#ifndef HLALocation_hxx
#define HLALocation_hxx
+#include <simgear/math/SGMath.hxx>
#include "HLABasicDataElement.hxx"
+#include "HLATypes.hxx"
namespace simgear {
public:
virtual ~HLAAbstractLocation() {}
+ virtual SGLocationd getLocation() const = 0;
+ virtual void setLocation(const SGLocationd&) = 0;
+
virtual SGVec3d getCartPosition() const = 0;
virtual void setCartPosition(const SGVec3d&) = 0;
virtual void setCartOrientation(const SGQuatd&) = 0;
virtual SGVec3d getAngularBodyVelocity() const = 0;
- virtual void setAngularBodyVelocity(const SGVec3d& angular) = 0;
+ virtual void setAngularBodyVelocity(const SGVec3d&) = 0;
virtual SGVec3d getLinearBodyVelocity() const = 0;
- virtual void setLinearBodyVelocity(const SGVec3d& linear) = 0;
+ virtual void setLinearBodyVelocity(const SGVec3d&) = 0;
+
+ virtual double getTimeDifference(const SGTimeStamp&) const
+ { return 0; }
+
+ // Get the position and orientation extrapolated to the given time stamp.
+ SGLocationd getLocation(const SGTimeStamp& timeStamp) const
+ {
+ SGLocationd location = getLocation();
+ location.eulerStepBodyVelocities(getTimeDifference(timeStamp), getLinearBodyVelocity(), getAngularBodyVelocity());
+ return location;
+ }
};
class HLACartesianLocation : public HLAAbstractLocation {
_linearVelocity(SGVec3d::zeros())
{ }
+ virtual SGLocationd getLocation() const
+ { return SGLocationd(_position, SGQuatd::fromPositiveRealImag(_imag)); }
+ virtual void setLocation(const SGLocationd& location)
+ {
+ _position = location.getPosition();
+ _imag = location.getOrientation().getPositiveRealImag();
+ }
+
virtual SGVec3d getCartPosition() const
{ return _position; }
virtual void setCartPosition(const SGVec3d& position)
virtual void setLinearBodyVelocity(const SGVec3d& linearVelocity)
{ _linearVelocity = linearVelocity; }
- HLADataElementProvider getPositionDataElement(unsigned i)
+ HLADataElement* getPositionDataElement(unsigned i)
{
if (3 <= i)
- return HLADataElementProvider();
+ return 0;
return new PositionDataElement(this, i);
}
- HLADataElementProvider getOrientationDataElement(unsigned i)
+ HLADataElement* getOrientationDataElement(unsigned i)
{
if (3 <= i)
- return HLADataElementProvider();
+ return 0;
return new OrientationDataElement(this, i);
}
- HLADataElementProvider getAngularVelocityDataElement(unsigned i)
+ HLADataElement* getAngularVelocityDataElement(unsigned i)
{
if (3 <= i)
- return HLADataElementProvider();
+ return 0;
return new AngularVelocityDataElement(this, i);
}
- HLADataElementProvider getLinearVelocityDataElement(unsigned i)
+ HLADataElement* getLinearVelocityDataElement(unsigned i)
{
if (3 <= i)
- return HLADataElementProvider();
+ return 0;
return new LinearVelocityDataElement(this, i);
}
class HLALocationFactory : public SGReferenced {
public:
virtual ~HLALocationFactory() {}
- virtual HLAAbstractLocation* createLocation(HLAAttributePathElementMap&) const = 0;
+ virtual HLAAbstractLocation* createLocation(HLAObjectInstance&) const = 0;
};
class HLACartesianLocationFactory : public HLALocationFactory {
public:
- virtual HLAAbstractLocation* createLocation(HLAAttributePathElementMap& attributePathElementMap) const
+ virtual HLACartesianLocation* createLocation(HLAObjectInstance& objectInstance) const
{
HLACartesianLocation* location = new HLACartesianLocation;
- for (unsigned i = 0; i < 3; ++i) {
- const HLADataElement::IndexPathPair& indexPathPair = _positonIndexPathPair[i];
- attributePathElementMap[indexPathPair.first][indexPathPair.second] = location->getPositionDataElement(i);
- }
- for (unsigned i = 0; i < 3; ++i) {
- const HLADataElement::IndexPathPair& indexPathPair = _orientationIndexPathPair[i];
- attributePathElementMap[indexPathPair.first][indexPathPair.second] = location->getOrientationDataElement(i);
- }
- for (unsigned i = 0; i < 3; ++i) {
- const HLADataElement::IndexPathPair& indexPathPair = _angularVelocityIndexPathPair[i];
- attributePathElementMap[indexPathPair.first][indexPathPair.second] = location->getAngularVelocityDataElement(i);
- }
- for (unsigned i = 0; i < 3; ++i) {
- const HLADataElement::IndexPathPair& indexPathPair = _linearVelocityIndexPathPair[i];
- attributePathElementMap[indexPathPair.first][indexPathPair.second] = location->getLinearVelocityDataElement(i);
- }
+
+ for (unsigned i = 0; i < 3; ++i)
+ objectInstance.setAttributeDataElement(_positonIndex[i], location->getPositionDataElement(i));
+ for (unsigned i = 0; i < 3; ++i)
+ objectInstance.setAttributeDataElement(_orientationIndex[i], location->getOrientationDataElement(i));
+ for (unsigned i = 0; i < 3; ++i)
+ objectInstance.setAttributeDataElement(_angularVelocityIndex[i], location->getAngularVelocityDataElement(i));
+ for (unsigned i = 0; i < 3; ++i)
+ objectInstance.setAttributeDataElement(_linearVelocityIndex[i], location->getLinearVelocityDataElement(i));
+
return location;
}
- void setPositionIndexPathPair(unsigned index, const HLADataElement::IndexPathPair& indexPathPair)
+ void setPositionIndex(unsigned index, const HLADataElementIndex& dataElementIndex)
{
if (3 <= index)
return;
- _positonIndexPathPair[index] = indexPathPair;
+ _positonIndex[index] = dataElementIndex;
}
- void setOrientationIndexPathPair(unsigned index, const HLADataElement::IndexPathPair& indexPathPair)
+ void setOrientationIndex(unsigned index, const HLADataElementIndex& dataElementIndex)
{
if (3 <= index)
return;
- _orientationIndexPathPair[index] = indexPathPair;
+ _orientationIndex[index] = dataElementIndex;
}
- void setAngularVelocityIndexPathPair(unsigned index, const HLADataElement::IndexPathPair& indexPathPair)
+ void setAngularVelocityIndex(unsigned index, const HLADataElementIndex& dataElementIndex)
{
if (3 <= index)
return;
- _angularVelocityIndexPathPair[index] = indexPathPair;
+ _angularVelocityIndex[index] = dataElementIndex;
}
- void setLinearVelocityIndexPathPair(unsigned index, const HLADataElement::IndexPathPair& indexPathPair)
+ void setLinearVelocityIndex(unsigned index, const HLADataElementIndex& dataElementIndex)
{
if (3 <= index)
return;
- _linearVelocityIndexPathPair[index] = indexPathPair;
+ _linearVelocityIndex[index] = dataElementIndex;
}
private:
- HLADataElement::IndexPathPair _positonIndexPathPair[3];
- HLADataElement::IndexPathPair _orientationIndexPathPair[3];
+ HLADataElementIndex _positonIndex[3];
+ HLADataElementIndex _orientationIndex[3];
- HLADataElement::IndexPathPair _angularVelocityIndexPathPair[3];
- HLADataElement::IndexPathPair _linearVelocityIndexPathPair[3];
+ HLADataElementIndex _angularVelocityIndex[3];
+ HLADataElementIndex _linearVelocityIndex[3];
};
class HLAGeodeticLocation : public HLAAbstractLocation {
public:
+ enum Semantic {
+ LatitudeDeg,
+ LatitudeRad,
+ LongitudeDeg,
+ LongitudeRad,
+ ElevationM,
+ ElevationFt,
+ HeadingDeg,
+ HeadingRad,
+ PitchDeg,
+ PitchRad,
+ RollDeg,
+ RollRad,
+ GroundTrackDeg,
+ GroundTrackRad,
+ GroundSpeedKnots,
+ GroundSpeedFtPerSec,
+ GroundSpeedMPerSec,
+ VerticalSpeedFtPerSec,
+ VerticalSpeedFtPerMin,
+ VerticalSpeedMPerSec
+ };
+
HLAGeodeticLocation() :
_dirty(true),
_cartPosition(SGVec3d::zeros()),
updateCartesianFromGeodetic();
}
+ virtual SGLocationd getLocation() const
+ {
+ updateCartesianFromGeodetic();
+ return SGLocationd(_cartPosition, _cartOrientation);
+ }
+ virtual void setLocation(const SGLocationd& location)
+ {
+ _cartPosition = location.getPosition();
+ _cartOrientation = location.getOrientation();
+ _dirty = true;
+ }
+
virtual SGVec3d getCartPosition() const
{ updateCartesianFromGeodetic(); return _cartPosition; }
virtual void setCartPosition(const SGVec3d& position)
{ return 60*getVerticalSpeedFtPerSec(); }
#define DATA_ELEMENT(name) \
- HLADataElementProvider get## name ## DataElement() \
+ HLADataElement* get## name ## DataElement() \
{ return new DataElement<&HLAGeodeticLocation::get## name, &HLAGeodeticLocation::set ## name>(this); }
DATA_ELEMENT(LatitudeDeg)
#undef DATA_ELEMENT
+ HLADataElement* getDataElement(Semantic semantic)
+ {
+ switch (semantic) {
+ case LatitudeDeg:
+ return getLatitudeDegDataElement();
+ case LatitudeRad:
+ return getLatitudeRadDataElement();
+ case LongitudeDeg:
+ return getLongitudeDegDataElement();
+ case LongitudeRad:
+ return getLongitudeRadDataElement();
+ case ElevationM:
+ return getElevationMDataElement();
+ case ElevationFt:
+ return getElevationFtDataElement();
+ case HeadingDeg:
+ return getHeadingDegDataElement();
+ case HeadingRad:
+ return getHeadingRadDataElement();
+ case PitchDeg:
+ return getPitchDegDataElement();
+ case PitchRad:
+ return getPitchRadDataElement();
+ case RollDeg:
+ return getRollDegDataElement();
+ case RollRad:
+ return getRollRadDataElement();
+ case GroundTrackDeg:
+ return getGroundTrackDegDataElement();
+ case GroundTrackRad:
+ return getGroundTrackRadDataElement();
+ case GroundSpeedKnots:
+ return getGroundSpeedKnotsDataElement();
+ case GroundSpeedFtPerSec:
+ return getGroundSpeedFtPerSecDataElement();
+ case GroundSpeedMPerSec:
+ return getGroundSpeedMPerSecDataElement();
+ case VerticalSpeedFtPerSec:
+ return getVerticalSpeedFtPerSecDataElement();
+ case VerticalSpeedFtPerMin:
+ return getVerticalSpeedFtPerMinDataElement();
+ case VerticalSpeedMPerSec:
+ return getVerticalSpeedMPerSecDataElement();
+ default:
+ return 0;
+ }
+ }
+
private:
template<double (HLAGeodeticLocation::*getter)() const,
void (HLAGeodeticLocation::*setter)(double)>
class HLAGeodeticLocationFactory : public HLALocationFactory {
public:
enum Semantic {
- LatitudeDeg,
- LatitudeRad,
- LongitudeDeg,
- LongitudeRad,
- ElevationM,
- ElevationFt,
- HeadingDeg,
- HeadingRad,
- PitchDeg,
- PitchRad,
- RollDeg,
- RollRad,
- GroundTrackDeg,
- GroundTrackRad,
- GroundSpeedKnots,
- GroundSpeedFtPerSec,
- GroundSpeedMPerSec,
- VerticalSpeedFtPerSec,
- VerticalSpeedFtPerMin,
- VerticalSpeedMPerSec
+ LatitudeDeg = HLAGeodeticLocation::LatitudeDeg,
+ LatitudeRad = HLAGeodeticLocation::LatitudeRad,
+ LongitudeDeg = HLAGeodeticLocation::LongitudeDeg,
+ LongitudeRad = HLAGeodeticLocation::LongitudeRad,
+ ElevationM = HLAGeodeticLocation::ElevationM,
+ ElevationFt = HLAGeodeticLocation::ElevationFt,
+ HeadingDeg = HLAGeodeticLocation::HeadingDeg,
+ HeadingRad = HLAGeodeticLocation::HeadingRad,
+ PitchDeg = HLAGeodeticLocation::PitchDeg,
+ PitchRad = HLAGeodeticLocation::PitchRad,
+ RollDeg = HLAGeodeticLocation::RollDeg,
+ RollRad = HLAGeodeticLocation::RollRad,
+ GroundTrackDeg = HLAGeodeticLocation::GroundTrackDeg,
+ GroundTrackRad = HLAGeodeticLocation::GroundTrackRad,
+ GroundSpeedKnots = HLAGeodeticLocation::GroundSpeedKnots,
+ GroundSpeedFtPerSec = HLAGeodeticLocation::GroundSpeedFtPerSec,
+ GroundSpeedMPerSec = HLAGeodeticLocation::GroundSpeedMPerSec,
+ VerticalSpeedFtPerSec = HLAGeodeticLocation::VerticalSpeedFtPerSec,
+ VerticalSpeedFtPerMin = HLAGeodeticLocation::VerticalSpeedFtPerMin,
+ VerticalSpeedMPerSec = HLAGeodeticLocation::VerticalSpeedMPerSec
};
- virtual HLAGeodeticLocation* createLocation(HLAAttributePathElementMap& attributePathElementMap) const
+ virtual HLAGeodeticLocation* createLocation(HLAObjectInstance& objectInstance) const
{
HLAGeodeticLocation* location = new HLAGeodeticLocation;
- for (IndexPathPairSemanticMap::const_iterator i = _indexPathPairSemanticMap.begin();
- i != _indexPathPairSemanticMap.end(); ++i) {
- switch (i->second) {
- case LatitudeDeg:
- attributePathElementMap[i->first.first][i->first.second] = location->getLatitudeDegDataElement();
- break;
- case LatitudeRad:
- attributePathElementMap[i->first.first][i->first.second] = location->getLatitudeRadDataElement();
- break;
- case LongitudeDeg:
- attributePathElementMap[i->first.first][i->first.second] = location->getLongitudeDegDataElement();
- break;
- case LongitudeRad:
- attributePathElementMap[i->first.first][i->first.second] = location->getLongitudeRadDataElement();
- break;
- case ElevationM:
- attributePathElementMap[i->first.first][i->first.second] = location->getElevationMDataElement();
- break;
- case ElevationFt:
- attributePathElementMap[i->first.first][i->first.second] = location->getElevationFtDataElement();
- break;
- case HeadingDeg:
- attributePathElementMap[i->first.first][i->first.second] = location->getHeadingDegDataElement();
- break;
- case HeadingRad:
- attributePathElementMap[i->first.first][i->first.second] = location->getHeadingRadDataElement();
- break;
- case PitchDeg:
- attributePathElementMap[i->first.first][i->first.second] = location->getPitchDegDataElement();
- break;
- case PitchRad:
- attributePathElementMap[i->first.first][i->first.second] = location->getPitchRadDataElement();
- break;
- case RollDeg:
- attributePathElementMap[i->first.first][i->first.second] = location->getRollDegDataElement();
- break;
- case RollRad:
- attributePathElementMap[i->first.first][i->first.second] = location->getRollRadDataElement();
- break;
- case GroundTrackDeg:
- attributePathElementMap[i->first.first][i->first.second] = location->getGroundTrackDegDataElement();
- break;
- case GroundTrackRad:
- attributePathElementMap[i->first.first][i->first.second] = location->getGroundTrackRadDataElement();
- break;
- case GroundSpeedKnots:
- attributePathElementMap[i->first.first][i->first.second] = location->getGroundSpeedKnotsDataElement();
- break;
- case GroundSpeedFtPerSec:
- attributePathElementMap[i->first.first][i->first.second] = location->getGroundSpeedFtPerSecDataElement();
- break;
- case GroundSpeedMPerSec:
- attributePathElementMap[i->first.first][i->first.second] = location->getGroundSpeedMPerSecDataElement();
- break;
- case VerticalSpeedFtPerSec:
- attributePathElementMap[i->first.first][i->first.second] = location->getVerticalSpeedFtPerSecDataElement();
- break;
- case VerticalSpeedFtPerMin:
- attributePathElementMap[i->first.first][i->first.second] = location->getVerticalSpeedFtPerMinDataElement();
- break;
- case VerticalSpeedMPerSec:
- attributePathElementMap[i->first.first][i->first.second] = location->getVerticalSpeedMPerSecDataElement();
- break;
- }
+ for (IndexSemanticMap::const_iterator i = _indexSemanticMap.begin();
+ i != _indexSemanticMap.end(); ++i) {
+ HLAGeodeticLocation::Semantic semantic = HLAGeodeticLocation::Semantic(i->second);
+ objectInstance.setAttributeDataElement(i->first, location->getDataElement(semantic));
}
return location;
}
- void setIndexPathPair(Semantic semantic, const HLADataElement::IndexPathPair& indexPathPair)
- { _indexPathPairSemanticMap[indexPathPair] = semantic; }
+ void setIndex(Semantic semantic, const HLADataElementIndex& index)
+ { _indexSemanticMap[index] = semantic; }
private:
- typedef std::map<HLADataElement::IndexPathPair, Semantic> IndexPathPairSemanticMap;
- IndexPathPairSemanticMap _indexPathPairSemanticMap;
+ typedef std::map<HLADataElementIndex, Semantic> IndexSemanticMap;
+ IndexSemanticMap _indexSemanticMap;
};
} // namespace simgear
projects / simgear.git / blobdiff