#include <LocatedObject.h>

Inheritance diagram for jlo::LocatedObject:

Public Member Functions
bool	CheckWorldCoordinates (const unsigned long &levelsTogo) const
double	CompareLo (LocatedObject &obj_to_stop)
	compares two LocatedObjects returns the size of overlapping possibility cloud volume relative to the smaller covaiance value
ReturnMatrix	GetCovarianceMatrix (LocatedObject &obj_to_stop)
ReturnMatrix	GetCovarianceMatrix (const unsigned long &obj_to_stop=0)
virtual ReturnMatrix	GetInvMatrix (LocatedObject &obj_to_stop)
virtual ReturnMatrix	GetInvMatrix (const unsigned long &obj_to_stop=0)
virtual unsigned long	GetLOType ()
	returns if the object needs its children to be moved
virtual ReturnMatrix	GetMatrix (LocatedObject &obj_to_stop)
virtual ReturnMatrix	GetMatrix (const unsigned long &id_to_stop=0)
ReturnMatrix	GetOrigin (LocatedObject &obj_to_stop)
ReturnMatrix	GetOrigin (const unsigned long &obj_to_stop=0)
ReturnMatrix	GetRotation (LocatedObject &obj_to_stop)
ReturnMatrix	GetRotation (const unsigned long &obj_to_stop=0)
	LocatedObject (LazyLocatedObjectLoader *loader)
	LocatedObject (LazyLocatedObjectLoader *loader, unsigned long id, unsigned long parent_id, const Matrix &matrix, const Matrix &covariance)
	LocatedObject (LazyLocatedObjectLoader *loader, unsigned long id, unsigned long parent_id, double x=0.0, double y=0.0, double z=0.0, double roll=0.0, double pitch=0.0, double yaw=0.0, double sigmaX=0.0, double sigmaY=0.0, double sigmaZ=0.0, double sigmaRoll=0.0, double sigmaPitch=0.0, double sigmaYaw=0.0)
void	TransformPointLocally (const double &x_in, const double &y_in, const double &z_in, double &x_out, double &y_out, double &z_out, const double &scale=1)
Public Attributes
LazyLocatedObjectLoader *	m_lazyObjLoader
unsigned long	m_parentID
unsigned long	m_uniqueID
Protected Member Functions
ReturnMatrix	CalcNewCov (const DiagonalMatrix &eigenValues, const Matrix &eigenVectors, const Matrix &hom) const
unsigned long	FindCommonFather (const LocatedObject *obj) const
virtual ReturnMatrix	Get ()
virtual ReturnMatrix	GetCovariance ()
virtual ReturnMatrix	GetInv ()
virtual unsigned long	Move (const Matrix &matrix, const Matrix &covMatrix)
virtual unsigned long	Set (const Matrix &matrix, const Matrix &covMatrix)
ReturnMatrix	TransformSixVec (const ColumnVector &point, const Matrix &hom) const
ReturnMatrix	UnscentedTrans (const Matrix &cov, const Matrix &mean, const Matrix &hom) const
Protected Attributes
Matrix	m_covariance
Matrix	m_invRelativePosition
Matrix	m_relativePosition

Detailed Description

class LocatedObject

Basic strcture for located object for lazy parent expansion Should be used outside of the lo service, it uses a

Definition at line 55 of file LocatedObject.h.

Constructor & Destructor Documentation

jlo::LocatedObject::LocatedObject ( LazyLocatedObjectLoader * loader )

Definition at line 32 of file LocatedObject.cpp.

jlo::LocatedObject::LocatedObject	(	LazyLocatedObjectLoader *	loader,
		unsigned long	id,
		unsigned long	parent_id,
		const Matrix &	matrix,
		const Matrix &	covariance
	)

Definition at line 38 of file LocatedObject.cpp.

jlo::LocatedObject::LocatedObject	(	LazyLocatedObjectLoader *	loader,
		unsigned long	id,
		unsigned long	parent_id,
		double	x = `0.0`,
		double	y = `0.0`,
		double	z = `0.0`,
		double	roll = `0.0`,
		double	pitch = `0.0`,
		double	yaw = `0.0`,
		double	sigmaX = `0.0`,
		double	sigmaY = `0.0`,
		double	sigmaZ = `0.0`,
		double	sigmaRoll = `0.0`,
		double	sigmaPitch = `0.0`,
		double	sigmaYaw = `0.0`
	)

Definition at line 46 of file LocatedObject.cpp.

Member Function Documentation

ReturnMatrix jlo::LocatedObject::CalcNewCov	(	const DiagonalMatrix &	eigenValues,
		const Matrix &	eigenVectors,
		const Matrix &	hom
	)		const `[inline, protected]`

helping functions for UnscentedTrans

Definition at line 302 of file LocatedObject.cpp.

bool jlo::LocatedObject::CheckWorldCoordinates ( const unsigned long & levelsTogo ) const

Checks for circles, by looking for the world

levelTogo levels to go

Definition at line 69 of file LocatedObject.cpp.

double jlo::LocatedObject::CompareLo ( LocatedObject & obj_to_stop )

compares two LocatedObjects returns the size of overlapping possibility cloud volume relative to the smaller covaiance value

CompareLo

obj_to_stop

Definition at line 536 of file LocatedObject.cpp.

unsigned long jlo::LocatedObject::FindCommonFather ( const LocatedObject * bigObject ) const [protected]

FindCommonFather

searches for the first common father node in the LocatedObject tree

obj id of the common father node

Remarks:: .. dies on cyclus

Definition at line 84 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::Get ( ) [protected, virtual]

Virtual Accessor to the Matrix, Always use this get

Returns:: Matrix; Matrix

Reimplemented in jlo::ObjectContainer.

Definition at line 567 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetCovariance ( ) [protected, virtual]

Returns:: Matrix

Definition at line 575 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetCovarianceMatrix ( LocatedObject & obj_to_stop )

GetCovarianceMatrix

Returns the current CovarianceMatrix relative to a certain LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix

Definition at line 509 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetCovarianceMatrix ( const unsigned long & id_to_stop = 0 )

Returns:: Matrix

Parameters:

id_to_stop

Definition at line 442 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetInv ( ) [protected, virtual]

Virtual Accessor to the Invers-Matrix, use this to get mat!

Returns:: Matrix; Matrix

Reimplemented in jlo::ObjectContainer.

Definition at line 583 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetInvMatrix ( LocatedObject & obj_to_stop ) [virtual]

GetInvMatrix

Returns the current Matrix -inverted and- relative to a certain LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix

Definition at line 192 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetInvMatrix ( const unsigned long & obj_to_stop = 0 ) [virtual]

Definition at line 175 of file LocatedObject.cpp.

virtual unsigned long jlo::LocatedObject::GetLOType ( ) [inline, virtual]

returns if the object needs its children to be moved

GetLOType

Reimplemented in jlo::ServiceLocatedObject, and jlo::ObjectContainer.

Definition at line 187 of file LocatedObject.h.

ReturnMatrix jlo::LocatedObject::GetMatrix ( LocatedObject & obj_to_stop ) [virtual]

GetMatrix

Returns the current Matrix relative to a certain id LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix

Definition at line 160 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetMatrix ( const unsigned long & id_to_stop = 0 ) [virtual]

Returns:: LocatedObject

Parameters:

smallObject

Returns:: Matrix

Parameters:

id_to_stop

Definition at line 129 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetOrigin ( LocatedObject & obj_to_stop )

GetOrigin

Returns the current 3D coordinate of the origin point relative to the given LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix 4 * 1 Vector

GetOrigin

Definition at line 206 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetOrigin ( const unsigned long & obj_to_stop = 0 )

Definition at line 211 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetRotation ( LocatedObject & obj_to_stop )

GetRotation

Returns the current rotation vector to the given LocatedObject (obj, id, self without param)

obj_to_stop ReturnMatrix 4 * 1 Vector

GetRotation

Definition at line 223 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::GetRotation ( const unsigned long & obj_to_stop = 0 )

Definition at line 227 of file LocatedObject.cpp.

unsigned long jlo::LocatedObject::Move	(	const Matrix &	matrix,
		const Matrix &	covMatrix
	)		`[protected, virtual]`

Virtual Accessor to the Matrix,

Set moves relative to the preceeding node, without changing Move only moves in case of a moving object that has overwritten the function matrix the new matrix covMatrix

Reimplemented in jlo::ObjectContainer.

Definition at line 630 of file LocatedObject.cpp.

unsigned long jlo::LocatedObject::Set	(	const Matrix &	matrix,
		const Matrix &	covMatrix
	)		`[protected, virtual]`

Virtual Accessor to the Matrix,

Set moves relative to the preceeding node, without changing Move only moves in case of a moving object that has overwritten the function matrix covMatrix

Parameters:

matrix

Definition at line 592 of file LocatedObject.cpp.

void jlo::LocatedObject::TransformPointLocally	(	const double &	x_in,
		const double &	y_in,
		const double &	z_in,
		double &	x_out,
		double &	y_out,
		double &	z_out,
		const double &	scale = `1`
	)

TransformPointLocally: Transform a 3d point relative to this lo relative to the father (TODO: rel to any)

x_in 3d point x-coordinate locally y_in 3d point y-coordinate locally z_in 3d point z-coordinate locally x_out 3d point x-coordinate transformed y_out 3d point y-coordinate transformed z_out 3d point z-coordinate transformed

Definition at line 637 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::TransformSixVec	(	const ColumnVector &	point,
		const Matrix &	hom
	)		const `[inline, protected]`

Definition at line 235 of file LocatedObject.cpp.

ReturnMatrix jlo::LocatedObject::UnscentedTrans	(	const Matrix &	cov,
		const Matrix &	mean,
		const Matrix &	hom
	)		const `[inline, protected]`

Performing a transformation approximation on the covariance

cov mean hom

Definition at line 406 of file LocatedObject.cpp.

Member Data Documentation

Matrix jlo::LocatedObject::m_covariance [protected]

m_covariance

propagated uncertainty

Definition at line 219 of file LocatedObject.h.

Matrix jlo::LocatedObject::m_invRelativePosition [protected]

m_invRelativePosition

The transormation in the inverse direction

Definition at line 210 of file LocatedObject.h.

LazyLocatedObjectLoader* jlo::LocatedObject::m_lazyObjLoader

m_lazyObjLoader

this component must be able to acquire the parent of this object

Definition at line 91 of file LocatedObject.h.

unsigned long jlo::LocatedObject::m_parentID

m_parentID

This member is a unique object ID of the parent

Remarks:: it has to be unique in a location tree, or problems for relative object localisation can appear

Definition at line 83 of file LocatedObject.h.

Matrix jlo::LocatedObject::m_relativePosition [protected]

m_relativePosition

The transformation matrix to thepreeceding node in the LocatedObject Tree

Remarks:: only access through the virtual accessor Get() and Set also internally

Definition at line 202 of file LocatedObject.h.

unsigned long jlo::LocatedObject::m_uniqueID

m_uniqueID

This member is a unique object ID,

Remarks:: it has to be unique in a location tree, or problems for relative object localisation can appear

Definition at line 73 of file LocatedObject.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation