition.getSwingAndTwist(vector, swing, twist);
            Coord axis;
            twist.getRotationAxisAndAngle(axis, angle);
            angle = math::rad2deg(axis.z >= 0 ? angle : -angle);
        }
        snprintf(buf, sizeof(buf), "%lf", angle);
        displayString.setTagArg("a", 0, buf);
    }
}

Referenced by refreshDisplay(), and setInitialPosition().

wrapIfOutside()

void inet::MobilityBase::wrapIfOutside ( Coord &  targetPosition )

protectedvirtual

Utility function to wrap the node to the opposite edge (torus) if it goes outside the constraint area.

Decision is made on pos, but targetPosition will also be updated. (Pass a dummy you don't have it).

{
    if (lastPosition.x < constraintAreaMin.x || constraintAreaMax.x < lastPosition.x) {
        wrap(constraintAreaMin.x, constraintAreaMax.x, lastPosition.x);
        wrap(constraintAreaMin.x, constraintAreaMax.x, targetPosition.x);
    }
    if (lastPosition.y < constraintAreaMin.y || constraintAreaMax.y < lastPosition.y) {
        wrap(constraintAreaMin.y, constraintAreaMax.y, lastPosition.y);
        wrap(constraintAreaMin.y, constraintAreaMax.y, targetPosition.y);
    }
    if (lastPosition.z < constraintAreaMin.z || constraintAreaMax.z < lastPosition.z) {
        wrap(constraintAreaMin.z, constraintAreaMax.z, lastPosition.z);
        wrap(constraintAreaMin.z, constraintAreaMax.z, targetPosition.z);
    }
}

Referenced by handleIfOutside().

Member Data Documentation

canvasProjection

const CanvasProjection* inet::MobilityBase::canvasProjection

protected

The 2D projection used on the canvas.

Referenced by initialize(), setInitialPosition(), updateDisplayStringFromMobilityState(), and inet::StationaryMobility::updateMobilityStateFromDisplayString().

constraintAreaMax

Coord inet::MobilityBase::constraintAreaMax

protected

Referenced by checkPosition(), getRandomPosition(), inet::TurtleMobility::getValue(), inet::RectangleMobility::initialize(), initialize(), isOutside(), inet::RectangleMobility::move(), inet::GaussMarkovMobility::preventBorderHugging(), raiseErrorIfOutside(), reflectIfOutside(), inet::StaticLinearMobility::setInitialPosition(), and wrapIfOutside().

constraintAreaMin

Coord inet::MobilityBase::constraintAreaMin

protected

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

Referenced by checkPosition(), getRandomPosition(), inet::TurtleMobility::getValue(), inet::RectangleMobility::initialize(), initialize(), isOutside(), inet::RectangleMobility::move(), inet::GaussMarkovMobility::preventBorderHugging(), raiseErrorIfOutside(), reflectIfOutside(), inet::StaticGridMobility::setInitialPosition(), inet::StaticConcentricMobility::setInitialPosition(), and wrapIfOutside().

format

StringFormat inet::MobilityBase::format

protected

Referenced by inet::FacingMobility::handleParameterChange(), handleParameterChange(), inet::FacingMobility::initialize(), initialize(), inet::StationaryMobility::refreshDisplay(), and refreshDisplay().

lastOrientation

Quaternion inet::MobilityBase::lastOrientation

protected

The last orientation that was reported.

Referenced by inet::FacingMobility::getCurrentAngularPosition(), inet::SuperpositioningMobility::getCurrentAngularPosition(), inet::RotatingMobilityBase::getCurrentAngularPosition(), inet::MovingMobilityBase::getCurrentAngularPosition(), initialize(), initializeOrientation(), inet::MassMobility::orient(), inet::MovingMobilityBase::orient(), inet::LinearRotatingMobilityBase::rotate(), and inet::StationaryMobility::updateMobilityStateFromDisplayString().

lastPosition

Coord inet::MobilityBase::lastPosition

protected

The last position that was reported.

Referenced by checkPosition(), inet::TurtleMobility::executeStatement(), inet::StaticLinearMobility::finish(), inet::AttachedMobility::getCurrentPosition(), inet::SuperpositioningMobility::getCurrentPosition(), inet::MovingMobilityBase::getCurrentPosition(), initialize(), inet::MoBanCoordinator::initialize(), inet::LineSegmentsMobilityBase::initializePosition(), isOutside(), inet::LineSegmentsMobilityBase::move(), inet::LinearMobility::move(), inet::GaussMarkovMobility::move(), inet::RectangleMobility::move(), inet::CircleMobility::move(), inet::MassMobility::move(), placeRandomlyIfOutside(), inet::GaussMarkovMobility::preventBorderHugging(), raiseErrorIfOutside(), inet::MoBanCoordinator::readConfigurationFile(), reflectIfOutside(), inet::MoBanLocal::refreshDisplay(), inet::TurtleMobility::resumeScript(), inet::MoBanCoordinator::selectDestination(), inet::MoBanCoordinator::selectPosture(), inet::StaticConcentricMobility::setInitialPosition(), inet::StaticGridMobility::setInitialPosition(), inet::BonnMotionMobility::setInitialPosition(), inet::StaticLinearMobility::setInitialPosition(), inet::AnsimMobility::setInitialPosition(), inet::TractorMobility::setInitialPosition(), inet::TurtleMobility::setInitialPosition(), inet::SuperpositioningMobility::setInitialPosition(), inet::Ns2MotionMobility::setInitialPosition(), inet::MoBanLocal::setInitialPosition(), setInitialPosition(), inet::MoBanLocal::setMoBANParameters(), inet::RandomWaypointMobility::setTargetPosition(), inet::ChiangMobility::setTargetPosition(), inet::AnsimMobility::setTargetPosition(), inet::BonnMotionMobility::setTargetPosition(), inet::TractorMobility::setTargetPosition(), inet::GaussMarkovMobility::setTargetPosition(), inet::MassMobility::setTargetPosition(), inet::Ns2MotionMobility::setTargetPosition(), inet::MoBanLocal::setTargetPosition(), inet::MoBanCoordinator::setTargetPosition(), inet::StationaryMobility::updateMobilityStateFromDisplayString(), and wrapIfOutside().

subjectModule

cModule* inet::MobilityBase::subjectModule

protected

Pointer to visual representation module, to speed up repeated access.

Referenced by initialize(), inet::MoBanLocal::refreshDisplay(), inet::StaticConcentricMobility::setInitialPosition(), inet::StaticGridMobility::setInitialPosition(), inet::StaticLinearMobility::setInitialPosition(), setInitialPosition(), updateDisplayStringFromMobilityState(), and inet::StationaryMobility::updateMobilityStateFromDisplayString().

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

• MobilityBase.h
• MobilityBase.cc