Camera controller 2

Control movement of camera.

Collaboration diagram for Camera controller 2:

CCameraController2 class Controls the movement of the camera in absolute terms as camera position and pitch/yaw angels

Author

Karl Gunnar Aarsæther

Example configuration excerpt

<Lib
LibName   = "fhsim_base"
SimObject = "Camera/Controller2"
Name      = "camcontrol"
NumInput  = "2"
Times     = "0,2"
Interpolate="0"
/>
...
<Connection
camcontrol.Position1 = "0,0,0"
camcontrol.Pitch1    = "0"
camcontrol.Yaw1      = "0.15"
/>
<Connection
camcontrol.Position2 = "10,10,0"
camcontrol.Pitch2    = "-0.15"
camcontrol.Yaw2      = "0.0"
/>

Configuration parameters

Name	Width	Description
NumInput	1	Number of time values when the camera will attain position and pose of the input
Times	<NumInput>	Vector of time values when the camera will attain position and pose of the input
UseDegrees	1	Whether or not the yaw- and pitch angles will be in degrees (Default: false).
Interpolate	1	Make a linear interpolation between camera position and pose

Input Ports

Name	Width	Description
Position<1...NumInput>	3	Position of the camera
Yaw<1...NumInput>	1	The camera yaw angle in global coordinates
Pitch<1...NumInput>	1	The camera pitch angle in global coordinates

Output Ports

This SimObject does not contain any outputs.

Initial conditions

This SimObject does not contain any initial conditions.

Full example file

<Contents>
  <OBJECTS>
    <Lib
      LibName   = "fhsim_base"
      SimObject = "Camera/Controller2"
      Name      = "CAM"
      NumInput  = "4"
      Time     = "0,1,2,3"
      UseDegrees = "1"
      Interpolate="1"
    />
    <Lib
      LibName         = "base"
      SimObject       = "Body/Mass"
      Name            = "M"
      Scale="1"
      Mass="1"
      Material="Simple/Red"
    />
    <Lib
        LibName         = "base"
        SimObject       = "DefaultEnvironment"
        Name            = "Env"
        Seadepth        = "500"
        Density         = "1000"
        CurrentVelocity = "0,0,0"
    />
  </OBJECTS>
 
  <INTERCONNECTIONS>
    <Connection
       CAM.Position1 = "-10,0,0"
       CAM.Position2 = "0,-10,0"
       CAM.Position3 = "10,0,0"
       CAM.Position4 = "0,10,0"
       CAM.Pitch1 = "0"
       CAM.Pitch2 = "0"
       CAM.Pitch3 = "0"
       CAM.Pitch4 = "0"
       CAM.Yaw1 = "0"
       CAM.Yaw2 = "90"
       CAM.Yaw3 = "180"
       CAM.Yaw4 = "270"
       M.Force = "0,0,0"
    />
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
        M.Pos = "0,0,0"
        M.Vel = "0,0,0" 
    />
  </INITIALIZATION>
 
  <INTEGRATION>
    <Engine
    IntegratorMethod="2"
    NumCores="1"
    TOutput="0,5"
    LogStates ="1"  
    stepsize ="0"
    HMax="0.002"
    HMin="0.00000001"
    AbsTol="1e-3" RelTol="1e-3"
    UseRSSNormInsteadOfInfNorm="0"
    FileOutput="objects:all"
    />
  </INTEGRATION>
</Contents>
 
 

This SimObject is referred to as Camera/Controller2