TractorMobility Class Reference [mobility - modules handling the mobility of the hosts]

Tractor movement model. See NED file for more info. More...

#include <TractorMobility.h>

Inherits BaseMobility.

Collaboration diagram for TractorMobility:

List of all members.

Public Member Functions
virtual void	initialize (int)
	Initializes mobility model parameters.
Protected Member Functions
virtual void	makeMove ()
	Move the host.
virtual void	fixIfHostGetsOutside ()
	Should be redefined in subclasses.
void	calculateXY ()
	Maps d to (x,y) coordinates.
Protected Attributes
double	x1
double	y1
double	x2
double	y2
	rectangle bounds of the field
double	dx
double	dy
	dimensions of the field
double	rows
	the number of rows that the tractor must take
double	row_length
double	row_width
	the lenght and width of a row
double	path_length
double	position
Coord	targetPos
	Target position of the host.

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Detailed Description

Tractor movement model. See NED file for more info.

NOTE: Does not yet support 3-dimensional movement.

Author:

Peterpaul Klein Haneveld

Definition at line 33 of file TractorMobility.h.

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Member Function Documentation

void TractorMobility::fixIfHostGetsOutside

(

)

[protected, virtual]

Should be redefined in subclasses.

Should invoke handleIfOutside() and pass the references to the parameters to be modified.

Additional action after border handling (such as choosing a new target position if the BorderPolicy is PLACERANDOMLY) should be implemented here.

See also:

HandleIfOutside

Reimplemented from BaseMobility.

Definition at line 77 of file TractorMobility.cc.

References BaseMobility::handleIfOutside(), BaseMobility::RAISEERROR, targetPos, BaseWorldUtility::use2D(), and BaseMobility::world.

Referenced by makeMove().

{
  Coord dummy(world->use2D());
  double dum;

  handleIfOutside( RAISEERROR, targetPos, dummy, dummy, dum );
}

void TractorMobility::initialize

(

int

stage

)

[virtual]

Initializes mobility model parameters.

Reads the parameters and initializes members.

Reimplemented from BaseMobility.

Definition at line 30 of file TractorMobility.cc.

References calculateXY(), dy, BaseMobility::move, row_width, rows, Move::setSpeed(), Move::setStart(), targetPos, BaseWorldUtility::use2D(), BaseMobility::world, and y2.

{
  BaseMobility::initialize(stage);

  debugEV << "initializing TractorMobility stage " << stage << endl;

  if (stage == 0)
  {
    x1 = par("x1");
    y1 = par("y1");
    x2 = par("x2");
    y2 = par("y2");
    rows = par("rows");

    move.setSpeed(par("speed"));

    dx = x2-x1;
    dy = y2-y1;
    row_length = dx;
    row_width = dy / rows;

    path_length = rows * (row_length + row_width);
    position = 0.0;

    calculateXY();

    move.setStart(targetPos);
  }
  else
  {
    if(!world->use2D()) {
      opp_warning("This mobility module does not yet support 3 dimensional movement."\
            "Movements will probably be incorrect.");
    }
  }
}

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

• modules/mobility/TractorMobility.h
• modules/mobility/TractorMobility.cc