Waypoint-based mobility model. More...
#include <waypoint-mobility-model.h>
Public Member Functions | |
WaypointMobilityModel () | |
void | AddWaypoint (const Waypoint &waypoint) |
Waypoint | GetNextWaypoint (void) const |
uint32_t | WaypointsLeft (void) const |
void | EndMobility (void) |
Static Public Member Functions | |
static TypeId | GetTypeId (void) |
This method returns the TypeId associated to ns3::WaypointMobilityModel. | |
Friends | |
class | WaypointMobilityModelNotifyTest |
Waypoint-based mobility model.
Each object determines its velocity and position at a given time from a set of ns3::Waypoint objects. Past waypoints are discarded after the current simulation time greater than their time value.
By default, the initial position of each object corresponds to the position of the first waypoint, and the initial velocity of each object is zero. Upon reaching the last waypoint, object position becomes static and velocity is zero.
When a node is in between waypoint times, it moves with a constant velocity between the position at the previous waypoint and the position at the current waypoint. To make a node hold a certain position for a time interval, two waypoints with the same position (but different times) should be inserted sequentially.
Waypoints can be added at any time, and setting the current position of an object will set its velocity to zero until the next waypoint time (at which time the object jumps to the next waypoint), unless there are no more waypoints in which case it will not change without user intervention.
The model has two attributes with methods that allow clients to get the next waypoint value (NextWaypoint) and the number of waypoints left (WaypointsLeft) beyond (but not including) the next waypoint.
In addition, there are two attributes that govern model behavior. The first, LazyNotify, governs how the model calls the CourseChange trace. By default, LazyNotify is false, which means that each time that a waypoint time is hit, an Update() is forced and the CourseChange callback will be called. When LazyNotify is true, Update() is suppressed at waypoint times, and CourseChange callbacks will only occur when there later are actual calls to Update () (typically when calling GetPosition ()). This option may be enabled for execution run-time performance improvements, but when enabled, users should note that course change listeners will in general not be notified at waypoint times but instead at the next Update() following a waypoint time, and some waypoints may not be notified to course change listeners.
The second, InitialPositionIsWaypoint, is false by default. Recall that the first waypoint will set the initial position and set velocity equal to 0 until the first waypoint time. In such a case, the call to SetPosition(), such as from a PositionAllocator, will be ignored. However, if InitialPositionIsWaypoint is set to true and SetPosition() is called before any waypoints have been added, the SetPosition() call is treated as an initial waypoint at time zero. In such a case, when SetPosition() is treated as an initial waypoint, it should be noted that attempts to add a waypoint at the same time will cause the program to fail.
ns3::WaypointMobilityModel::WaypointMobilityModel | ( | ) |
Create a path with no waypoints at location (0,0,0).
void ns3::WaypointMobilityModel::AddWaypoint | ( | const Waypoint & | waypoint | ) |
waypoint | waypoint to append to the object path. |
Add a waypoint to the path of the object. The time must be greater than the previous waypoint added, otherwise a fatal error occurs. The first waypoint is set as the current position with a velocity of zero.
void ns3::WaypointMobilityModel::EndMobility | ( | void | ) |
Clear any existing waypoints and set the current waypoint time to infinity. Calling this is only an optimization and not required. After calling this function, adding waypoints behaves as it would for a new object.
Waypoint ns3::WaypointMobilityModel::GetNextWaypoint | ( | void | ) | const |
Get the waypoint that this object is traveling towards.
static TypeId ns3::WaypointMobilityModel::GetTypeId | ( | void | ) | [static] |
This method returns the TypeId associated to ns3::WaypointMobilityModel.
This object is accessible through the following paths with Config::Set and Config::Connect:
Attributes defined for this type:
Attributes defined in parent class ns3::MobilityModel:
No TraceSources defined for this type.
TraceSources defined in parent class ns3::MobilityModel:
Reimplemented from ns3::MobilityModel.
uint32_t ns3::WaypointMobilityModel::WaypointsLeft | ( | void | ) | const |
Get the number of waypoints left for this object, excluding the next one.