settable_dead_reckoner.h

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// === settable_dead_reckoner.h ========================================================================================
//                                               Sen Infrastructure
//                   Released under the Apache License v2.0 (SPDX-License-Identifier Apache-2.0).
//                                    See the LICENSE.txt file for more information.
//                   © Airbus SAS, Airbus Helicopters, and Airbus Defence and Space SAU/GmbH/SAS.
// =====================================================================================================================
 
#ifndef SEN_UTIL_DR_SETTABLE_DEAD_RECKONER_H
#define SEN_UTIL_DR_SETTABLE_DEAD_RECKONER_H
 
#include "dead_reckoner.h"
#include "detail/settable_dead_reckoner_impl.h"
#include "sen/util/dr/algorithms.h"
 
// std
#include <cmath>
 
namespace sen::util
{

 
//--------------------------------------------------------------------------------------------------------------
// Types
//--------------------------------------------------------------------------------------------------------------

enum class ReferenceSystem : u32
{
  world,
  body
};
 
// --8<-- [start:dr_threshold]
struct DrThreshold
{
  LengthMeters distanceThreshold {1.0};
  AngleRadians orientationThreshold {0.05f};
  ReferenceSystem referenceSystem {ReferenceSystem::world};
};
// --8<-- [end:dr_threshold]

template <typename T>
class SettableDeadReckoner: public DeadReckonerTemplateBase<T>
{
public:
  SEN_NOCOPY_NOMOVE(SettableDeadReckoner)
 
public:
  explicit SettableDeadReckoner(T& object, DrThreshold thresholds = {});
  ~SettableDeadReckoner() override = default;
 
public:
  using Parent = DeadReckonerTemplateBase<T>;
  using SpatialVariant = typename Parent::SpatialVariant;
  using StaticSpatial = typename Parent::StaticSpatial;
  using FpsSpatial = typename Parent::FpsSpatial;
  using RpsSpatial = typename Parent::RpsSpatial;
  using RvsSpatial = typename Parent::RvsSpatial;
  using FvsSpatial = typename Parent::FvsSpatial;
  using RprLocation = typename Parent::RprLocation;
  using RprOrientation = typename Parent::RprOrientation;
  using RprVelocity = typename Parent::RprVelocity;
  using RprAcceleration = typename Parent::RprAcceleration;
  using RprAngularVelocity = typename Parent::RprAngularVelocity;
 
public:
  [[nodiscard]] T& object() noexcept;

  [[nodiscard]] const T& object() const noexcept;
 
public:
  bool setSpatial(const Situation& situation);

  bool setSpatial(const GeodeticSituation& situation);

  void setFrozen(sen::TimeStamp timeStamp, bool value);
 
private:
  SpatialVariant toSpatialVariant(const Situation& situation, const DrThreshold& threshold);
 
private:
  T& obj_;
  sen::TimeStamp lastTimeStamp_;
  DrThreshold threshold_;
  const f64 orientationThresholdCos;  // constant used to determine if the orientation threshold has been exceeded
};

 
//-------------------------------------------------------------------------------------------------------------------
// Inline implementation
//-------------------------------------------------------------------------------------------------------------------
 
template <typename T>
inline SettableDeadReckoner<T>::SettableDeadReckoner(T& object, DrThreshold thresholds)
  : obj_ {object}
  , threshold_ {thresholds}
  , orientationThresholdCos {cos(static_cast<f64>(threshold_.orientationThreshold) * 0.5)}
{
}
 
template <typename T>
inline T& SettableDeadReckoner<T>::object() noexcept
{
  return obj_;
}
 
template <typename T>
inline const T& SettableDeadReckoner<T>::object() const noexcept
{
  return obj_;
}
 
template <typename T>
inline bool SettableDeadReckoner<T>::setSpatial(const Situation& situation)
{
  const auto extrapolation = Parent::extrapolate(obj_.getSpatial(), situation.timeStamp, lastTimeStamp_);
  if (impl::maxDistanceExceeded(situation.worldLocation, extrapolation.worldLocation, threshold_.distanceThreshold) ||
      impl::maxRotationExceeded(situation.orientation, extrapolation.orientation, orientationThresholdCos))
  {
    lastTimeStamp_ = situation.timeStamp;
    obj_.setNextSpatial(toSpatialVariant(situation, threshold_));
    return true;
  }
 
  return false;
}
 
template <typename T>
inline bool SettableDeadReckoner<T>::setSpatial(const GeodeticSituation& situation)
{
  // translate input geodetic situation to standard reference system
  const auto ecefPosition = impl::toEcef(situation.worldLocation);
  const auto ecefOrientation = impl::nedToEcef(situation.orientation, situation.worldLocation);
  const auto extrapolation = Parent::extrapolate(obj_.getSpatial(), situation.timeStamp, lastTimeStamp_);
  if (impl::maxDistanceExceeded(ecefPosition, extrapolation.worldLocation, threshold_.distanceThreshold) ||
      impl::maxRotationExceeded(ecefOrientation, extrapolation.orientation, orientationThresholdCos))
  {
    lastTimeStamp_ = situation.timeStamp;
    obj_.setNextSpatial(toSpatialVariant(impl::toSituation(situation, ecefPosition, ecefOrientation), threshold_));
    return true;
  }
 
  return false;
}
 
template <typename T>
inline void SettableDeadReckoner<T>::setFrozen(sen::TimeStamp timeStamp, bool value)
{
  auto situation = Parent::extrapolate(obj_.getNextSpatial(), timeStamp, lastTimeStamp_);
  if (situation.isFrozen == value)
  {
    return;
  }
 
  situation.isFrozen = value;
  lastTimeStamp_ = timeStamp;
 
  obj_.setNextSpatial(toSpatialVariant(situation, threshold_));
}
 
template <typename T>
inline typename SettableDeadReckoner<T>::SpatialVariant SettableDeadReckoner<T>::toSpatialVariant(
  const Situation& situation,
  const DrThreshold& threshold)
{
  const auto isMoving = impl::isMoving(situation.velocityVector);
  const auto isAccelerating = impl::isAccelerating(situation.accelerationVector);
  const auto isRotating = impl::isRotating(situation.angularVelocity);
 
  // A static spatial carries no angular velocity, so an entity turning on the spot must not take it.
  if (!isMoving && !isAccelerating && !isRotating)
  {
    return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drStatic)>,
                           StaticSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                          situation.isFrozen,
                                          impl::toRpr<RprOrientation>(situation.orientation)}};
  }
 
  const auto isWorld = threshold.referenceSystem == ReferenceSystem::world;
 
  // not accelerating; a motionless entity has already gone to the static case
  if (!isAccelerating)
  {
    // not rotating
    if (!isRotating)
    {
      if (isWorld)
      {
        return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drFPW)>,
                               FpsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                           situation.isFrozen,
                                           impl::toRpr<RprOrientation>(situation.orientation),
                                           impl::toRpr<RprVelocity>(situation.velocityVector)}};
      }
      return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drFPB)>,
                             FpsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                         situation.isFrozen,
                                         impl::toRpr<RprOrientation>(situation.orientation),
                                         impl::toRpr<RprVelocity>(situation.velocityVector)}};
    }
 
    // rotating
    if (isWorld)
    {
      return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drRPW)>,
                             RpsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                         situation.isFrozen,
                                         impl::toRpr<RprOrientation>(situation.orientation),
                                         impl::toRpr<RprVelocity>(situation.velocityVector),
                                         impl::toRpr<RprAngularVelocity>(situation.angularVelocity)}};
    }
    return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drRPB)>,
                           RpsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                       situation.isFrozen,
                                       impl::toRpr<RprOrientation>(situation.orientation),
                                       impl::toRpr<RprVelocity>(situation.velocityVector),
                                       impl::toRpr<RprAngularVelocity>(situation.angularVelocity)}};
  }
  // fast-moving not rotating
  if (!isRotating)
  {
    if (isWorld)
    {
      return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drFVW)>,
                             FvsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                         situation.isFrozen,
                                         impl::toRpr<RprOrientation>(situation.orientation),
                                         impl::toRpr<RprVelocity>(situation.velocityVector),
                                         impl::toRpr<RprAcceleration>(situation.accelerationVector)}};
    }
    return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drFVB)>,
                           FvsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                       situation.isFrozen,
                                       impl::toRpr<RprOrientation>(situation.orientation),
                                       impl::toRpr<RprVelocity>(situation.velocityVector),
                                       impl::toRpr<RprAcceleration>(situation.accelerationVector)}};
  }
 
  // fast-moving rotating
  if (isWorld)
  {
    return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drRVW)>,
                           RvsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                       situation.isFrozen,
                                       impl::toRpr<RprOrientation>(situation.orientation),
                                       impl::toRpr<RprVelocity>(situation.velocityVector),
                                       impl::toRpr<RprAcceleration>(situation.accelerationVector),
                                       impl::toRpr<RprAngularVelocity>(situation.angularVelocity)}};
  }
  return SpatialVariant {std::in_place_index<static_cast<size_t>(SpatialAlgorithm::drRVB)>,
                         RvsSpatial {impl::toRpr<RprLocation>(situation.worldLocation),
                                     situation.isFrozen,
                                     impl::toRpr<RprOrientation>(situation.orientation),
                                     impl::toRpr<RprVelocity>(situation.velocityVector),
                                     impl::toRpr<RprAcceleration>(situation.accelerationVector),
                                     impl::toRpr<RprAngularVelocity>(situation.angularVelocity)}};
}
 
}  // namespace sen::util
 
#endif  // SEN_UTIL_DR_SETTABLE_DEAD_RECKONER_H