Waypoint-based mobility model. More...

#include "waypoint-mobility-model.h"

Inheritance diagram for ns3::WaypointMobilityModel:

Public Member Functions
	WaypointMobilityModel ()
	Create a path with no waypoints at location (0,0,0). More...

virtual	~WaypointMobilityModel ()

void	AddWaypoint (const Waypoint &waypoint)

void	EndMobility (void)
	Clear any existing waypoints and set the current waypoint time to infinity. More...

Waypoint	GetNextWaypoint (void) const
	Get the waypoint that this object is traveling towards. More...

uint32_t	WaypointsLeft (void) const
	Get the number of waypoints left for this object, excluding the next one. More...

Public Member Functions inherited from ns3::MobilityModel
	MobilityModel ()

virtual	~MobilityModel ()=0

int64_t	AssignStreams (int64_t stream)
	Assign a fixed random variable stream number to the random variables used by this model. More...

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 ()
	Constructor. More...

virtual	~Object ()
	Destructor. More...

void	AggregateObject (Ptr< Object > other)
	Aggregate two Objects together. More...

void	Dispose (void)
	Dispose of this Object. More...

AggregateIterator	GetAggregateIterator (void) const
	Get an iterator to the Objects aggregated to this one. More...

virtual TypeId	GetInstanceTypeId (void) const
	Get the most derived TypeId for this Object. More...

template<typename T >
Ptr< T >	GetObject (void) const
	Get a pointer to the requested aggregated Object. More...

template<typename T >
Ptr< T >	GetObject (TypeId tid) const
	Get a pointer to the requested aggregated Object by TypeId. More...

void	Initialize (void)
	Invoke DoInitialize on all Objects aggregated to this one. More...

bool	IsInitialized (void) const
	Check if the object has been initialized. More...

Public Member Functions inherited from ns3::SimpleRefCount< Object, ObjectBase, ObjectDeleter >
	SimpleRefCount ()
	Default constructor. More...

	SimpleRefCount (const SimpleRefCount &o)
	Copy constructor. More...

uint32_t	GetReferenceCount (void) const
	Get the reference count of the object. More...

SimpleRefCount &	operator= (const SimpleRefCount &o)
	Assignment operator. More...

void	Ref (void) const
	Increment the reference count. More...

void	Unref (void) const
	Decrement the reference count. More...

Public Member Functions inherited from ns3::ObjectBase
virtual	~ObjectBase ()
	Virtual destructor. More...

void	GetAttribute (std::string name, AttributeValue &value) const
	Get the value of an attribute, raising fatal errors if unsuccessful. More...

bool	GetAttributeFailSafe (std::string name, AttributeValue &value) const
	Get the value of an attribute without raising erros. More...

void	SetAttribute (std::string name, const AttributeValue &value)
	Set a single attribute, raising fatal errors if unsuccessful. More...

bool	SetAttributeFailSafe (std::string name, const AttributeValue &value)
	Set a single attribute without raising errors. More...

bool	TraceConnect (std::string name, std::string context, const CallbackBase &cb)
	Connect a TraceSource to a Callback with a context. More...

bool	TraceConnectWithoutContext (std::string name, const CallbackBase &cb)
	Connect a TraceSource to a Callback without a context. More...

bool	TraceDisconnect (std::string name, std::string context, const CallbackBase &cb)
	Disconnect from a TraceSource a Callback previously connected with a context. More...

bool	TraceDisconnectWithoutContext (std::string name, const CallbackBase &cb)
	Disconnect from a TraceSource a Callback previously connected without a context. More...

Static Public Member Functions
static TypeId	GetTypeId (void)
	Register this type with the TypeId system. More...

Static Public Member Functions inherited from ns3::MobilityModel
static TypeId	GetTypeId (void)
	Register this type with the TypeId system. More...

Static Public Member Functions inherited from ns3::Object
static TypeId	GetTypeId (void)
	Register this type. More...

Static Public Member Functions inherited from ns3::ObjectBase
static TypeId	GetTypeId (void)
	Get the type ID. More...

Protected Attributes
Waypoint	m_current
	The ns3::Waypoint currently being used. More...

bool	m_first
	This variable is set to true if there are no waypoints in the std::deque. More...

bool	m_initialPositionIsWaypoint
	If true, calling SetPosition with no waypoints creates a waypoint. More...

bool	m_lazyNotify
	If true, course change updates are only notified when position is calculated. More...

Waypoint	m_next
	The next ns3::Waypoint in the deque. More...

Vector	m_velocity
	The current velocity vector. More...

std::deque< Waypoint >	m_waypoints
	The double ended queue containing the ns3::Waypoint objects. More...

Private Member Functions
virtual void	DoDispose (void)
	The dispose method. More...

virtual Vector	DoGetPosition (void) const
	Get current position. More...

virtual Vector	DoGetVelocity (void) const
	Returns the current velocity of a node. More...

virtual void	DoSetPosition (const Vector &position)
	Sets a new position for the node More...

virtual void	Update (void) const
	Update the underlying state corresponding to the stored waypoints. More...

Friends
class	::WaypointMobilityModelNotifyTest

Additional Inherited Members
Public Types inherited from ns3::MobilityModel
typedef void(*	TracedCallback) (Ptr< const MobilityModel > model)
	TracedCallback signature. More...

Protected Member Functions inherited from ns3::MobilityModel
void	NotifyCourseChange (void) const
	Must be invoked by subclasses when the course of the position changes to notify course change listeners. More...

Protected Member Functions inherited from ns3::Object
	Object (const Object &o)
	Copy an Object. More...

virtual void	DoInitialize (void)
	Initialize() implementation. More...

virtual void	NotifyNewAggregate (void)
	Notify all Objects aggregated to this one of a new Object being aggregated. More...

Protected Member Functions inherited from ns3::ObjectBase
void	ConstructSelf (const AttributeConstructionList &attributes)
	Complete construction of ObjectBase; invoked by derived classes. More...

virtual void	NotifyConstructionCompleted (void)
	Notifier called once the ObjectBase is fully constructed. More...

Related Functions inherited from ns3::ObjectBase
static TypeId	GetObjectIid (void)
	Ensure the TypeId for ObjectBase gets fully configured to anchor the inheritance tree properly. More...

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
Callback signature: ns3::MobilityModel::TracedCallback

Size of this type is 200 bytes (on a 64-bit architecture).

Definition at line 86 of file waypoint-mobility-model.h.

Constructor & Destructor Documentation

◆ WaypointMobilityModel()

ns3::WaypointMobilityModel::WaypointMobilityModel ( )

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

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

◆ ~WaypointMobilityModel()

ns3::WaypointMobilityModel::~WaypointMobilityModel ( )

virtual

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

Member Function Documentation

◆ AddWaypoint()

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, ns3::Simulator::Now(), NS_ABORT_MSG_IF, ns3::Simulator::Schedule(), ns3::Waypoint::time, and Update().

Referenced by WaypointMobilityModelAddWaypointTest::CourseChangeCallback(), WaypointMobilityModelNotifyTest::DoRun(), WaypointLazyNotifyFalse::DoRun(), WaypointLazyNotifyTrue::DoRun(), WaypointMobilityModelAddWaypointTest::DoRun(), WaypointInitialPositionIsWaypoint::DoRun(), WaypointMobilityModelViaHelper::DoRun(), and DoSetPosition().