OMK::Tracker Class Reference
[Simulated ojects]

This Simulated object defines a position which moves in the space. More...

#include <OMKTracker.h>

Inheritance diagram for OMK::Tracker:

[legend]Collaboration diagram for OMK::Tracker:

[legend]List of all members.

Protected Member Functions
virtual void	computeParameters ()
	This part of the compute methods computes the associated data.
virtual bool	loadParameters (const ConfigurationParameterDescriptor *node)
	Configuration parameters loader of Trajectory.
Protected Attributes
OMK::AttributeT< float >	_speed
	The speed to increase the position between the current position and the target.
OMK::AttributeT< OMK::Type::Transform >	_target
	The target position.
Wm4::Vector3f	_refOrientation
	Reference orientation.
Type::Transform	_refPosition
	Reference position.
bool	_followOrientation
	Flag for orientation.
Private Member Functions
	DECLARE_OBJECT_FACTORY (Tracker)

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Detailed Description

This Simulated object defines a position which moves in the space.

This object is a position which follow an other position.

Configuration parameters are :

• Step a real value which defines the inscrement at each step, must be positive. Default is 0.1, this means that it does 1/10 of the distance to the target.
• Position a transform, the initial position.
• Target a transform, the initial target position, needed to get the object orientation.
• TargetConnect is a connection to the target.
• Orientation a boolean, if true the position heads to the target, if false, it stays with the orientation given by Position. Default is false.

Example:

object1
{
  Class Tracker
  Scheduling
  {
    ...
  }
  Extensions
  {
    ...
  }
  UserParams
  {
    TargetConnect [target Position]
    Position [[0 0 -400]]
    Target [[100 0 0]]
    Orientation enable
    Speed 0.5 
  }
}

Somes extensions you can use with it

• Offset to change the reference point.

  Extensions
  { 
    offset
    {
      Class PostOffset
      Attribute Position
      Offset [[0 0 -100]]
    }
  }
  

Definition at line 66 of file OMKTracker.h.

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Member Function Documentation

OMK::Tracker::DECLARE_OBJECT_FACTORY

(

Tracker

)

[private]

void Tracker::computeParameters

(

)

[protected, virtual]

This part of the compute methods computes the associated data.

The inputs and outputs should work with associated data, you should use these associated data.

Reimplemented from OMK::ExtensibleSimulatedObject.

Definition at line 48 of file OMKTracker.cpp.

References _followOrientation, OMK::SimplePoint::_position, _refOrientation, _refPosition, _speed, _target, OMK::IAttributeT< PrmType, ModelType, AccessorType >::get(), OMK::InputNT::getConnectedOutput(), OMK::IAttributeT< PrmType, ModelType, AccessorType >::getInput(), and OMK::IAttributeT< PrmType, ModelType, AccessorType >::set().

{
  if( _target.getInput() && _target.getInput()->getConnectedOutput() ) 
  {
    OMK::Type::Transform position( _refPosition ) ;
  
    Wm4::Vector3f orientation ( _target.get().getTranslate() - _position.get().getTranslate() ) ;
    position.setTranslate( _position.get().getTranslate() + orientation * _speed ) ;
    
    if( _followOrientation ) 
    { // Calculate the orientation
      orientation.Normalize() ;
      Wm4::Vector3f axis( orientation.Cross( _refOrientation ) ) ;
      axis.Normalize() ;
      float angle = -Wm4::Math<float>::ACos( orientation.Dot( _refOrientation ) ) ;
      Wm4::Matrix3f rotationMatrix( axis, angle ) ;
      position.setRotate( position.getRotate() * rotationMatrix ) ;
    }
    // Set the new position
    _position.set( position ) ;
  }
}

bool Tracker::loadParameters

(

const ConfigurationParameterDescriptor *

node

)

[protected, virtual]

Configuration parameters loader of Trajectory.

Parameters:

[in]

node

the root node of the configuration parameter.

Returns:

true if all needed parameters can be read.

Reads in the configuration node the values to set the attributs.

Reimplemented from OMK::ExtensibleSimulatedObject.

Definition at line 28 of file OMKTracker.cpp.

References _followOrientation, OMK::SimplePoint::_position, _refOrientation, _refPosition, _target, OMK::IAttributeT< PrmType, ModelType, AccessorType >::get(), OMK::ParametersAccessor::get(), OMK::Type::Transform::getTranslate(), and OMK::ExtensibleSimulatedObject::loadParameters().

{
  SimplePoint::loadParameters( node ) ;
  ParametersAccessor::get( node, "Orientation", _followOrientation ) ;
  
  _refPosition = _position.get() ;
  if( _target.get().getTranslate() != _refPosition.getTranslate() )
  {
    _refOrientation =  _target.get().getTranslate() - _refPosition.getTranslate() ;
    _refOrientation.Normalize() ;
  }
  else
  {
    _refOrientation =  Wm4::Vector3f( 1.0f, 0.0f, 0.0f ) ;
  }
  
  return true ; 
}

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Member Data Documentation

OMK::AttributeT< float > OMK::Tracker::_speed [protected]

The speed to increase the position between the current position and the target.

Definition at line 79 of file OMKTracker.h.

Referenced by computeParameters().

OMK::AttributeT< OMK::Type::Transform > OMK::Tracker::_target [protected]

The target position.

Definition at line 81 of file OMKTracker.h.

Referenced by computeParameters(), and loadParameters().

Wm4::Vector3f OMK::Tracker::_refOrientation [protected]

Reference orientation.

Definition at line 83 of file OMKTracker.h.

Referenced by computeParameters(), and loadParameters().

Type::Transform OMK::Tracker::_refPosition [protected]

Reference position.

Definition at line 85 of file OMKTracker.h.

Referenced by computeParameters(), and loadParameters().

bool OMK::Tracker::_followOrientation [protected]

Flag for orientation.

Definition at line 87 of file OMKTracker.h.

Referenced by computeParameters(), and loadParameters().

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