#include <VehicleMobility.h>

Inheritance diagram for inet::VehicleMobility:

Classes
struct	Waypoint

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

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

virtual void	setInitialPosition () override
	Initializes the position from the display string or from module parameters. More...

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

virtual void	orient () override

virtual void	readWaypointsFromFile (const char *fileName)

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

virtual	~MovingMobilityBase ()

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...

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	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
std::vector< Waypoint >	waypoints

physicalenvironment::IGround *	ground = nullptr

double	speed

double	heading

double	waypointProximity

double	angularSpeed

int	targetPointIndex

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...

Member Function Documentation

◆ getMaxSpeed()

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

inlineoverridevirtual

Returns the maximum possible speed at any future time.

Reimplemented from inet::MobilityBase.

49 { return speed; }

◆ initialize()

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

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented from inet::MovingMobilityBase.

 {
     MovingMobilityBase::initialize(stage);
     EV_TRACE << "initializing VehicleMobility stage " << stage << endl;
     if (stage == INITSTAGE_LOCAL) {
         speed = par("speed");
         waypointProximity = par("waypointProximity");
         targetPointIndex = 0;
         heading = 0;
         angularSpeed = 0;
         readWaypointsFromFile(par("waypointFile"));
         ground = findModuleFromPar<IGround>(par("groundModule"), this);
     }
 }

◆ move()

void inet::VehicleMobility::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.

 {
     Waypoint target = waypoints[targetPointIndex];
     double dx = target.x - lastPosition.x;
     double dy = target.y - lastPosition.y;
     if (dx * dx + dy * dy < waypointProximity * waypointProximity) // reached so change to next (within the predefined proximity of the waypoint)
         targetPointIndex = (targetPointIndex + 1) % waypoints.size();
     double targetDirection = atan2(dy, dx) / M_PI * 180;
     double diff = targetDirection - heading;
     while (diff < -180)
         diff += 360;
     while (diff > 180)
         diff -= 360;
     angularSpeed = diff * 5;
     double timeStep = (simTime() - lastUpdate).dbl();
     heading += angularSpeed * timeStep;
  
     Coord tempSpeed = Coord(cos(M_PI * heading / 180), sin(M_PI * heading / 180)) * speed;
     Coord tempPosition = lastPosition + tempSpeed * timeStep;
  
     if (ground)
         tempPosition = ground->computeGroundProjection(tempPosition);
  
     lastVelocity = tempPosition - lastPosition;
     lastPosition = tempPosition;
 }

◆ orient()

void inet::VehicleMobility::orient ( )

overrideprotectedvirtual

Reimplemented from inet::MovingMobilityBase.

 {
     if (ground) {
         Coord groundNormal = ground->computeGroundNormal(lastPosition);
  
         // this will make the wheels follow the ground
         Quaternion quat = Quaternion::rotationFromTo(Coord(0, 0, 1), groundNormal);
  
         Coord groundTangent = groundNormal % lastVelocity;
         groundTangent.normalize();
         Coord direction = groundTangent % groundNormal;
         direction.normalize(); // this is lastSpeed, normalized and adjusted to be perpendicular to groundNormal
  
         // our model looks in this direction if we only rotate the Z axis to match the ground normal
         Coord groundX = quat.rotate(Coord(1, 0, 0));
  
         double dp = groundX * direction;
  
         double angle;
  
         if (((groundX % direction) * groundNormal) > 0)
             angle = std::acos(dp);
         else
             // correcting for the case where the angle should be over 90 degrees (or under -90):
             angle = 2 * M_PI - std::acos(dp);
  
         // and finally rotating around the now-ground-orthogonal local Z
         quat *= Quaternion(Coord(0, 0, 1), angle);
  
         lastOrientation = quat;
     }
     else
         MovingMobilityBase::orient();
 }

◆ readWaypointsFromFile()

void inet::VehicleMobility::readWaypointsFromFile ( const char * fileName )

protectedvirtual

 {
     auto coordinateSystem = findModuleFromPar<IGeographicCoordinateSystem>(par("coordinateSystemModule"), this);
     char line[256];
     std::ifstream inputFile(fileName);
     while (true) {
         inputFile.getline(line, 256);
         if (!inputFile.fail()) {
             cStringTokenizer tokenizer(line, ",");
             double value1 = atof(tokenizer.nextToken());
             double value2 = atof(tokenizer.nextToken());
             double value3 = atof(tokenizer.nextToken());
             double x;
             double y;
             double z;
             if (coordinateSystem == nullptr) {
                 x = value1;
                 y = value2;
                 z = value3;
             }
             else {
                 Coord sceneCoordinate = coordinateSystem->computeSceneCoordinate(GeoCoord(deg(value1), deg(value2), m(value3)));
                 x = sceneCoordinate.x;
                 y = sceneCoordinate.y;
                 z = sceneCoordinate.z;
             }
             waypoints.push_back(Waypoint(x, y, z));
         }
         else
             break;
     }
 }

◆ setInitialPosition()

void inet::VehicleMobility::setInitialPosition ( )

overrideprotectedvirtual

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

Reimplemented from inet::MobilityBase.

 {
     lastPosition.x = waypoints[targetPointIndex].x;
     lastPosition.y = waypoints[targetPointIndex].y;
     lastVelocity.x = speed * cos(M_PI * heading / 180);
     lastVelocity.y = speed * sin(M_PI * heading / 180);
  
     if (ground) {
         lastPosition = ground->computeGroundProjection(lastPosition);
         lastVelocity = ground->computeGroundProjection(lastPosition + lastVelocity) - lastPosition;
     }
 }

Member Data Documentation

◆ angularSpeed

double inet::VehicleMobility::angularSpeed

protected

◆ ground

physicalenvironment::IGround* inet::VehicleMobility::ground = nullptr

protected

◆ heading

double inet::VehicleMobility::heading

protected

◆ speed

double inet::VehicleMobility::speed

protected

◆ targetPointIndex

int inet::VehicleMobility::targetPointIndex

protected

◆ waypointProximity

double inet::VehicleMobility::waypointProximity

protected

◆ waypoints

std::vector<Waypoint> inet::VehicleMobility::waypoints

protected

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ getMaxSpeed()

◆ initialize()

◆ move()

◆ orient()

◆ readWaypointsFromFile()

◆ setInitialPosition()

Member Data Documentation

◆ angularSpeed

◆ ground

◆ heading

◆ speed

◆ targetPointIndex

◆ waypointProximity

◆ waypoints