uwgmposition.h

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
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// modification, are permitted provided that the following conditions
// are met:
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//    notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
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// 3. Neither the name of the University of Padova (SIGNET lab) nor the
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//    derived from this software without specific prior written permission.
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#ifndef _UWGAUSSMARKOVMOBMODEL_
#define _UWGAUSSMARKOVMOBMODEL_
 
#include "node-core.h"
 
#define sgn(x) (((x) == 0.0) ? 0.0 : ((x) / fabs(x)))
#define pi (4 * atan(1.0))
 
enum BoundType { SPHERIC, THOROIDAL, HARDWALL, REBOUNCE };
 
class UwGMPosition : public Position
{
 
public:
    UwGMPosition();
 
    virtual ~UwGMPosition();
 
    virtual int command(int argc, const char *const *argv);
 
protected:
    virtual double getX();
 
    virtual double getY();
 
    virtual double getZ();
 
    double xFieldWidth_; 
    double yFieldWidth_; 
    double zFieldWidth_; 
    double alpha_; 
    double alphaPitch_; 
    double speedMean_; 
    double directionMean_; 
    double pitchMean_; 
    BoundType bound_; 
    double updateTime_; 
    double
            nextUpdateTime_; 
    double speed_; 
    double direction_; 
    double pitch_; 
    int debug_; 
private:
    virtual void update(double now);
    double Gaussian();
 
    double vx; 
    double vy; 
    double vz; 
};
 
#endif // _UWGAUSSMARKOVMOBMODEL_