#include <Axes.hpp>

类 ast::Axes 继承关系图:

Public 成员函数
virtual Axes *	getParent () const =0

virtual errc_t	getTransform (const TimePoint &tp, Rotation &rotation) const =0

virtual errc_t	getTransform (const TimePoint &tp, KinematicRotation &rotation) const =0

virtual errc_t	getTransform (const TimePoint &tp, AccelerationRotation &rotation) const

int	getDepth () const

Axes *	getAncestor (int depth) const

A_ALWAYS_INLINE errc_t	getTransformTo (Axes *target, const TimePoint &tp, Rotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformTo (Axes &target, const TimePoint &tp, Rotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformTo (Axes *target, const TimePoint &tp, KinematicRotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformTo (Axes &target, const TimePoint &tp, KinematicRotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFrom (Axes *source, const TimePoint &tp, Rotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFrom (Axes &source, const TimePoint &tp, Rotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFrom (Axes *source, const TimePoint &tp, KinematicRotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFrom (Axes &source, const TimePoint &tp, KinematicRotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFrom (Axes *source, const TimePoint &tp, AccelerationRotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFrom (Axes &source, const TimePoint &tp, AccelerationRotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFromParent (const TimePoint &tp, Rotation &rotation) const

A_ALWAYS_INLINE errc_t	getTransformFromParent (const TimePoint &tp, KinematicRotation &rotation) const

errc_t	getAttitudeIn (Axes &axes, const TimePoint &tp, Quaternion &quat) const

A_ALWAYS_INLINE errc_t	getAttitudeIn (Axes *axes, const TimePoint &tp, Quaternion &quat) const

errc_t	getAttitudeIn (Axes &axes, const TimePoint &tp, Quaternion &quat, Vector3d &angvel) const

A_ALWAYS_INLINE errc_t	getAttitudeIn (Axes *axes, const TimePoint &tp, Quaternion &quat, Vector3d &angvel) const

Public 成员函数继承自 ast::ObjectNamed
	ObjectNamed ()=default

	ObjectNamed (StringView name)

const std::string &	getName () const override

void	setName (StringView name) override

Public 成员函数继承自 ast::Object
	Object (Object *parentScope)

	Object (std::nullptr_t)

virtual Class *	getType () const

virtual std::string	getRepresentation () const

const std::string &	name () const

std::string	displayName () const

errc_t	showEditDialog ()

Attribute	attr (StringView path)

errc_t	getAttrBool (StringView path, bool &value) const

errc_t	getAttrInt (StringView path, int &value) const

errc_t	getAttrDouble (StringView path, double &value) const

errc_t	getAttrString (StringView path, std::string &value) const

errc_t	getAttrObject (StringView path, Object *&value) const

double	getAttrDouble (StringView path) const

int	getAttrInt (StringView path) const

bool	getAttrBool (StringView path) const

std::string	getAttrString (StringView path) const

Object *	getAttrObject (StringView path) const

errc_t	setAttrBool (StringView path, bool value)

errc_t	setAttrInt (StringView path, int value)

errc_t	setAttrDouble (StringView path, double value)

errc_t	setAttrString (StringView path, StringView value)

errc_t	setAttrObject (StringView path, Object *value)

Class *	type () const

const std::string &	typeName () const

Property *	getProperty (StringView fieldName) const

ObjectId	getID () const

errc_t	setParentScope (Object *parentScope)

Object *	getParentScope () const

template<typename T >
T	getParent () const

bool	isOfType (const Class *type) const

bool	isOfType (StringView typeName) const

template<typename T >
bool	isOfType () const

template<typename Func >
void	addDelayedLink (Func &&link)

template<typename Func >
void	addDelayedLinkIfFailed (Func &&link)

void	resolveLinks ()

bool	readOnly () const

void	setReadOnly (bool readOnly)

bool	active () const

void	setActive (bool active)

bool	isComponent () const

void	setIsComponent (bool isComponent)

bool	isEntity () const

void	setIsEntity (bool isEntity)

const char *	tr (const char *msg) const

	Referenced ()

	Referenced (initial_strong_ref_t)

Public 成员函数继承自 ast::Referenced
	Referenced (initial_strong_ref_t)

uint32_t	refCount () const

uint32_t	weakRefCount () const

bool	isDestructed () const

void	destruct ()

uint32_t	incWeakRef ()

uint32_t	decWeakRef ()

uint32_t	incRef ()

uint32_t	decRef ()

uint32_t	decRefNoDelete ()

额外继承的成员函数
静态 Public 成员函数继承自 ast::Object
static Object *	Resolve (StringView value)

static void	ClassInit (Class *cls)

static Class *	StaticType ()

静态 Public 属性继承自 ast::Object
static Class	staticType

Protected 成员函数继承自 ast::Object
	Object (const Object &)

Object &	operator= (const Object &)

Protected 成员函数继承自 ast::Referenced
void	setDestructed ()

详细描述

轴系抽象基类

轴系是一种几何元素，表示三维空间中的一组正交坐标轴方向。所有具体轴系类型（地固系、惯性系、冻结系等）均派生自此类。轴系通过父子关系构成树形层级，根轴系通常为惯性空间（如 ICRF）。

成员函数说明

◆ getAncestor()

Axes * ast::Axes::getAncestor ( int depth ) const

获取当前轴系指定深度的祖先轴系

参数

depth 目标祖先的深度

返回: 祖先轴系指针，若 depth 超出范围则返回 nullptr

◆ getAttitudeIn() [1/2]

errc_t ast::Axes::getAttitudeIn	(	Axes &	axes,
		const TimePoint &	tp,
		Quaternion &	quat ) const

获取当前轴系相对于目标轴系的姿态（四元数表示）

参数

axes	目标轴系
tp	时间点
quat	四元数

返回: 错误码

◆ getAttitudeIn() [2/2]

errc_t ast::Axes::getAttitudeIn	(	Axes &	axes,
		const TimePoint &	tp,
		Quaternion &	quat,
		Vector3d &	angvel ) const

获取当前轴系相对于目标轴系的姿态（四元数表示）和角速度

参数

axes	目标轴系
tp	时间点
quat	四元数
angvel	角速度

返回: 错误码

◆ getDepth()

int ast::Axes::getDepth ( ) const

获取当前轴系的深度

根轴系深度为 0，每增加一级父轴系深度加 1。

返回: 深度值

◆ getParent()

virtual Axes * ast::Axes::getParent ( ) const

pure virtual

获取当前轴系的父轴系

返回: 父轴系指针，根轴系返回 nullptr

在 ast::AttitudeAlignConstrain, ast::AttitudeFixed, ast::AttitudeSpinning, ast::AttitudeTrajectoryRelated, ast::AxesBodyFixed, ast::AxesBodyInertial, ast::AxesBodyMOD, ast::AxesBodyTOD, ast::AxesFrozen, ast::AxesFrozenAtEventTime, ast::AxesICRF, ast::AxesLinkTo, ast::AxesProxy , 以及 ast::AxesRoot 内被实现.

◆ getTransform() [1/3]

errc_t ast::Axes::getTransform	(	const TimePoint &	tp,
		AccelerationRotation &	rotation ) const

virtual

获取当前轴系相对于父轴系的加速度旋转变换

参数

tp	时间点
rotation	输出参数，加速度旋转变换（包含加速度）

返回: 错误码

默认实现：先由具体轴系给出本轴系相对父轴系的运动学旋转变换(旋转矩阵 + 角速度)，再对两端时刻的角速度做中心差分(端点处退化为单侧差分)得到角加速度。

按 AccelerationRotation 的约定，角加速度是角速度的分量在源轴系(父轴系)下的坐标时间导数，因此这里直接对 getTransform 返回的角速度分量做差商即可，不需要额外补偿父轴系自身的转动——父轴系转动引入的输运项由组合变换 AccelerationRotation::composed 统一处理。

这是给没有解析角加速度的轴系兜底用的默认实现，有解析解的轴系应当重写本函数。

被 ast::AttitudeSpinning , 以及 ast::AxesProxy 重载.

◆ getTransform() [2/3]

virtual errc_t ast::Axes::getTransform	(	const TimePoint &	tp,
		KinematicRotation &	rotation ) const

pure virtual

获取当前轴系相对于父轴系的运动学旋转变换

参数

tp	时间点
rotation	输出参数，运动学旋转变换（包含角速度）

返回: 错误码

在 ast::AttitudeAircraftZDown, ast::AttitudeAlignConstrain, ast::AttitudeCbiVelSun, ast::AttitudeECFVelRadial, ast::AttitudeFixed, ast::AttitudeMissile, ast::AttitudeNadirNormal, ast::AttitudeRelSunLH, ast::AttitudeSpinning, ast::AttitudeSunPointing, ast::AttitudeSunPointingCbiZ, ast::AttitudeSunPointingEclpNormal, ast::AttitudeVVLH, ast::AxesBodyFixed, ast::AxesBodyInertial, ast::AxesBodyMOD, ast::AxesBodyTOD, ast::AxesFrozen, ast::AxesFrozenAtEventTime, ast::AxesICRF, ast::AxesLinkTo, ast::AxesProxy , 以及 ast::AxesRoot 内被实现.

◆ getTransform() [3/3]

virtual errc_t ast::Axes::getTransform	(	const TimePoint &	tp,
		Rotation &	rotation ) const

pure virtual

获取当前轴系相对于父轴系的旋转变换

参数

tp	时间点
rotation	输出参数，旋转变换

返回: 错误码

在 ast::AttitudeAircraftZDown, ast::AttitudeAlignConstrain, ast::AttitudeCbiVelSun, ast::AttitudeECFVelRadial, ast::AttitudeFixed, ast::AttitudeMissile, ast::AttitudeNadirNormal, ast::AttitudeRelSunLH, ast::AttitudeSpinning, ast::AttitudeSunPointing, ast::AttitudeSunPointingCbiZ, ast::AttitudeSunPointingEclpNormal, ast::AttitudeVVLH, ast::AxesBodyFixed, ast::AxesBodyInertial, ast::AxesBodyMOD, ast::AxesBodyTOD, ast::AxesFrozen, ast::AxesFrozenAtEventTime, ast::AxesICRF, ast::AxesLinkTo, ast::AxesProxy , 以及 ast::AxesRoot 内被实现.

◆ getTransformFrom() [1/3]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformFrom	(	Axes *	source,
		const TimePoint &	tp,
		AccelerationRotation &	rotation ) const

inline

获取源轴系到当前轴系的加速度旋转变换

参数

source	源轴系
tp	时间点
rotation	输出参数，加速度旋转变换（包含角加速度）

返回: 错误码

◆ getTransformFrom() [2/3]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformFrom	(	Axes *	source,
		const TimePoint &	tp,
		KinematicRotation &	rotation ) const

inline

获取源轴系到当前轴系的运动学旋转变换

参数

source	源轴系
tp	时间点
rotation	输出参数，运动学旋转变换（包含角速度）

返回: 错误码

◆ getTransformFrom() [3/3]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformFrom	(	Axes *	source,
		const TimePoint &	tp,
		Rotation &	rotation ) const

inline

获取源轴系到当前轴系的旋转变换

参数

source	源轴系
tp	时间点
rotation	输出参数，旋转变换

返回: 错误码

◆ getTransformFromParent() [1/2]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformFromParent	(	const TimePoint &	tp,
		KinematicRotation &	rotation ) const

inline

获取当前轴系相对于父轴系的运动学旋转变换

参数

tp	时间点
rotation	输出参数，运动学旋转变换（包含角速度）

返回: 错误码

◆ getTransformFromParent() [2/2]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformFromParent	(	const TimePoint &	tp,
		Rotation &	rotation ) const

inline

获取当前轴系相对于父轴系的旋转变换

参数

tp	时间点
rotation	输出参数，旋转变换

返回: 错误码

◆ getTransformTo() [1/2]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformTo	(	Axes *	target,
		const TimePoint &	tp,
		KinematicRotation &	rotation ) const

inline

获取当前轴系到目标轴系的运动学旋转变换

参数

target	目标轴系
tp	时间点
rotation	输出参数，运动学旋转变换（包含角速度）

返回: 错误码

◆ getTransformTo() [2/2]

A_ALWAYS_INLINE errc_t ast::Axes::getTransformTo	(	Axes *	target,
		const TimePoint &	tp,
		Rotation &	rotation ) const

inline

获取当前轴系到目标轴系的旋转变换

参数

target	目标轴系
tp	时间点
rotation	输出参数，旋转变换

返回: 错误码

该类的文档由以下文件生成:

src/AstCore/Geometry/Euclid/Axes.hpp
src/AstCore/Geometry/Euclid/Axes.cpp

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ getAncestor()

◆ getAttitudeIn() [1/2]

◆ getAttitudeIn() [2/2]

◆ getDepth()

◆ getParent()

◆ getTransform() [1/3]

◆ getTransform() [2/3]

◆ getTransform() [3/3]

◆ getTransformFrom() [1/3]

◆ getTransformFrom() [2/3]

◆ getTransformFrom() [3/3]

◆ getTransformFromParent() [1/2]

◆ getTransformFromParent() [2/2]

◆ getTransformTo() [1/2]

◆ getTransformTo() [2/2]