Base class for moving mobility modules. More...

#include <MovingMobilityBase.h>

Inheritance diagram for inet::MovingMobilityBase:

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...

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
	MovingMobilityBase ()

virtual	~MovingMobilityBase ()

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

virtual void	initializePosition () override
	Initializes mobility position. 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	move ()=0
	Moves according to the mobility model to the current simulation time. 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
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 moving mobility modules.

Periodically emits a signal with the current mobility state.

Constructor & Destructor Documentation

◆ MovingMobilityBase()

inet::MovingMobilityBase::MovingMobilityBase ( )

protected

                                        :
     moveTimer(nullptr),
     updateInterval(0),
     stationary(false),
     lastVelocity(Coord::ZERO),
     lastUpdate(0),
     nextChange(-1),
     faceForward(false)
 {
 }

◆ ~MovingMobilityBase()

inet::MovingMobilityBase::~MovingMobilityBase ( )

protectedvirtual

 {
     cancelAndDelete(moveTimer);
 }

Member Function Documentation

◆ getCurrentAcceleration()

virtual const Coord& inet::MovingMobilityBase::getCurrentAcceleration ( )

inlineoverridevirtual

Returns the acceleration at the current simulation time.

Implements inet::IMobility.

79 { throw cRuntimeError("Invalid operation"); }

◆ getCurrentAngularAcceleration()

virtual const Quaternion& inet::MovingMobilityBase::getCurrentAngularAcceleration ( )

inlineoverridevirtual

Returns the angular acceleration at the current simulation time.

Implements inet::IMobility.

Reimplemented in inet::CircleMobility.

83 { throw cRuntimeError("Invalid operation"); }

◆ getCurrentAngularPosition()

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

overridevirtual

Returns the angular position at the current simulation time.

Implements inet::IMobility.

 {
     moveAndUpdate();
     return lastOrientation;
 }

◆ getCurrentAngularVelocity()

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

overridevirtual

Returns the angular velocity at the current simulation time.

Implements inet::IMobility.

Reimplemented in inet::CircleMobility.

 {
     moveAndUpdate();
     return lastAngularVelocity;
 }

◆ getCurrentPosition()

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

overridevirtual

Returns the position at the current simulation time.

Implements inet::IMobility.

Reimplemented in inet::MoBanLocal.

 {
     moveAndUpdate();
     return lastPosition;
 }

Referenced by inet::MoBanLocal::getCurrentPosition(), and inet::MoBanLocal::refreshDisplay().

◆ getCurrentVelocity()

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

overridevirtual

Returns the velocity at the current simulation time.

Implements inet::IMobility.

Reimplemented in inet::MoBanLocal.

 {
     moveAndUpdate();
     return lastVelocity;
 }

Referenced by inet::MoBanLocal::getCurrentVelocity().

◆ handleSelfMessage()

void inet::MovingMobilityBase::handleSelfMessage ( cMessage * msg )

overrideprotectedvirtual

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

Implements inet::MobilityBase.

 {
     moveAndUpdate();
     scheduleUpdate();
 }

◆ initialize()

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

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented from inet::MobilityBase.

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

 {
     MobilityBase::initialize(stage);
     EV_TRACE << "initializing MovingMobilityBase stage " << stage << endl;
     if (stage == INITSTAGE_LOCAL) {
         moveTimer = new cMessage("move");
         updateInterval = par("updateInterval");
         faceForward = par("faceForward");
     }
 }

◆ initializePosition()

void inet::MovingMobilityBase::initializePosition ( )

overrideprotectedvirtual

Initializes mobility position.

Reimplemented from inet::MobilityBase.

Reimplemented in inet::LineSegmentsMobilityBase.

 {
     MobilityBase::initializePosition();
     lastUpdate = simTime();
     scheduleUpdate();
 }

◆ move()

virtual void inet::MovingMobilityBase::move ( )

protectedpure virtual

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.

Implemented in inet::Ns2MotionMobility, inet::TurtleMobility, inet::CircleMobility, inet::MassMobility, inet::AnsimMobility, inet::BonnMotionMobility, inet::RectangleMobility, inet::VehicleMobility, inet::GaussMarkovMobility, inet::ChiangMobility, inet::RandomWaypointMobility, inet::LinearMobility, and inet::LineSegmentsMobilityBase.

Referenced by moveAndUpdate().

◆ moveAndUpdate()

void inet::MovingMobilityBase::moveAndUpdate ( )

protected

Moves and notifies listeners.

 {
     simtime_t now = simTime();
     if (nextChange == now || lastUpdate != now) {
         move();
         orient();
         lastUpdate = simTime();
         emitMobilityStateChangedSignal();
     }
 }

Referenced by getCurrentAngularPosition(), getCurrentAngularVelocity(), getCurrentPosition(), getCurrentVelocity(), and handleSelfMessage().

◆ orient()

void inet::MovingMobilityBase::orient ( )

protectedvirtual

Reimplemented in inet::MassMobility, and inet::VehicleMobility.

 {
     if (faceForward) {
         // determine orientation based on direction
         if (lastVelocity != Coord::ZERO) {
             Coord direction = lastVelocity;
             direction.normalize();
             auto alpha = rad(atan2(direction.y, direction.x));
             auto beta = rad(-asin(direction.z));
             auto gamma = rad(0.0);
             lastOrientation = Quaternion(EulerAngles(alpha, beta, gamma));
         }
     }
 }

Referenced by moveAndUpdate(), inet::VehicleMobility::orient(), and inet::CircleMobility::setInitialPosition().

◆ scheduleUpdate()

void inet::MovingMobilityBase::scheduleUpdate ( )

protected

Schedules the move timer that will update the mobility state.

 {
     cancelEvent(moveTimer);
     if (!stationary && updateInterval != 0) {
         // periodic update is needed
         simtime_t nextUpdate = simTime() + updateInterval;
         if (nextChange != -1 && nextChange < nextUpdate)
             // next change happens earlier than next update
             scheduleAt(nextChange, moveTimer);
         else
             // next update happens earlier than next change or there is no change at all
             scheduleAt(nextUpdate, moveTimer);
     }
     else if (nextChange != -1)
         // no periodic update is needed
         scheduleAt(nextChange, moveTimer);
 }

Referenced by handleSelfMessage(), inet::LineSegmentsMobilityBase::initializePosition(), initializePosition(), and inet::MoBanLocal::setMoBANParameters().

Member Data Documentation

◆ faceForward

bool inet::MovingMobilityBase::faceForward

protected

Referenced by initialize(), inet::MassMobility::orient(), and orient().

◆ lastAngularVelocity

Quaternion inet::MovingMobilityBase::lastAngularVelocity

protected

The last angular velocity that was reported at lastUpdate.

Referenced by getCurrentAngularVelocity(), and inet::CircleMobility::initialize().

◆ lastUpdate

simtime_t inet::MovingMobilityBase::lastUpdate

protected

The simulation time when the mobility state was last updated.

Referenced by inet::LineSegmentsMobilityBase::initializePosition(), initializePosition(), inet::LineSegmentsMobilityBase::move(), inet::LinearMobility::move(), inet::RectangleMobility::move(), inet::MassMobility::move(), and moveAndUpdate().

◆ lastVelocity

Coord inet::MovingMobilityBase::lastVelocity

protected

The last velocity that was reported at lastUpdate.

Referenced by getCurrentVelocity(), inet::LinearMobility::initialize(), inet::LineSegmentsMobilityBase::initializePosition(), inet::LineSegmentsMobilityBase::move(), inet::LinearMobility::move(), inet::ChiangMobility::move(), inet::GaussMarkovMobility::move(), inet::RectangleMobility::move(), inet::MassMobility::move(), inet::CircleMobility::move(), orient(), inet::MoBanLocal::setMoBANParameters(), and inet::ChiangMobility::setTargetPosition().

◆ moveTimer

cMessage* inet::MovingMobilityBase::moveTimer

protected

The message used for mobility state changes.

Referenced by initialize(), scheduleUpdate(), and ~MovingMobilityBase().

◆ nextChange

simtime_t inet::MovingMobilityBase::nextChange

protected

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

The -1 value turns off sending a self message for the next mobility state change.

◆ stationary

bool inet::MovingMobilityBase::stationary

protected

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

The true value disables sending self messages.

Referenced by inet::ChiangMobility::initialize(), inet::LinearMobility::initialize(), inet::RandomWaypointMobility::initialize(), inet::GaussMarkovMobility::initialize(), inet::RectangleMobility::initialize(), inet::CircleMobility::initialize(), inet::LineSegmentsMobilityBase::initializePosition(), inet::TurtleMobility::resumeScript(), scheduleUpdate(), inet::BonnMotionMobility::setTargetPosition(), inet::AnsimMobility::setTargetPosition(), and inet::Ns2MotionMobility::setTargetPosition().

◆ updateInterval

simtime_t inet::MovingMobilityBase::updateInterval

protected

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

The 0 value turns off the signal.

Referenced by initialize(), scheduleUpdate(), and inet::GaussMarkovMobility::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

◆ MovingMobilityBase()

◆ ~MovingMobilityBase()

Member Function Documentation

◆ getCurrentAcceleration()

◆ getCurrentAngularAcceleration()

◆ getCurrentAngularPosition()

◆ getCurrentAngularVelocity()

◆ getCurrentPosition()

◆ getCurrentVelocity()

◆ handleSelfMessage()

◆ initialize()

◆ initializePosition()

◆ move()

◆ moveAndUpdate()

◆ orient()

◆ scheduleUpdate()

Member Data Documentation

◆ faceForward

◆ lastAngularVelocity

◆ lastUpdate

◆ lastVelocity

◆ moveTimer

◆ nextChange

◆ stationary

◆ updateInterval