math::RotationPath Class Reference

Manages rotational paths with different interpolation techniques. More...

#include "rotation_path.h"

Public Types
enum class	InterpType { INTERP_STATIC , INTERP_CONSTANT , INTERP_LINEAR , INTERP_CUBIC }
	Enumeration for types of interpolation. More...

Public Member Functions
	RotationPath (const InterpType type=InterpType::INTERP_STATIC) noexcept
	Constructor for RotationPath.
	~RotationPath ()=default
	RotationPath (const RotationPath &)=delete
RotationPath &	operator= (const RotationPath &)=delete
	RotationPath (RotationPath &&)=delete
RotationPath &	operator= (RotationPath &&)=delete
void	addCoord (const RotationCoord &coord) noexcept
	Adds a rotation coordinate to the path.
void	finalize ()
	Finalizes the rotation path for interpolation.
const std::vector< RotationCoord > &	getCoords () const noexcept
	Gets the list of rotation coordinates.
RotationCoord	getStart () const noexcept
	Gets the starting rotation coordinate.
RotationCoord	getRate () const noexcept
	Gets the rate of change for the rotation.
InterpType	getType () const noexcept
	Gets the interpolation type of the path.
SVec3	getPosition (RealType t) const
	Gets the rotational position at a given time.
void	setStart (const RotationCoord &start) noexcept
	Sets the starting rotation coordinate.
void	setRate (const RotationCoord &rate) noexcept
	Sets the rate of change for the rotation.
void	setInterp (InterpType setinterp) noexcept
	Sets the interpolation type for the path.
void	setConstantRate (const RotationCoord &setstart, const RotationCoord &setrate) noexcept
	Sets constant rate interpolation.

Detailed Description

Manages rotational paths with different interpolation techniques.

Definition at line 27 of file rotation_path.h.

Member Enumeration Documentation

InterpType

enum class math::RotationPath::InterpType

strong

Enumeration for types of interpolation.

Enumerator
INTERP_STATIC
INTERP_CONSTANT
INTERP_LINEAR
INTERP_CUBIC

Definition at line 34 of file rotation_path.h.

        {
            INTERP_STATIC,
            INTERP_CONSTANT,
            INTERP_LINEAR,
            INTERP_CUBIC
        };

Constructor & Destructor Documentation

RotationPath() [1/3]

math::RotationPath::RotationPath ( const InterpType  type = InterpType::INTERP_STATIC )

explicitnoexcept

Constructor for RotationPath.

Parameters

type	The type of interpolation (default is static).

Definition at line 47 of file rotation_path.h.

: _type(type) {}

~RotationPath()

math::RotationPath::~RotationPath ( )

default

RotationPath() [2/3]

math::RotationPath::RotationPath ( const RotationPath &  )

delete

RotationPath() [3/3]

math::RotationPath::RotationPath ( RotationPath &&  )

delete

Member Function Documentation

addCoord()

void math::RotationPath::addCoord ( const RotationCoord &  coord )

noexcept

Adds a rotation coordinate to the path.

Parameters

coord

The rotation coordinate to be added.

Definition at line 24 of file rotation_path.cpp.

    {
        const auto iter = std::lower_bound(_coords.begin(), _coords.end(), coord);
        _coords.insert(iter, coord);
        _final = false;
    }

Referenced by fers_get_interpolated_rotation_path(), and math::from_json().

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finalize()

void math::RotationPath::finalize

(

)

Finalizes the rotation path for interpolation.

Definition at line 61 of file rotation_path.cpp.

    {
        if (!_final)
        {
            if (_type == InterpType::INTERP_CUBIC)
            {
                finalizeCubic(_coords, _dd);
            }
            _final = true;
        }
    }

References finalizeCubic(), and INTERP_CUBIC.

Referenced by fers_get_interpolated_rotation_path(), and math::from_json().

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getCoords()

const std::vector< RotationCoord > & math::RotationPath::getCoords ( ) const

noexcept

Gets the list of rotation coordinates.

Returns

A const reference to the vector of rotation coordinates.

Definition at line 76 of file rotation_path.h.

{ return _coords; }

getPosition()

SVec3 math::RotationPath::getPosition

(

RealType

t

)

const

Gets the rotational position at a given time.

Parameters

t	The time value for which to calculate the position.

Returns

The calculated position as an SVec3.

Exceptions

PathException

if the path has not been finalized.

Definition at line 31 of file rotation_path.cpp.

    {
        if (!_final)
        {
            throw PathException("Finalize not called before getPosition in RotationPath.");
        }
        RotationCoord coord{};
 
        switch (_type)
        {
        case InterpType::INTERP_STATIC:
            getPositionStatic(coord, _coords);
            break;
        case InterpType::INTERP_LINEAR:
            getPositionLinear(t, coord, _coords);
            break;
        case InterpType::INTERP_CUBIC:
            getPositionCubic(t, coord, _coords, _dd);
            break;
        case InterpType::INTERP_CONSTANT:
            coord.azimuth = std::fmod(t * _rate.azimuth + _start.azimuth, 2 * PI);
            coord.elevation = std::fmod(t * _rate.elevation + _start.elevation, 2 * PI);
            break;
        default:
            throw PathException("Unknown interpolation type.");
        }
 
        return {1, coord.azimuth, coord.elevation};
    }

References math::RotationCoord::azimuth, math::RotationCoord::elevation, getPositionCubic(), getPositionLinear(), getPositionStatic(), INTERP_CONSTANT, INTERP_CUBIC, INTERP_LINEAR, INTERP_STATIC, and PI.

Referenced by fers_get_interpolated_rotation_path().

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getRate()

RotationCoord math::RotationPath::getRate ( ) const

noexcept

Gets the rate of change for the rotation.

Returns

The rotation rate.

Definition at line 90 of file rotation_path.h.

{ return _rate; }

getStart()

RotationCoord math::RotationPath::getStart ( ) const

noexcept

Gets the starting rotation coordinate.

Returns

The starting rotation coordinate.

Definition at line 83 of file rotation_path.h.

{ return _start; }

getType()

InterpType math::RotationPath::getType ( ) const

noexcept

Gets the interpolation type of the path.

Returns

The interpolation type.

Definition at line 97 of file rotation_path.h.

{ return _type; }

Referenced by radar::to_json().

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operator=() [1/2]

RotationPath & math::RotationPath::operator= ( const RotationPath &  )

delete

operator=() [2/2]

RotationPath & math::RotationPath::operator= ( RotationPath &&  )

delete

setConstantRate()

void math::RotationPath::setConstantRate ( const RotationCoord &  setstart, const RotationCoord &  setrate  )

noexcept

Sets constant rate interpolation.

Parameters

setstart	The starting rotation coordinate.
setrate	The rate of change for the rotation.

Definition at line 79 of file rotation_path.cpp.

    {
        _start = setstart;
        _rate = setrate;
        _type = InterpType::INTERP_CONSTANT;
        _final = true;
    }

setInterp()

void math::RotationPath::setInterp ( InterpType  setinterp )

noexcept

Sets the interpolation type for the path.

Parameters

setinterp

The new interpolation type to be used.

Definition at line 73 of file rotation_path.cpp.

    {
        _type = setinterp;
        _final = false;
    }

Referenced by fers_get_interpolated_rotation_path(), and math::from_json().

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setRate()

void math::RotationPath::setRate ( const RotationCoord &  rate )

noexcept

Sets the rate of change for the rotation.

Parameters

rate	The new rate of change for the rotation.

Definition at line 120 of file rotation_path.h.

{ _rate = rate; }

setStart()

void math::RotationPath::setStart ( const RotationCoord &  start )

noexcept

Sets the starting rotation coordinate.

Parameters

start

The new starting rotation coordinate.

Definition at line 113 of file rotation_path.h.

{ _start = start; }

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

• packages/libfers/src/math/rotation_path.h
• packages/libfers/src/math/rotation_path.cpp