Location

Introduction

A Location helps with moving along a system of connected tracks. It provides methods for determining the exact position on the track system, which would be the Track and some TrackLocation that specifies the parameter and an Orientation; as well as location_getters getter methods to transition the track's position to 3D positional and orientational data. Besides from moving the Location, the Location::Move methods will trigger Sensors and help communicating with Signals along the way.

Example:

To move on a track circle:

auto pTrack1 = TrackBuilder::Make();
auto pTrack2 = TrackBuilder::Make();
auto pTrack3 = TrackBuilder::Make();
auto pTrack4 = TrackBuilder::Make();
 
// We build a track circle with radius 10_m around the Origin3D from the four pieces:
auto pArc1 = ArcP::Make();
pArc1->Create( { Origin3D<Length>, { 1, 0, 0 }, { 0, 10, 0 } } );
pTrack1->Attach( std::move(pArc1), {0_m,10_m*pi/2} );
 
auto pArc2 = ArcP::Make();
pArc2->Create( { Origin3D<Length>, { 0, 1, 0 }, { -10, 0, 0 } } );
pTrack2->Attach( std::move(pArc2), {0_m,10_m*pi/2} );
 
auto pArc3 = ArcP::Make();
pArc3->Create( { Origin3D<Length>, { -1, 0, 0 }, { 0, -10, 0 } } );
pTrack3->Attach( std::move(pArc3), {0_m,10_m*pi/2} );
 
auto pArc4 = ArcP::Make();
pArc4->Create( { Origin3D<Length>, { 0, -1, 0 }, { 10, 0, 0 } } );
pTrack4->Attach( std::move(pArc4), {0_m, 10_m*pi/2} );
 
pTrack1->Couple( std::make_pair(pTrack1, Track::EndType::end), std::make_pair(pTrack2, Track::EndType::front) );
pTrack2->Couple( std::make_pair(pTrack2, Track::EndType::end), std::make_pair(pTrack3, Track::EndType::front) );
pTrack3->Couple( std::make_pair(pTrack3, Track::EndType::end), std::make_pair(pTrack4, Track::EndType::front) );
pTrack4->Couple( std::make_pair(pTrack4, Track::EndType::end), std::make_pair(pTrack1, Track::EndType::front) );
 
Location loc{ pTrack1, { 0_m, Orientation::Value::para } };
 
Frame<Length,One> frame1, frame2;
loc.Transition( frame1 );
loc.Move( pTrack1->GetLength() + pTrack2->GetLength() + pTrack3->GetLength() + pTrack4->GetLength() );
loc.Transition( frame2 );
BOOST_CHECK( frame1.Equals( frame2, epsilon__length, 0.001f ) );
 
loc.Move( pTrack1->GetLength() + pTrack2->GetLength() + pTrack3->GetLength()/2 );
auto pTrack = loc.GetTrack();
BOOST_CHECK( pTrack == pTrack3 );
 
pTrack1->DeCouple(); // Coupled tracks will prevent each others destruction \see TrackSystem
pTrack3->DeCouple();

Do also look at the tests in the test suit for further examples.