chosen_trajectory Function

private function chosen_trajectory(self, t) result(k)

The trajectory to follow at time t: the current one if it contains t, else the first that does, else the closest.

Arguments

Type IntentOptional Attributes Name
type(TrajectoryFollower), intent(in) :: self
real(kind=wp), intent(in) :: t

the time (s)

Return Value integer


Calls

proc~~chosen_trajectory~~CallsGraph proc~chosen_trajectory chosen_trajectory proc~time_distance Trajectory%time_distance proc~chosen_trajectory->proc~time_distance

Called by

proc~~chosen_trajectory~~CalledByGraph proc~chosen_trajectory chosen_trajectory proc~state_at TrajectoryFollower%state_at proc~state_at->proc~chosen_trajectory proc~followed_pose followed_pose proc~followed_pose->proc~state_at proc~world_matrix_at ReferenceFrame%world_matrix_at proc~followed_pose->proc~world_matrix_at proc~update~2 TrajectoryFollower%update proc~update~2->proc~state_at proc~local_matrix_at ReferenceFrame%local_matrix_at proc~local_matrix_at->proc~followed_pose proc~update ReferenceFrame%update proc~update->proc~followed_pose proc~update->proc~update~2 proc~drawable_update DrawableTrajectory%drawable_update proc~drawable_update->proc~update proc~fm_update FrameManager%fm_update proc~fm_update->proc~update proc~sphere_update Sphere%sphere_update proc~sphere_update->proc~update proc~terrain_update TerrainBody%terrain_update proc~terrain_update->proc~update proc~world_matrix_at->proc~local_matrix_at proc~world_matrix_at->proc~world_matrix_at proc~data_to_shown data_to_shown proc~data_to_shown->proc~world_matrix_at proc~to_shown to_shown proc~to_shown->proc~data_to_shown proc~art_point_between art_point_between proc~art_point_between->proc~to_shown proc~to_shown_at to_shown_at proc~to_shown_at->proc~to_shown proc~art_point art_point proc~art_point->proc~to_shown_at proc~art_points art_points proc~art_points->proc~to_shown_at proc~intermediates_by_time intermediates_by_time proc~intermediates_by_time->proc~art_point_between proc~marker_point marker_point proc~marker_point->proc~to_shown_at proc~marker_point->proc~art_point proc~update_ribbon_tail RibbonArtist%update_ribbon_tail proc~update_ribbon_tail->proc~art_point_between proc~update_ribbon_tail->proc~art_point proc~update_tail CurveArtist%update_tail proc~update_tail->proc~art_point_between proc~update_tail->proc~art_point proc~write_segments write_segments proc~write_segments->proc~to_shown_at proc~add_intermediates add_intermediates proc~add_intermediates->proc~intermediates_by_time proc~intermediates_by_data intermediates_by_data proc~add_intermediates->proc~intermediates_by_data proc~intermediates_by_distance intermediates_by_distance proc~add_intermediates->proc~intermediates_by_distance proc~curve_pick curve_pick proc~curve_pick->proc~art_point proc~intermediates_by_data->proc~art_point proc~intermediates_by_distance->proc~art_point proc~marker_update MarkerArtist%marker_update proc~marker_update->proc~marker_point proc~marker_update->proc~add_intermediates proc~update_bounds update_bounds proc~marker_update->proc~update_bounds proc~segment_update SegmentArtist%segment_update proc~segment_update->proc~write_segments proc~update_bounds->proc~art_points proc~write_curve CurveArtist%write_curve proc~write_curve->proc~art_points proc~write_ribbon RibbonArtist%write_ribbon proc~write_ribbon->proc~art_points proc~drawable_pick DrawableTrajectory%drawable_pick proc~drawable_pick->proc~curve_pick

Source Code

    integer function chosen_trajectory(self, t) result(k)
        type(TrajectoryFollower), intent(in) :: self
        real(wp), intent(in) :: t                           !! the time (s)
        real(wp) :: dist, min_dist
        integer :: j
        k = 1
        if (self%n == 1) return
        if (self%current >= 1 .and. self%current <= self%n) then
            if (self%trajs(self%current)%p%time_distance(t) <= 0.0_wp) then
                k = self%current
                return
            end if
        end if
        min_dist = huge(1.0_wp)
        do j = 1, self%n
            dist = self%trajs(j)%p%time_distance(t)
            if (dist <= 0.0_wp) then
                k = j
                return
            else if (dist < min_dist) then
                min_dist = dist
                k = j
            end if
        end do
    end function chosen_trajectory