followed_pose Subroutine

private recursive subroutine followed_pose(self, t, pos, att)

The followed position and attitude at time t, in the parent's coordinates (from the data frame's, if follow had one, by both frames' poses at time t); pos and att unchanged where nothing is followed.

Arguments

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

simulation time
real(kind=wp), intent(inout) :: pos(3)

the pose (in the parent's coordinates)
real(kind=wp), intent(inout) :: att(4)

the pose (in the parent's coordinates)

Calls

proc~~followed_pose~~CallsGraph proc~followed_pose followed_pose proc~quat_from_matrix quat_from_matrix proc~followed_pose->proc~quat_from_matrix proc~quat_multiply quat_multiply proc~followed_pose->proc~quat_multiply proc~quat_normalize quat_normalize proc~followed_pose->proc~quat_normalize proc~rigid_inverse rigid_inverse proc~followed_pose->proc~rigid_inverse proc~state_at TrajectoryFollower%state_at proc~followed_pose->proc~state_at proc~world_matrix_at ReferenceFrame%world_matrix_at proc~followed_pose->proc~world_matrix_at proc~chosen_trajectory chosen_trajectory proc~state_at->proc~chosen_trajectory proc~data_valid TrajectoryFollower%data_valid proc~state_at->proc~data_valid proc~interpolate_attitude interpolate_attitude proc~state_at->proc~interpolate_attitude proc~interpolate_position interpolate_position proc~state_at->proc~interpolate_position proc~time_index Trajectory%time_index proc~state_at->proc~time_index proc~wrapped_time wrapped_time proc~state_at->proc~wrapped_time proc~world_matrix_at->proc~world_matrix_at proc~local_matrix_at ReferenceFrame%local_matrix_at proc~world_matrix_at->proc~local_matrix_at proc~time_distance Trajectory%time_distance proc~chosen_trajectory->proc~time_distance proc~verify_data Trajectory%verify_data proc~data_valid->proc~verify_data proc~attitude~3 Trajectory%attitude proc~interpolate_attitude->proc~attitude~3 proc~num_attitudes Trajectory%num_attitudes proc~interpolate_attitude->proc~num_attitudes proc~quat_slerp quat_slerp proc~interpolate_attitude->proc~quat_slerp proc~num_points Trajectory%num_points proc~interpolate_position->proc~num_points proc~point_between Trajectory%point_between proc~interpolate_position->proc~point_between proc~point~2 Trajectory%point proc~interpolate_position->proc~point~2 proc~local_matrix_at->proc~followed_pose proc~frame_matrix frame_matrix proc~local_matrix_at->proc~frame_matrix proc~time_index->proc~time_distance proc~time_range~3 Trajectory%time_range proc~wrapped_time->proc~time_range~3 proc~quat_to_matrix quat_to_matrix proc~frame_matrix->proc~quat_to_matrix proc~point_between->proc~num_points proc~point_between->proc~point~2 proc~time_fraction Trajectory%time_fraction proc~point_between->proc~time_fraction

Called by

proc~~followed_pose~~CalledByGraph proc~followed_pose followed_pose proc~world_matrix_at ReferenceFrame%world_matrix_at proc~followed_pose->proc~world_matrix_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~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

    recursive subroutine followed_pose(self, t, pos, att)
        class(ReferenceFrame), intent(in) :: self
        real(wp), intent(in) :: t                           !! simulation time
        real(wp), intent(inout) :: pos(3), att(4)           !! the pose (in the parent's coordinates)
        real(wp) :: m(4,4), p(3), q(4)
        logical :: has_position, has_attitude
        p = pos
        q = att
        call self%follower_%state_at(t, p, q, has_position, has_attitude)
        if (.not. (has_position .or. has_attitude)) return
        if (associated(self%follow_frame_)) then            ! the data frame's coordinates to the parent's, at t
            m = self%follow_frame_%world_matrix_at(t)
            if (self%n_parents > 0) m = matmul(rigid_inverse(self%parents(1)%p%world_matrix_at(t)), m)
            if (has_position) p = matmul(m(1:3, 1:3), p) + m(1:3, 4)
            if (has_attitude) q = quat_normalize(quat_multiply(quat_from_matrix(m(1:3, 1:3)), q))
        end if
        if (has_position) pos = p
        if (has_attitude) att = q
    end subroutine followed_pose