Waypoint-based mobility model. More...

#include <waypoint-mobility-model.h>

Inheritance diagram for ns3::WaypointMobilityModel:

Collaboration diagram for ns3::WaypointMobilityModel:

Public Member Functions
	WaypointMobilityModel ()
virtual	~WaypointMobilityModel ()
void	AddWaypoint (const Waypoint &waypoint)
void	EndMobility (void)
Waypoint	GetNextWaypoint (void) const
uint32_t	WaypointsLeft (void) const
Public Member Functions inherited from ns3::MobilityModel
	MobilityModel ()
virtual	~MobilityModel ()=0
int64_t	AssignStreams (int64_t stream)
double	GetDistanceFrom (Ptr< const MobilityModel > position) const
Vector	GetPosition (void) const
double	GetRelativeSpeed (Ptr< const MobilityModel > other) const
Vector	GetVelocity (void) const
void	SetPosition (const Vector &position)
Public Member Functions inherited from ns3::Object
	Object ()
virtual	~Object ()
void	AggregateObject (Ptr< Object > other)
void	Dispose (void)
AggregateIterator	GetAggregateIterator (void) const
virtual TypeId	GetInstanceTypeId (void) const
template<typename T >
Ptr< T >	GetObject (void) const
template<typename T >
Ptr< T >	GetObject (TypeId tid) const
void	Start (void)
Public Member Functions inherited from ns3::SimpleRefCount< Object, ObjectBase, ObjectDeleter >
	SimpleRefCount ()
	SimpleRefCount (const SimpleRefCount &o)
uint32_t	GetReferenceCount (void) const
SimpleRefCount &	operator= (const SimpleRefCount &o)
void	Ref (void) const
void	Unref (void) const
Public Member Functions inherited from ns3::ObjectBase
virtual	~ObjectBase ()
void	GetAttribute (std::string name, AttributeValue &value) const
bool	GetAttributeFailSafe (std::string name, AttributeValue &attribute) const
void	SetAttribute (std::string name, const AttributeValue &value)
bool	SetAttributeFailSafe (std::string name, const AttributeValue &value)
bool	TraceConnect (std::string name, std::string context, const CallbackBase &cb)
bool	TraceConnectWithoutContext (std::string name, const CallbackBase &cb)
bool	TraceDisconnect (std::string name, std::string context, const CallbackBase &cb)
bool	TraceDisconnectWithoutContext (std::string name, const CallbackBase &cb)

Static Public Member Functions
static TypeId	GetTypeId (void)

Private Member Functions
virtual void	DoDispose (void)
virtual Vector	DoGetPosition (void) const
virtual Vector	DoGetVelocity (void) const
virtual void	DoSetPosition (const Vector &position)
void	Update (void) const

Private Attributes
Waypoint	m_current
bool	m_first
bool	m_initialPositionIsWaypoint
bool	m_lazyNotify
Waypoint	m_next
Vector	m_velocity
std::deque< Waypoint >	m_waypoints

Friends
class	WaypointMobilityModelNotifyTest

Additional Inherited Members
Protected Member Functions inherited from ns3::MobilityModel
void	NotifyCourseChange (void) const

Detailed Description

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.

Config Paths

ns3::WaypointMobilityModel is accessible through the following paths with Config::Set and Config::Connect:

/NodeList/[i]/$ns3::MobilityModel/$ns3::WaypointMobilityModel

Attributes

NextWaypoint: The next waypoint used to determine position.
- Set with class: WaypointValue
- Underlying type: Waypoint
- Flags: read
WaypointsLeft: The number of waypoints remaining.
- Set with class: ns3::UintegerValue
- Underlying type: uint32_t 0:4294967295
- Flags: read
LazyNotify: Only call NotifyCourseChange when position is calculated.
- Set with class: BooleanValue
- Underlying type: bool
- Initial value: false
- Flags: construct write read
InitialPositionIsWaypoint: Calling SetPosition with no waypoints creates a waypoint.
- Set with class: BooleanValue
- Underlying type: bool
- Initial value: false
- Flags: construct write read

Attributes defined in parent class ns3::MobilityModel

Position: The current position of the mobility model.
- Set with class: Vector3DValue
- Underlying type: Vector3D
- Flags: write read
Velocity: The current velocity of the mobility model.
- Set with class: Vector3DValue
- Underlying type: Vector3D
- Flags: read

No TraceSources are defined for this type.

TraceSources defined in parent class ns3::MobilityModel

CourseChange: The value of the position and/or velocity vector changed

Definition at line 84 of file waypoint-mobility-model.h.

Constructor & Destructor Documentation

ns3::WaypointMobilityModel::WaypointMobilityModel ( )

Create a path with no waypoints at location (0,0,0).

Definition at line 67 of file waypoint-mobility-model.cc.

ns3::WaypointMobilityModel::~WaypointMobilityModel ( )

virtual

Definition at line 73 of file waypoint-mobility-model.cc.

Member Function Documentation

void ns3::WaypointMobilityModel::AddWaypoint ( const Waypoint & waypoint )

Parameters

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.

Definition at line 82 of file waypoint-mobility-model.cc.

References m_current, m_first, m_lazyNotify, m_next, m_waypoints, NS_ABORT_MSG_IF, ns3::Simulator::Schedule(), ns3::Waypoint::time, and Update().

Referenced by ns3::WaypointMobilityModelNotifyTest::DoRun(), WaypointInitialPositionIsWaypoint::DoRun(), WaypointMobilityModelViaHelper::DoRun(), and DoSetPosition().

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void ns3::WaypointMobilityModel::DoDispose ( void )

privatevirtual

Definition at line 77 of file waypoint-mobility-model.cc.

Vector ns3::WaypointMobilityModel::DoGetPosition ( void ) const

privatevirtual

Definition at line 175 of file waypoint-mobility-model.cc.

References m_current, ns3::Waypoint::position, and Update().

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Vector ns3::WaypointMobilityModel::DoGetVelocity ( void ) const

privatevirtual

Definition at line 211 of file waypoint-mobility-model.cc.

References m_velocity.

void ns3::WaypointMobilityModel::DoSetPosition ( const Vector & position )

privatevirtual

Definition at line 181 of file waypoint-mobility-model.cc.

References AddWaypoint(), m_current, m_first, m_initialPositionIsWaypoint, m_next, m_velocity, ns3::MobilityModel::NotifyCourseChange(), ns3::Now(), ns3::Waypoint::position, ns3::Waypoint::time, and Update().

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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.

Definition at line 203 of file waypoint-mobility-model.cc.

References m_current, m_first, m_next, m_waypoints, and ns3::Waypoint::time.

Waypoint ns3::WaypointMobilityModel::GetNextWaypoint ( void ) const

Get the waypoint that this object is traveling towards.

Definition at line 102 of file waypoint-mobility-model.cc.

References m_next, and Update().

Referenced by GetTypeId().

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