WsfGuidedMover Class Reference

#include <WsfGuidedMover.hpp>

Inheritance diagram for WsfGuidedMover:

Collaboration diagram for WsfGuidedMover:

Classes
class	Stage
class	KinematicState
class	State
class	Ejectable
struct	RK2_StepFunction
	Take a step using second-order Runge-Kutta. More...
struct	RK4_StepFunction
	Take a step using fourth-order Runge-Kutta. More...

Public Types
enum	CoordinateFrame { cCF_WCS , cCF_ECI }
using	CurvePtr = UtCloneablePtr<UtTable::Curve>
using	TablePtr = UtCloneablePtr<UtTable::Table>
Public Types inherited from WsfPlatformPart
enum	{ cLEVEL_ONE_DEBUG = 0x00000001 , cLEVEL_TWO_DEBUG = 0x00000002 }
using	InternalMessageQueue = std::queue<WsfMessage*>
using	RecipientMessageQueue = std::queue<std::pair<WsfPlatformPart*, WsfMessage*>>
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.
Public Types inherited from WsfComponentT< WsfPlatform >
typedef WsfPlatform	ParentType
	This is needed to support the WsfComponentList template.

Public Member Functions
	WsfGuidedMover (WsfScenario &aScenario, bool aGuidanceOn=true)
	~WsfGuidedMover () override=default
WsfGuidedMover &	operator= (const WsfGuidedMover &)=delete
Public Member Functions inherited from WsfGuidedMoverBase
	WsfGuidedMoverBase (WsfScenario &aScenario)
	~WsfGuidedMoverBase () override
WsfGuidedMoverBase &	operator= (const WsfGuidedMoverBase &)=delete
void	WriteKinematicStatus (ut::log::MessageStream &aStream)
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
void	PartBroken (double aSimTime) override
WsfSpatialDomain	GetSpatialDomain () const override
const WsfRoute *	GetRoute () const override
bool	IsExtrapolating () const override
bool	IsPaused () const override
bool	IsStopped () const override
	Return whether the mover (and its attached platform) is stopped.
bool	SetRoute (double aSimTime, const WsfRoute &aRoute) override
bool	UpdateRoute (double aSimTime, const WsfRoute &aRoute) override
virtual void	SetGuidance (WsfMoverGuidance *aGuidancePtr)
virtual WsfMoverGuidance *	GetGuidance () const
	Get the pointer to the mover guidance object.
virtual void	SetYandZForces (double aYForce, double aZForce)
virtual void	SetCommandedYawRate (double aRate)
	Set the commanded yaw rate.
virtual void	SetCommandedPitchRate (double aRate)
	Set the commanded pitch rate.
virtual void	SetCommandedRollRate (double aRate)
	Set the commanded roll rate.
virtual void	SetCommandedSpeed (double aCommandedSpeed)
virtual void	SetCommandedThrottle (double aCommandedThrottle)
virtual void	SetCommandedEngineStopTime (double aStopTime)
virtual void	SetMinimumHeightAboveTerrain (double aMinimum)
virtual size_t	CurrentStage () const
	Currently active Stage for this object.
virtual void	EjectStage (double aSimTime, double aPreSeparationCoastTime, double aPreIgnitionCoastTime)
Public Member Functions inherited from WsfMover
	WsfMover ()=delete
	WsfMover (const WsfScenario &aScenario)
	WsfMover (const WsfMover &aSrc)
WsfMover &	operator= (const WsfMover &)=delete
	~WsfMover () override
virtual double	TurnRadius (double atSpeed)
WsfModeList *	GetModeList () const
virtual void	TriggerExtrapolation ()
virtual KinematicModel *	CreateKinematicModel (double aSimTime, WsfStringId aPlatformTypeId, const double aLocationWCS[3], const double aVelocityWCS[3], WsfMover *aMoverPtr, WsfDraw *aDrawPtr) const
WsfComponent *	CloneComponent () const override
int	GetComponentInitializationOrder () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
const char *	GetScriptClassName () const override
virtual void	SwapMoverInitiated (double aSimTime, WsfMover *aOldMoverPtr)
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
bool	Initialize2 (double aSimTime) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
void	SetNonOperational (double aSimTime) override
void	SetOperational (double aSimTime) override
void	PartBroken (double aSimTime) override
void	Restore (double aSimTime) override
virtual void	SetHeading (double aHeading)
virtual void	SetPitch (double aPitch)
virtual void	SetRoll (double aRoll)
virtual void	SetOrientationNED (double aHeading, double aPitch, double aRoll)
virtual void	ResetPosition (double aSimTime)
	Informs the mover to use the current platform state.
double	GetLastUpdateTime () const
double	GetUpdateInterval () const override
double	GetUpdateTimeTolerance () const
void	SetUpdateInterval (double aUpdateInterval) override
void	SetLastUpdateTime (double aLastUpdateTime)
virtual bool	UpdateAllowed () const
bool	UpdateWhenBroken () const
void	SetUpdateWhenBroken ()
void	SetNoUpdateWhenBroken ()
virtual const WsfRoute *	GetDefaultRoute () const
virtual int	RoutePointIndex () const
virtual bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute)
virtual bool	ReturnToRoute (double aSimTime)
virtual bool	GoToClosestPoint (double aSimTime)
virtual bool	GoToLabel (double aSimTime, WsfStringId aLabelId)
virtual bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude)
virtual bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute)
virtual bool	TurnToHeading (double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection)
virtual bool	TurnToRelativeHeading (double aSimTime, double aHeadingChange, double aRadialAccel, WsfPath::TurnDirection aTurnDirection)
virtual bool	UpdateDefaultRoute ()
virtual bool	GoToWaypoint (double aSimTime, unsigned int aDestination)
virtual bool	FindAndSetPath (double aSimTime, WsfGeoPoint *aStartPtr, WsfGeoPoint *aEndPtr)
virtual bool	FlyRates (const UtVec3d &aAngularRates, const UtVec3d &aLongitudinalAccel)
virtual bool	FlyHeadingSpeedAltitude (double aHeading, double aSpeed, double aAltitude, double aMaxGees, double aMaxClimb)
virtual bool	TurnInPlaneWithSpeed (const UtVec3d &aPlane, double aGees, double aSpeed)
virtual bool	TurnInPlaneWithThrottle (const UtVec3d &aPlane, double aGees, double aThrottle)
virtual bool	FlyVectorWithSpeed (const UtVec3d &aVelocityVector, double aMaxGees, double aSpeed)
virtual bool	FlyVectorWithThrottle (const UtVec3d &aVelocityVector, double aMaxGees, double aThrottle)
virtual bool	ExecuteTriggers (double aSimTime, unsigned int aPointIndex)
virtual bool	GetFutureLocationWCS (double aSimTime, double aLocationWCS[3])
WsfStringId	GetModeId () const
virtual void	SetMode (WsfStringId aModeName)
bool	ThreadSafe () const
	Returns true if the mover update is thread safe.
void	SetThreadSafe ()
void	SetNotThreadSafe ()
virtual void	InitializeProperties ()
	Add any input properties and its default value common properties list.
virtual bool	PropertyExists (const std::string &aPropertyName)
	Return true if the given property exists in the set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const int &aProperty)
	Add an integer property to the common set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const double &aProperty)
	Add an floating point property to the common set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const std::string &aProperty)
	Add an string property to the set of common properties.
virtual bool	GetPropertyInt (const std::string &aPropertyName, int &aProperty)
virtual bool	GetPropertyString (const std::string &aPropertyName, std::string &aProperty)
virtual double	GetThrottlePosition ()
Public Member Functions inherited from WsfPlatformPart
	WsfPlatformPart (const WsfScenario &aScenario, int aPartType)
WsfPlatformPart &	operator= (const WsfPlatformPart &aRhs)=delete
	~WsfPlatformPart () override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
bool	DebugEnabled () const
	Returns 'true' if debugging is enabled for this instance.
void	SetDebugEnabled (bool aDebugEnabled)
unsigned int	GetDebugMask ()
bool	IsExternallyControlled () const
virtual void	SetExternallyControlled (double aSimTime, bool aIsExternallyControlled)
int	GetPartType () const
const char *	GetScriptClassName () const override
WsfSimulation *	GetSimulation () const
const WsfScenario &	GetScenario () const
WsfStringId	GetComponentName () const override
void	ComponentParentChanged (WsfPlatform *aPlatformPtr) override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
WsfPlatform *	GetPlatform () const
virtual void	SetPlatform (WsfPlatform *aPlatformPtr)
virtual void	PlatformAdded (double aSimTime, WsfPlatform *aPlatformPtr)
virtual void	PlatformDeleted (WsfPlatform *aPlatformPtr)
double	GetLastStatusChangeTime () const
void	SetLastStatusChangeTime (double aSimTime)
	Allows a system to set the time at which the device was initialized.
bool	CanBeMadeOperational () const
	Returns an indication that this system can be made operational.
bool	CanBeMadeNonOperational () const
	Returns an indication that this system can be made non-operational.
bool	CanBeTurnedOn () const
	Returns an indication that this system can be turned on.
bool	CanBeTurnedOff () const
	Returns an indication that this system can be turned off.
bool	IsTurnedOn () const
bool	InitiallyTurnedOn () const
	Is the system to be turned 'on' when added to the simulation?
void	SetInitiallyTurnedOn (bool aInitiallyTurnedOn)
	Sets if the system is turned on when added to the simulation.
bool	IsOperational () const
bool	SetOperational (double aSimTime, bool aMakeOperational)
double	GetDamageFactor () const
bool	SetDamageFactor (double aSimTime, double aDamageFactor)
bool	IsCritical () const
void	SetCritical (bool aValue)
virtual void	OnPlatformBrokenEvent (double aSimTime)
	Owning platform has issued a broken event.
bool	IsBroken () const
WsfInternalLinks &	GetInternalLinks ()
	Return the internal links for this part.
virtual bool	HasInternalLinks () const
	Does this platform part have a communication link to other platform parts?
virtual bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage)
virtual bool	ReceiveMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessageTo (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
void	SendMessageToProcessor (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
virtual void	SendQueuedMessages (double aSimTime)
const WsfCategoryList &	GetCategories () const
	Get the categories to which this part belongs.
void	AddCategory (WsfStringId aCategoryId)
	Adds the provided category to the platform part's category list.
bool	IsCategoryMember (WsfStringId aCategoryId) const
const WsfGroupList &	GetGroups () const
	Get the groups to which this platform part belongs.
void	JoinGroup (WsfGroup *aGroupPtr)
	Join the given group.
void	LeaveGroup (WsfGroup *aGroupPtr)
	Leave the given group.
bool	IsGroupMember (WsfStringId aGroupId)
unsigned int	GetUpdateEventEpoch () const
void	IncrementUpdateEventEpoch ()
bool	UpdateEventActive () const
	Is an 'Update' event active?
void	SetUpdateEventActive (bool aUpdateEventActive)
	Indicate if the 'Update' event is active.
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)
Public Member Functions inherited from WsfComponentT< WsfPlatform >
	WsfComponentT ()
	WsfComponentT (const WsfComponentT &) noexcept
WsfComponentT &	operator= (const WsfComponentT &) noexcept
	~WsfComponentT () override=default
ParentType *	GetComponentParent () const
void	SetComponentParent (ParentType *aParentPtr)
Public Member Functions inherited from WsfComponent
virtual	~WsfComponent ()=default
template<typename T>
bool	QueryInterfaceT (T *&aRolePtr)
bool	ComponentHasRole (int aRole)
	Returns true if the component has the specified role.
virtual bool	PreInitialize (double aSimTime)
virtual void	PreInput ()
Public Member Functions inherited from WsfUniqueId
	WsfUniqueId ()
	Construtor initializes the unique identifier to 0.
	WsfUniqueId (const WsfUniqueId &)
	Copy constructor initializes the unique identifier to 0.
WsfUniqueId &	operator= (const WsfUniqueId &)
unsigned int	GetUniqueId () const
	Get the unique identifier assigned to this object.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
Public Member Functions inherited from WsfAuxDataEnabled
	WsfAuxDataEnabled ()=default
	WsfAuxDataEnabled (const WsfAuxDataEnabled &aSrc)=default
WsfAuxDataEnabled &	operator= (const WsfAuxDataEnabled &aRhs)
	WsfAuxDataEnabled (WsfAuxDataEnabled &&)=default
WsfAuxDataEnabled &	operator= (WsfAuxDataEnabled &&)=default
virtual	~WsfAuxDataEnabled () noexcept
void	SetAuxData (const WsfAttributeContainer &aAuxData)
void	DeleteAuxData ()
	Delete the aux data container from the object.
void	MergeAuxData (const WsfAuxDataEnabled &aSrc)
	Merge the object's aux data with aux data from an existing object.
void	UpdateAuxData (const WsfAuxDataEnabled &aSrc)
	Update the object's aux data with aux data from an existing object.
bool	HasAuxData () const
	Returns true if this object has aux data.
bool	ProcessInput (UtInput &aInput)
template<typename T>
void	Serialize (T &aBuff)
	(De)serialization for XIO
WsfAttributeContainer &	GetAuxData ()
const WsfAttributeContainer &	GetAuxData () const noexcept
const WsfAttributeContainer &	GetAuxDataConst () const noexcept

Accessors for script methods
enum	IntegrationMethod { cTRAPEZOIDAL , cRK2 , cRK4 }
std::vector< Stage >	mStageList
	The list of stages.
bool	mExplicitStageUsed
	'true' if a 'stage' command was used
bool	mImplicitStageUsed
	'true' if a stage was defined without using 'stage'
std::vector< Ejectable >	mEjectables
	The list of eject-able objects.
double	mDivertThrust
double	mDivertFuelFlowRate
double	mDivertMinAlt
double	mDivertMaxAlt
UtCloneablePtr< UtTable::Table >	mTimeConstantPtr
	airframe time constant
CoordinateFrame	mDesiredCoordinateFrame
IntegrationMethod	mIntegrationMethod
bool	mGuidanceOn
bool	mVerifyValues
double	mCommandedYaw
double	mCommandedPitch
double	mCommandedRoll
double	mLastYaw
double	mLastPitch
double	mLastRoll
double	mLastAeroForcesECS [3]
double	mLastMach
	For tracking Mach 1 crossing for show_status.
double	mLastQ
	For tracking MaxQ for show_status.
double	mMaxQ
double	mIV_Values [6]
State	mCurState
	The current entity state.
State	mTempState1
	Temporary state for RK2/RK4 integration.
State	mTempState2
	Temporary state for RK4 integration.
State	mTempState3
	Temporary state for RK4 integration.
UtEntity	mTempEntity
	Temporary entity for WCS<->ECI conversions.
std::unique_ptr< WsfGuidedMoverTestObject >	mTestSupportObjectPtr
ut::CloneablePtr< UtECI_Conversion >	mECI_ConversionPtr {nullptr}
double	mECI_UpdateTime {0.0}
double	mECI_LastUpdateTime {0.0}
bool	mComputeForcesEachSubstep {false}
double	GetCurrentThrust () const
void	GetAeroForcesECS (double aAeroForcesECS[3]) const
void	GetThrustForcesECS (double aThrustForcesECS[3]) const
double	GetMaximumLateralAerodynamicForce () const
double	GetDynamicPressure () const
double	GetGravitationalAcceleration () const
size_t	GetNumStages () const
double	GetEmptyMass () const
double	GetFuelMass () const
double	GetPayloadMass () const
double	GetTotalMass () const
double	GetEmptyMass (size_t aStageIndex) const
double	GetFuelMass (size_t aStageIndex) const
double	GetPayloadMass (size_t aStageIndex) const
double	GetTotalMass (size_t aStageIndex) const
double	GetCurrentFuelMass () const
double	GetCurrentTotalMass () const
double	GetCurrentFuelFlowRate () const
double	GetLevelFlightThrust (double aSimTime, double aAltitude_m, double aMach) const
double	GetLevelFlightDrag (double aAltitude_m, double aMach, double aWeight_N) const
double	GetLevelFlightFuelBurnRate (double aSimTime, double aAltitude_m, double aSpeed_mps, double aWeight_N) const
	WsfGuidedMover (const WsfGuidedMover &aSrc)
void	AdvanceTime (double aSimTime, double aBegTime, double &aEndTime, Phase &aNextPhase) override
void	AdvanceTimeSinglestep (double aSimTime, double aBegTime, double &aEndTime, Phase &aNextPhase)
void	AdvanceTimeMultistep (double aSimTime, double aBegTime, double aEndTime, Phase &aNextPhase)
void	InitiateMotion (double aSimTime, double aCurTime) override
bool	SeparateStage (double aSimTime, size_t aStageIndex) override
	The base mover only supports a single stage.
bool	IgniteStage (double aSimTime, size_t aStageIndex) override
	The base mover only supports a single stage.
void	InitiateStage (double aSimTime, double aCurTime, size_t aStageIndex) override
void	PostUpdate (double aSimTime) override
void	AdvanceTimeLegacyRK2 (double aSimTime, State &aState, const double aAppliedForcesECS[3])
void	AdvanceTimeLegacyRK4 (double aSimTime, State &aState, const double aAppliedForcesECS[3])
void	AdvanceTimeTrapezoidal (double aSimTime, State &aState, const double aAppliedForcesECS[3])
template<typename StepFunction>
void	AdvanceTimeRK (double aSimTime, double aBegTime, double aEndTime)
	This method takes a Runge-Kutta step.
void	ComputeDivertForces (double aDeltaTime, State &aState, double aCommandedForceY, double aCommandedForceZ, double aAppliedForcesECS[3], double aDivertThrustForcesECS[3]) const
void	ComputeThrustForces (double aSimTime, double aDeltaTime, State &aState, Stage &aStage, double aThrustForceECS[3]) const
double	GetHorizontalThrust (double aSimTime, double aDeltaTime, State &aState, double aCommandedThrottle, const double aIV_Values[6], Stage &aCurrentStage) const
void	ComputeVectoredThrustForces (double aSimTime, double aCommandedForceY, double aCommandedForceZ, const Stage &aStage, double aThrustForceECS[3]) const
void	ComputeAeroForces (double aSimTime, double aDeltaT, const Stage &aStage, const double aThrustForcesECS[3], double aAeroForcesECS[3]) const
void	ComputeThrustForCommandedSpeed (double aDeltaT, State &aState, const Stage &aStage, const double aAeroForcesECS[3], double aThrustForcesECS[3]) const
double	GetTimeConstant (const Stage &aStage) const
	Get the aerodynamic time constant.
void	ComputeFullForces (double aSimTime, double aBegTime, double aEndTime, State &aRHS_State, Stage &aRHS_Stage) const
void	IntegrateEOM (double aDeltaTime, const double aAppliedForcesECS[3], State &aOutState, State &aInState1, State &aInState2)
void	JettisonEjectables (double aSimTime)
	Jettison eject-ables that meet the criteria for ejection.
bool	SelectCoordinateFrame (const State &aState, CoordinateFrame &aTargetFrame) const
void	SwitchCoordinateFrame (State &aState, CoordinateFrame aTargetFrame)
void	UpdateExternalState (State &aState)
	Propagate the internal spherical WCS values to ellipsoidal values that are used externally.
UtECI_Conversion &	GetECI_Conversion ()
	Get the ECI conversion object. You MUST call this method, instead of directly accessing the object.

Common framework methods.
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
const char *	GetScriptClassName () const override

Common mover methods.
bool	GetPropertyDouble (const std::string &aPropertyName, double &aProperty) override
void	GetCommandedAttitude (double &aYaw, double &aPitch, double &aRoll) const
double	GetDivertThrust () const
double	GetDivertFuelMass () const
WsfGuidedMoverTestObject *	GetTestSupportObject () const

Additional Inherited Members
UtCallbackListN< void(double)>	RouteChanged
UtCallbackListN< void(double, double)>	StageIgnition
UtCallbackListN< void(double, double)>	StageBurnout
UtCallbackListN< void(double, double)>	StageSeparation
Static Public Attributes inherited from WsfMover
static const char *	cTYPE_KIND = "mover"
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed
Protected Types inherited from WsfGuidedMoverBase
enum	Phase { cPHASE_PRE_BURN , cPHASE_BURN , cPHASE_POST_BURN , cPHASE_FAIL }
	WsfGuidedMoverBase (const WsfGuidedMoverBase &aSrc)
void	CallStagingEventScript (double aSimTime, const std::string &aScriptName)
void	PrelaunchAdvanceTime (double aSimTime, double aCurTime)
	Advance time while still attached to the launch platform.
void	PrelaunchComplete (double aSimTime, double aCurTime)
void	SetInitialState (double aSimTime, double aCurTime, bool aInitiatingMotion)
virtual void	WriteStagingMessage (ut::log::MessageStream &aStream, double aSimTime, double aCurTime, const std::string &aStatus, size_t aStageIndex)
virtual void	WriteTrajectoryOutput (double aSimTime, double aCurTime, const double aECS_Forces[3])
	Write trajectory output if requested by the user.
void	SetModeList (WsfModeList *aModeListPtr)
void	SetUpdateTimeTolerance (double aDt)
	Revise the internal time tolerance allowed for Update() sequencing logic.
	WsfPlatformPart (const WsfPlatformPart &aSrc)
	Copy constructor (for Clone()).
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).
Protected Member Functions inherited from WsfUniqueId
void	AssignUniqueId (WsfSimulation *aSimulationPtr)
double	mLaunchTime
UtEntity	mExternalState
double	mLastAdvanceTime
	The time to which 'mExternalState' is applicable.
double	mIntegrationTimestep
	The timestep for fixed-timestep movement.
size_t	mStageIndex
	The index of the current stage.
size_t	mBoostCompleteStageIndex
	The index of the stage, which when the burn completes, signifies the boost phase is complete.
bool	mBoostComplete
	'true' if the boost phase has been declared complete.
WsfRoute	mRoute
	A route to follow (if guidance supports it).
Phase	mPhase
double	mPhaseStartTime
	The simulation time when the phase started.
double	mPreIgnitionCoastTime
	The amount of time that must elapse prior to ignition.
double	mPreSeparationCoastTime
	The amount of tame that must elapse after the motor turns off and stage separation.
double	mLaunchComputerBurnTime
	The time (relative to launch) when then launch computer has indicated the engines are to shut down.
WsfMoverGuidance *	mGuidancePtr
double	mYForce
double	mZForce
double	mCommandedRollRate
double	mCommandedPitchRate
double	mCommandedYawRate
double	mCommandedSpeed
double	mCommandedThrottle
double	mCommandedEngineStopTime
double	mCommandedPreSeparationCoastTime
	Override of the pre_separation_coast_time for the NEXT stage (from EjectStage).
double	mCommandedPreIgnitionCoastTime
	Override of the pre_ignition_coast_time for the CURRENT stage (from EjectStage).
double	mMinimumHeightAboveTerrain
	The minimum height above terrain required for terrain following.
bool	mShowStatus
	show initial conditions on standard output
bool	mShowTrajectory
bool	mMatchOwningPlatHeading
	If true, sets unguided mover heading to match owning platform's velocity vector, rather than orientation.
bool	mCheckForGroundImpact
	If true, check for ground impact directly instead of relying on a 'fuse' processor.
UtAtmosphere	mAtmosphere
double	mSeaLevelPressure
double	mFMM_Time
	Information captured at time of 'first missile motion' (needed by trajectory output).
double	mFMM_LocWCS [3]
double	mFMM_Heading
std::string	mTimeHistoryPath
std::ofstream	mTimeHistoryOfs
size_t	mLaunchPlatformIndex
WsfWeapon *	mLaunchWeaponPtr
double	mLastUpdateTime
	The simulation time when Update was last called.
WsfVariable< double >	mUpdateTimeTolerance
bool	mThreadSafe
std::vector< WsfMoverMode * >	mMoverModeList
	The generic list of modes (not valid until Initialize is called).
WsfStringId	mModeId

Detailed Description

A specialized mover that imposes a Newtonian dynamics model upon a platform, from specified mass properties, applied Aerodynamic forces, and via steering commands issued from a WsfGuidanceComputer.

This implementation assumes a missile-like attack vehicle, with aerodynamics that influence its flight path. The guidance commands will be externally pushed into this object by a processor (such as WsfGuidanceComputer). Termination of flight due to target or ground impact will also be handled by some other means (such as WsfWeaponFuse).

The Mover may not be powered, but multiple stages may be specified with different thrust values and discontinuous changes in aerodynamics, mass properties, and thrust.

Member Typedef Documentation

CurvePtr

using WsfGuidedMover::CurvePtr = UtCloneablePtr<UtTable::Curve>

TablePtr

using WsfGuidedMover::TablePtr = UtCloneablePtr<UtTable::Table>

Member Enumeration Documentation

CoordinateFrame

enum WsfGuidedMover::CoordinateFrame

Enumerator
cCF_WCS
cCF_ECI

IntegrationMethod

enum WsfGuidedMover::IntegrationMethod

Enumerator
cTRAPEZOIDAL
cRK2
cRK4

Constructor & Destructor Documentation

WsfGuidedMover() [1/2]

WsfGuidedMover::WsfGuidedMover	(	WsfScenario &	aScenario,
		bool	aGuidanceOn = true )

References cCF_WCS, cRK2, mCommandedPitch, mCommandedRoll, mCommandedYaw, mCurState, mDesiredCoordinateFrame, mDivertFuelFlowRate, mDivertMaxAlt, mDivertMinAlt, mDivertThrust, mEjectables, mExplicitStageUsed, mGuidanceOn, mImplicitStageUsed, mIntegrationMethod, mIV_Values, mLastAeroForcesECS, mLastMach, mLastPitch, mLastQ, mLastRoll, mLastYaw, mMaxQ, mStageList, mTempEntity, mTempState1, mTempState2, mTempState3, mTestSupportObjectPtr, mTimeConstantPtr, mVerifyValues, WsfMover::SetUpdateWhenBroken(), and WsfGuidedMoverBase::WsfGuidedMoverBase().

Referenced by Clone(), WsfGuidedMover::Stage::CompletePairedValues(), WsfGuidedMover::Stage::ComputeUnknownValues(), WsfGuidedMover::Stage::Initialize(), operator=(), WsfGuidedMover::Stage::operator=(), WsfGuidedMover::Stage::ShowStatus(), and WsfGuidedMover().

~WsfGuidedMover()

WsfGuidedMover::~WsfGuidedMover ( )

overridedefault

WsfGuidedMover() [2/2]

WsfGuidedMover::WsfGuidedMover ( const WsfGuidedMover & aSrc )

protected

References mCommandedPitch, mCommandedRoll, mCommandedYaw, mComputeForcesEachSubstep, mCurState, mDesiredCoordinateFrame, mDivertFuelFlowRate, mDivertMaxAlt, mDivertMinAlt, mDivertThrust, mECI_ConversionPtr, mEjectables, mExplicitStageUsed, mGuidanceOn, mImplicitStageUsed, mIntegrationMethod, mIV_Values, mLastAeroForcesECS, mLastMach, mLastPitch, mLastQ, mLastRoll, mLastYaw, mMaxQ, mStageList, mTempEntity, mTempState1, mTempState2, mTempState3, mTestSupportObjectPtr, mTimeConstantPtr, mVerifyValues, WsfGuidedMover(), and WsfGuidedMoverBase::WsfGuidedMoverBase().

Member Function Documentation

AdvanceTime()

void WsfGuidedMover::AdvanceTime ( double aSimTime, double aBegTime, double & aEndTime, Phase & aNextPhase )

overrideprotectedvirtual

Advance forward in time.

This is the main function of this class. The derived class is responsible for moving time forward and pushing the updated kinematic state into the protected data member 'mExternalState'.

Parameters

aSimTime	The true current simulation time.
aBegTime	The beginning of the integration interval.
aEndTime	The ending of the integration interval. This will be updated if in burn phase and the fuel source becomes empty during this interval.
aNextPhase	The current phase. This will be updated if in the burn phase and the fuel source becomes empty during this interval.

Implements WsfGuidedMoverBase.

References AdvanceTimeMultistep(), AdvanceTimeSinglestep(), cCF_ECI, cTRAPEZOIDAL, WsfObject::GetName(), WsfPlatformPart::GetPlatform(), JettisonEjectables(), WsfGuidedMoverBase::mAtmosphere, mCommandedPitch, WsfGuidedMoverBase::mCommandedPitchRate, mCommandedRoll, WsfGuidedMoverBase::mCommandedRollRate, mCommandedYaw, WsfGuidedMoverBase::mCommandedYawRate, mComputeForcesEachSubstep, mCurState, mDesiredCoordinateFrame, mEjectables, mIntegrationMethod, mLastMach, mLastQ, WsfGuidedMoverBase::mLaunchTime, mMaxQ, WsfGuidedMoverBase::mShowStatus, WsfPlatform::SetFuelMass(), UpdateExternalState(), and WsfGuidedMoverBase::WriteTrajectoryOutput().

AdvanceTimeLegacyRK2()

void WsfGuidedMover::AdvanceTimeLegacyRK2 ( double aSimTime, State & aState, const double aAppliedForcesECS[3] )

protected

References IntegrateEOM(), mTempState1, and WsfGuidedMover::State::mTime.

Referenced by AdvanceTimeSinglestep().

AdvanceTimeLegacyRK4()

void WsfGuidedMover::AdvanceTimeLegacyRK4 ( double aSimTime, State & aState, const double aAppliedForcesECS[3] )

protected

References IntegrateEOM(), WsfGuidedMover::State::mAcceleration, WsfGuidedMover::State::mLocation, WsfGuidedMover::State::mMoverPtr, mTempState1, mTempState2, mTempState3, WsfGuidedMover::State::mTime, WsfGuidedMover::State::mVelocity, and WsfGuidedMover::State::UpdateOtherStateData().

Referenced by AdvanceTimeSinglestep().

AdvanceTimeMultistep()

void WsfGuidedMover::AdvanceTimeMultistep ( double aSimTime, double aBegTime, double aEndTime, Phase & aNextPhase )

protected

References AdvanceTimeRK(), WsfGuidedMoverBase::cPHASE_POST_BURN, cRK2, cRK4, cTRAPEZOIDAL, mCurState, WsfGuidedMoverBase::mGuidancePtr, mIntegrationMethod, mIV_Values, WsfGuidedMoverBase::mPhaseStartTime, WsfGuidedMoverBase::mStageIndex, and mStageList.

Referenced by AdvanceTime().

AdvanceTimeRK()

template<typename StepFunction>

void WsfGuidedMover::AdvanceTimeRK ( double aSimTime, double aBegTime, double aEndTime )

inlineprotected

This method takes a Runge-Kutta step.

References ComputeFullForces(), WsfPlatform::GetMass(), WsfPlatformPart::GetPlatform(), mCurState, mLastAeroForcesECS, WsfGuidedMoverBase::mStageIndex, mStageList, WsfGuidedMover::KinematicState::SetDmDt(), WsfGuidedMover::KinematicState::SetDvDt(), and WsfGuidedMover::KinematicState::SetDxDt().

Referenced by AdvanceTimeMultistep().

AdvanceTimeSinglestep()

void WsfGuidedMover::AdvanceTimeSinglestep ( double aSimTime, double aBegTime, double & aEndTime, Phase & aNextPhase )

protected

References AdvanceTimeLegacyRK2(), AdvanceTimeLegacyRK4(), AdvanceTimeTrapezoidal(), ComputeAeroForces(), ComputeDivertForces(), ComputeThrustForces(), ComputeThrustForCommandedSpeed(), ComputeVectoredThrustForces(), WsfGuidedMoverBase::cPHASE_BURN, WsfGuidedMoverBase::cPHASE_POST_BURN, cRK2, cRK4, cTRAPEZOIDAL, WsfPlatform::GetMass(), WsfPlatformPart::GetPlatform(), mCurState, WsfGuidedMoverBase::mGuidancePtr, mIntegrationMethod, mIV_Values, mLastAeroForcesECS, WsfGuidedMoverBase::mPhase, WsfGuidedMoverBase::mPhaseStartTime, WsfGuidedMoverBase::mStageIndex, mStageList, WsfGuidedMover::Stage::mThrustDuration, WsfGuidedMoverBase::mYForce, and WsfGuidedMoverBase::mZForce.

Referenced by AdvanceTime().

AdvanceTimeTrapezoidal()

void WsfGuidedMover::AdvanceTimeTrapezoidal ( double aSimTime, State & aState, const double aAppliedForcesECS[3] )

protected

References WsfGuidedMover::State::ComputeDerivatives(), WsfGuidedMover::State::mAcceleration, WsfGuidedMover::State::mLocation, WsfGuidedMover::State::mMoverPtr, WsfGuidedMover::State::mTime, WsfGuidedMover::State::mVelocity, and WsfGuidedMover::State::UpdateOtherStateData().

Referenced by AdvanceTimeSinglestep().

Clone()

WsfMover * WsfGuidedMover::Clone ( ) const

overridevirtual

Clone this object.

Returns

a pointer to the new object.

Implements WsfMover.

References WsfGuidedMover(), and WsfMover::WsfMover().

ComputeAeroForces()

void WsfGuidedMover::ComputeAeroForces ( double aSimTime, double aDeltaT, const Stage & aStage, const double aThrustForcesECS[3], double aAeroForcesECS[3] ) const

protected

References WsfAero::GetECSForces(), GetTimeConstant(), WsfGuidedMover::Stage::mAeroPtr, mGuidanceOn, mLastAeroForcesECS, WsfGuidedMoverBase::mYForce, WsfGuidedMoverBase::mZForce, and WsfAero::Update().

Referenced by AdvanceTimeSinglestep(), and ComputeFullForces().

ComputeDivertForces()

void WsfGuidedMover::ComputeDivertForces ( double aDeltaTime, State & aState, double aCommandedForceY, double aCommandedForceZ, double aAppliedForcesECS[3], double aDivertThrustForcesECS[3] ) const

protected

References WsfGuidedMover::State::mAltitude, mDivertFuelFlowRate, WsfGuidedMover::State::mDivertFuelMass, mDivertMaxAlt, mDivertMinAlt, and mDivertThrust.

Referenced by AdvanceTimeSinglestep(), and ComputeFullForces().

ComputeFullForces()

void WsfGuidedMover::ComputeFullForces ( double aSimTime, double aBegTime, double aEndTime, State & aRHS_State, Stage & aRHS_Stage ) const

protected

References ComputeAeroForces(), WsfGuidedMover::State::ComputeDerivatives(), ComputeDivertForces(), ComputeThrustForces(), ComputeThrustForCommandedSpeed(), ComputeVectoredThrustForces(), WsfGuidedMover::State::mAppliedForcesECS, WsfGuidedMover::State::mLastAeroForcesECS, WsfGuidedMover::State::mLastThrustForcesECS, WsfGuidedMoverBase::mYForce, and WsfGuidedMoverBase::mZForce.

Referenced by AdvanceTimeRK().

ComputeThrustForces()

void WsfGuidedMover::ComputeThrustForces ( double aSimTime, double aDeltaTime, State & aState, Stage & aStage, double aThrustForceECS[3] ) const

protected

References WsfGuidedMoverBase::cPHASE_BURN, GetHorizontalThrust(), WsfGuidedMoverBase::mCommandedThrottle, WsfGuidedMover::State::mCurrentFuelFlowRate, WsfGuidedMover::State::mCurrentThrust, mIV_Values, and WsfGuidedMoverBase::mPhase.

Referenced by AdvanceTimeSinglestep(), and ComputeFullForces().

ComputeThrustForCommandedSpeed()

void WsfGuidedMover::ComputeThrustForCommandedSpeed ( double aDeltaT, State & aState, const Stage & aStage, const double aAeroForcesECS[3], double aThrustForcesECS[3] ) const

protected

References WsfGuidedMoverBase::mCommandedSpeed, WsfGuidedMover::State::mCurrentFuelFlowRate, WsfGuidedMover::State::mCurrentThrust, mCurState, and WsfGuidedMover::Stage::mSpecificImpulse.

Referenced by AdvanceTimeSinglestep(), and ComputeFullForces().

ComputeVectoredThrustForces()

void WsfGuidedMover::ComputeVectoredThrustForces ( double aSimTime, double aCommandedForceY, double aCommandedForceZ, const Stage & aStage, double aThrustForceECS[3] ) const

protected

References WsfGuidedMover::Stage::mLateralThrustGain, WsfGuidedMover::Stage::mMaxTVC_Angle, WsfGuidedMover::Stage::mMaxTVC_Time, WsfGuidedMover::Stage::mMinTVC_Time, and WsfGuidedMoverBase::mPhaseStartTime.

Referenced by AdvanceTimeSinglestep(), and ComputeFullForces().

GetAeroForcesECS()

void WsfGuidedMover::GetAeroForcesECS ( double aAeroForcesECS[3] ) const

inline

References mLastAeroForcesECS.

GetCommandedAttitude()

void WsfGuidedMover::GetCommandedAttitude	(	double &	aYaw,
		double &	aPitch,
		double &	aRoll ) const

Return the commanded attitude angles. This is called by WsfGuidanceProgram::AttitudeProgram to retrieve the current commanded attitude angles. These are the angles that have been applied by the user command in addition to the standard velocity-vector aligned coordinate system.

Parameters

aYaw	The current yaw angle.
aPitch	The current pitch angle.
aRoll	The current roll angle.

References mCommandedPitch, mCommandedRoll, and mCommandedYaw.

Referenced by operator=().

GetCurrentFuelFlowRate()

double WsfGuidedMover::GetCurrentFuelFlowRate ( ) const

inline

References mCurState.

GetCurrentFuelMass()

double WsfGuidedMover::GetCurrentFuelMass ( ) const

inline

References mCurState.

GetCurrentThrust()

double WsfGuidedMover::GetCurrentThrust ( ) const

inline

References mCurState.

GetCurrentTotalMass()

double WsfGuidedMover::GetCurrentTotalMass ( ) const

inline

References GetEmptyMass(), GetPayloadMass(), and mCurState.

GetDivertFuelMass()

double WsfGuidedMover::GetDivertFuelMass ( ) const

inline

References mCurState.

GetDivertThrust()

double WsfGuidedMover::GetDivertThrust ( ) const

inline

References mDivertThrust.

GetDynamicPressure()

double WsfGuidedMover::GetDynamicPressure

(

)

const

References WsfPlatformPart::GetPlatform(), and WsfGuidedMoverBase::mAtmosphere.

GetECI_Conversion()

UtECI_Conversion & WsfGuidedMover::GetECI_Conversion ( )

protected

Get the ECI conversion object. You MUST call this method, instead of directly accessing the object.

References WsfPlatformPart::GetSimulation(), mECI_ConversionPtr, mECI_LastUpdateTime, and mECI_UpdateTime.

Referenced by SwitchCoordinateFrame().

GetEmptyMass() [1/2]

double WsfGuidedMover::GetEmptyMass

(

)

const

References WsfGuidedMoverBase::mStageIndex, and mStageList.

Referenced by GetCurrentTotalMass(), GetTotalMass(), and GetTotalMass().

GetEmptyMass() [2/2]

double WsfGuidedMover::GetEmptyMass

(

size_t

aStageIndex

)

const

References mStageList.

GetFuelMass() [1/2]

double WsfGuidedMover::GetFuelMass

(

)

const

References WsfGuidedMoverBase::mStageIndex, and mStageList.

Referenced by GetTotalMass(), and GetTotalMass().

GetFuelMass() [2/2]

double WsfGuidedMover::GetFuelMass

(

size_t

aStageIndex

)

const

References mStageList.

GetGravitationalAcceleration()

double WsfGuidedMover::GetGravitationalAcceleration

(

)

const

References WsfPlatformPart::GetPlatform().

Referenced by GetLevelFlightFuelBurnRate().

GetHorizontalThrust()

double WsfGuidedMover::GetHorizontalThrust ( double aSimTime, double aDeltaTime, State & aState, double aCommandedThrottle, const double aIV_Values[6], Stage & aCurrentStage ) const

protected

References WsfGuidedMover::Stage::ComputeSpecificImpulse(), WsfGuidedMover::Stage::DetermineCurrentThrust(), WsfGuidedMover::State::mAltitude, WsfGuidedMoverBase::mAtmosphere, WsfGuidedMover::Stage::mBurnRateTablePtr, WsfGuidedMover::State::mCurrentFuelFlowRate, WsfGuidedMoverBase::mPhaseStartTime, WsfGuidedMover::Stage::mReverseThrust, WsfGuidedMoverBase::mSeaLevelPressure, WsfGuidedMover::Stage::mSpecificImpulse, WsfGuidedMover::Stage::mThrottlePtr, and WsfGuidedMover::State::mThrustDurationExtension.

Referenced by ComputeThrustForces(), and GetLevelFlightThrust().

GetLevelFlightDrag()

double WsfGuidedMover::GetLevelFlightDrag	(	double	aAltitude_m,
		double	aMach,
		double	aWeight_N ) const

References WsfGuidedMoverBase::mStageIndex, and mStageList.

Referenced by GetLevelFlightFuelBurnRate().

GetLevelFlightFuelBurnRate()

double WsfGuidedMover::GetLevelFlightFuelBurnRate	(	double	aSimTime,
		double	aAltitude_m,
		double	aSpeed_mps,
		double	aWeight_N ) const

References GetGravitationalAcceleration(), GetLevelFlightDrag(), GetLevelFlightThrust(), WsfGuidedMoverBase::mAtmosphere, WsfGuidedMoverBase::mSeaLevelPressure, WsfGuidedMoverBase::mStageIndex, and mStageList.

GetLevelFlightThrust()

double WsfGuidedMover::GetLevelFlightThrust	(	double	aSimTime,
		double	aAltitude_m,
		double	aMach ) const

References GetHorizontalThrust(), WsfMover::GetUpdateInterval(), WsfGuidedMover::State::mAltitude, WsfGuidedMover::State::mMach, WsfGuidedMoverBase::mStageIndex, and mStageList.

Referenced by GetLevelFlightFuelBurnRate().

GetMaximumLateralAerodynamicForce()

double WsfGuidedMover::GetMaximumLateralAerodynamicForce

(

)

const

References WsfGuidedMoverBase::mStageIndex, and mStageList.

GetNumStages()

size_t WsfGuidedMover::GetNumStages ( ) const

inline

References mStageList.

GetPayloadMass() [1/2]

double WsfGuidedMover::GetPayloadMass

(

)

const

References WsfGuidedMoverBase::mStageIndex, and mStageList.

Referenced by GetCurrentTotalMass(), GetTotalMass(), and GetTotalMass().

GetPayloadMass() [2/2]

double WsfGuidedMover::GetPayloadMass

(

size_t

aStageIndex

)

const

References mStageList.

GetPropertyDouble()

bool WsfGuidedMover::GetPropertyDouble ( const std::string & aPropertyName, double & aProperty )

overridevirtual

Get the value of a floating point property from either a derived-class set of properties or the common set of properties.

Reimplemented from WsfMover.

References WsfPlatform::GetEmptyMass(), WsfPlatform::GetPayloadMass(), WsfPlatformPart::GetPlatform(), WsfMover::GetPropertyDouble(), WsfGuidedMoverBase::mBoostCompleteStageIndex, mCurState, WsfGuidedMoverBase::mPhaseStartTime, WsfGuidedMoverBase::mStageIndex, and mStageList.

GetScriptClassName()

const char * WsfGuidedMover::GetScriptClassName ( ) const

override

GetTestSupportObject()

WsfGuidedMoverTestObject * WsfGuidedMover::GetTestSupportObject ( ) const

inline

References mTestSupportObjectPtr.

GetThrustForcesECS()

void WsfGuidedMover::GetThrustForcesECS ( double aThrustForcesECS[3] ) const

inline

References mCurState.

GetTimeConstant()

double WsfGuidedMover::GetTimeConstant ( const Stage & aStage ) const

protected

Get the aerodynamic time constant.

References mIV_Values, mTimeConstantPtr, and WsfGuidedMover::Stage::mTimeConstantPtr.

Referenced by ComputeAeroForces().

GetTotalMass() [1/2]

double WsfGuidedMover::GetTotalMass

(

)

const

References GetEmptyMass(), GetFuelMass(), and GetPayloadMass().

GetTotalMass() [2/2]

double WsfGuidedMover::GetTotalMass

(

size_t

aStageIndex

)

const

References GetEmptyMass(), GetFuelMass(), and GetPayloadMass().

IgniteStage()

bool WsfGuidedMover::IgniteStage ( double aSimTime, size_t aStageIndex )

overrideprotectedvirtual

The base mover only supports a single stage.

Reimplemented from WsfGuidedMoverBase.

References WsfSimulation::GetRandom(), WsfPlatformPart::GetSimulation(), mStageList, and WsfPlatformPart::SetDamageFactor().

Initialize()

bool WsfGuidedMover::Initialize ( double aSimTime )

overridevirtual

Perform phase 1 initialization. This is called by WsfPlatform::Initialize() during phase 1 initialization of the platform. The component should complete validation of input data that could not be done by ProcessInput, as well as any other functions to prepare for simulation use (subject to the next paragraph).

The order in which components are initialized is defined by GetComponentInitializationOrder. In general a component implementation of this method should not be dependent on the state of another component, i.e.: it should not assume that the other components Initialize() method has been called. If such a dependency exists one should use Initialize2() if possible, or specify a value GetComponentInitializationOrder to force things to initialize in a particular order.

Parameters

aSimTime

The current simulation time.

Returns

true if successful or false if unsuccessful (bad input data, etc.)

Note

This method should NOT add any other components to the platform. This MUST be done in PreInitialize().

Reimplemented from WsfComponent.

References cRK2, cRK4, WsfPlatformPart::DebugEnabled(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfGuidedMover::Stage::Initialize(), WsfGuidedMoverBase::Initialize(), WsfGuidedMoverBase::mBoostCompleteStageIndex, mComputeForcesEachSubstep, mCurState, mDivertFuelFlowRate, mDivertThrust, mEjectables, WsfGuidedMover::Stage::mEmptyMass, WsfGuidedMoverBase::mExternalState, WsfGuidedMover::Stage::mFuelMass, mIntegrationMethod, WsfGuidedMover::Stage::mIntegrationTimestep, WsfGuidedMoverBase::mIntegrationTimestep, WsfGuidedMover::Stage::mPayloadMass, WsfGuidedMoverBase::mShowStatus, mStageList, mTempEntity, WsfGuidedMover::Stage::mThrust, ok, and WsfGuidedMover::Stage::ShowStatus().

Initialize2()

bool WsfGuidedMover::Initialize2 ( double aSimTime )

overridevirtual

Perform phase 2 initialization. This is called by WsfPlatform::Initialize() during phase 2 of platform initialization. This method is typically used when a component may have some dependency on another component having completed its phase 1 initialization. The component should be ready for use in the simulation upon completion of this method.

The order in which components are initialized is defined by GetComponentInitializationOrder.

Parameters

aSimTime

The current simulation time.

Returns

true if successful or false if unsuccessful.

Note

This method MUST NOT add any other components to the platform. This MUST be done in PreInitialize().

Reimplemented from WsfComponent.

References WsfGuidedMoverBase::Initialize2(), and ok.

InitiateMotion()

void WsfGuidedMover::InitiateMotion ( double aSimTime, double aCurTime )

overrideprotectedvirtual

Stub method that is called when the first stage ignition actually occurs.

Parameters

aSimTime	The current simulation time.
aCurTime	The current missile time. May be less than the simulation time.

Reimplemented from WsfGuidedMoverBase.

References cCF_ECI, WsfPlatformPart::DebugEnabled(), WsfLaunchHandoffData::Find(), WsfTrackManager::GetCurrentTarget(), WsfLaunchComputer::GetInterceptPoint(), WsfLaunchHandoffData::GetLaunchDeltaV(), WsfGeoPoint::GetLocationLLA(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfPlatform::GetTrackManager(), WsfGuidedMoverBase::mAtmosphere, mCurState, mDesiredCoordinateFrame, WsfGuidedMoverBase::mFMM_Heading, WsfGuidedMoverBase::mFMM_LocWCS, WsfGuidedMoverBase::mFMM_Time, mLastMach, WsfGuidedMoverBase::mLaunchTime, WsfGuidedMoverBase::mMatchOwningPlatHeading, mMaxQ, WsfGuidedMoverBase::mShowStatus, SelectCoordinateFrame(), SwitchCoordinateFrame(), trackPtr, and UpdateExternalState().

InitiateStage()

void WsfGuidedMover::InitiateStage ( double aSimTime, double aCurTime, size_t aStageIndex )

overrideprotectedvirtual

Reimplemented from WsfGuidedMoverBase.

References WsfGuidedMoverBase::cPHASE_PRE_BURN, WsfPlatform::GetEmptyMass(), WsfPlatform::GetFuelMass(), WsfPlatform::GetMass(), WsfObject::GetName(), WsfPlatform::GetPayloadMass(), WsfPlatformPart::GetPlatform(), WsfGuidedMoverBase::mBoostCompleteStageIndex, mCurState, mEjectables, WsfGuidedMover::Stage::mEmptyMass, WsfGuidedMover::Stage::mFinalBoostStage, WsfGuidedMover::Stage::mFuelMass, WsfGuidedMover::Stage::mIntegrationTimestep, WsfGuidedMoverBase::mIntegrationTimestep, WsfGuidedMoverBase::mLaunchTime, WsfGuidedMover::Stage::mPayloadMass, WsfGuidedMoverBase::mPhase, WsfGuidedMoverBase::mPhaseStartTime, WsfGuidedMover::Stage::mPreIgnitionCoastTime, WsfGuidedMoverBase::mPreIgnitionCoastTime, WsfGuidedMover::Stage::mPreSeparationCoastTime, WsfGuidedMoverBase::mPreSeparationCoastTime, WsfGuidedMoverBase::mShowStatus, WsfGuidedMoverBase::mStageIndex, mStageList, WsfPlatform::SetEmptyMass(), WsfPlatform::SetFuelMass(), WsfPlatform::SetPayloadMass(), and WsfGuidedMoverBase::WriteStagingMessage().

IntegrateEOM()

void WsfGuidedMover::IntegrateEOM ( double aDeltaTime, const double aAppliedForcesECS[3], State & aOutState, State & aInState1, State & aInState2 )

protected

References WsfGuidedMover::State::ComputeDerivatives(), WsfGuidedMover::State::GetDerivatives(), WsfGuidedMover::State::mMoverPtr, and WsfGuidedMover::State::TakeEulerStep().

Referenced by AdvanceTimeLegacyRK2(), and AdvanceTimeLegacyRK4().

JettisonEjectables()

void WsfGuidedMover::JettisonEjectables ( double aSimTime )

protected

Jettison eject-ables that meet the criteria for ejection.

References WsfPlatform::GetPayloadMass(), WsfPlatformPart::GetPlatform(), mCurState, mEjectables, WsfGuidedMoverBase::mLaunchTime, WsfGuidedMoverBase::mShowStatus, WsfPlatform::SetPayloadMass(), and WsfGuidedMoverBase::WriteKinematicStatus().

Referenced by AdvanceTime().

operator=()

WsfGuidedMover & WsfGuidedMover::operator= ( const WsfGuidedMover & )

delete

References GetCommandedAttitude(), WsfGuidedMover(), and WsfMover::WsfMover().

PostUpdate()

void WsfGuidedMover::PostUpdate ( double aSimTime )

overrideprotectedvirtual

Perform any post update actions to the platform. This is called by the WsfGuidedMoverBase::Update just prior to exiting. The reason this exists is that mExternalState (the state pushed to the platform prior to calling guidance and aero) must not have any extra rotations other that provided by the standard orientation-to-velocity-vector (WsfGuidanceComputer assumes this!.) Because we allow extra orientations through angle_of_attack table, bank_to_turn and explicit attitude control programs, these must be applied just prior to exiting update.

Parameters

aSimTime

The current simulation time.

Reimplemented from WsfGuidedMoverBase.

References WsfGuidedMover::Stage::cBANK_TO_TURN, WsfPlatform::GetMass(), WsfPlatformPart::GetPlatform(), WsfGuidedMover::Stage::mAngleOfAttackPtr, mCommandedPitch, mCommandedRoll, mCommandedYaw, mIV_Values, mLastAeroForcesECS, mLastPitch, mLastRoll, WsfMover::mLastUpdateTime, mLastYaw, WsfGuidedMoverBase::mStageIndex, mStageList, and WsfGuidedMover::Stage::mTurnMethod.

ProcessInput()

bool WsfGuidedMover::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a generic source.

Examine the current input command. If it is NOT one of the commands recognized by this class then it simply returns 'false'. If it is one of the commands recognized by this class then it processes the command and returns 'true'.

Parameters

aInput

a reference to a UtInput object.

Returns

'true' if the command was one recognized by the class or 'false' if not.

Exceptions

UtInput::ExceptionBase

(or an object derived from it) if the command was recognized but contains some sort of error.

Note

If a derived class does not recognize the command (i.e.: the return value is false) then it should call the base class ProcessInput method. This chain should continue until either the command is recognized or the top-level base class is encountered.

Reimplemented from WsfObject.

References cCF_ECI, cCF_WCS, cRK2, cRK4, cTRAPEZOIDAL, mComputeForcesEachSubstep, mCurState, mDesiredCoordinateFrame, mDivertFuelFlowRate, mDivertMaxAlt, mDivertMinAlt, mDivertThrust, mEjectables, mExplicitStageUsed, mImplicitStageUsed, mIntegrationMethod, mStageList, mTimeConstantPtr, mVerifyValues, ProcessInput(), and WsfGuidedMoverBase::ProcessInput().

Referenced by ProcessInput().

SelectCoordinateFrame()

bool WsfGuidedMover::SelectCoordinateFrame ( const State & aState, CoordinateFrame & aTargetFrame ) const

protected

References cCF_ECI, cCF_WCS, WsfGuidedMover::State::mAltitude, WsfGuidedMover::State::mCoordinateFrame, and mDesiredCoordinateFrame.

Referenced by InitiateMotion(), and UpdateExternalState().

SeparateStage()

bool WsfGuidedMover::SeparateStage ( double aSimTime, size_t aStageIndex )

overrideprotectedvirtual

The base mover only supports a single stage.

Reimplemented from WsfGuidedMoverBase.

References WsfSimulation::GetRandom(), WsfPlatformPart::GetSimulation(), mStageList, and WsfPlatformPart::SetDamageFactor().

SwitchCoordinateFrame()

void WsfGuidedMover::SwitchCoordinateFrame ( State & aState, CoordinateFrame aTargetFrame )

protected

References cCF_ECI, GetECI_Conversion(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfGuidedMover::State::mAcceleration, WsfGuidedMover::State::mCoordinateFrame, mECI_UpdateTime, WsfGuidedMoverBase::mLaunchTime, WsfGuidedMover::State::mLaunchToOrbit, WsfGuidedMover::State::mLocation, WsfGuidedMover::State::mMaintainInclination, WsfGuidedMover::State::mPhi, WsfGuidedMover::State::mPsi, WsfGuidedMoverBase::mShowStatus, WsfGuidedMover::State::mSpeed, WsfGuidedMover::State::mTheta, WsfGuidedMover::State::mTime, WsfGuidedMover::State::mVelocity, and WsfGuidedMover::State::mWorld_ToECS_Transform.

Referenced by InitiateMotion(), and UpdateExternalState().

UpdateExternalState()

void WsfGuidedMover::UpdateExternalState ( State & aState )

protected

Propagate the internal spherical WCS values to ellipsoidal values that are used externally.

References cCF_ECI, cCF_WCS, WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfGuidedMover::State::mAcceleration, WsfGuidedMover::State::mCoordinateFrame, mDesiredCoordinateFrame, WsfGuidedMover::State::mECI_SwitchTime, WsfGuidedMoverBase::mExternalState, WsfGuidedMoverBase::mLaunchTime, WsfGuidedMover::State::mLocation, WsfGuidedMoverBase::mShowStatus, mTempEntity, WsfGuidedMover::State::mTime, WsfGuidedMover::State::mVelocity, WsfGuidedMover::State::mWorld_ToECS_Transform, SelectCoordinateFrame(), and SwitchCoordinateFrame().

Referenced by AdvanceTime(), and InitiateMotion().

Member Data Documentation

mCommandedPitch

double WsfGuidedMover::mCommandedPitch

protected

Referenced by AdvanceTime(), GetCommandedAttitude(), PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mCommandedRoll

double WsfGuidedMover::mCommandedRoll

protected

Referenced by AdvanceTime(), GetCommandedAttitude(), PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mCommandedYaw

double WsfGuidedMover::mCommandedYaw

protected

Referenced by AdvanceTime(), GetCommandedAttitude(), PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mComputeForcesEachSubstep

bool WsfGuidedMover::mComputeForcesEachSubstep {false}

protected

Referenced by AdvanceTime(), Initialize(), ProcessInput(), and WsfGuidedMover().

mCurState

State WsfGuidedMover::mCurState

protected

The current entity state.

Referenced by AdvanceTime(), AdvanceTimeMultistep(), AdvanceTimeRK(), AdvanceTimeSinglestep(), ComputeThrustForCommandedSpeed(), GetCurrentFuelFlowRate(), GetCurrentFuelMass(), GetCurrentThrust(), GetCurrentTotalMass(), GetDivertFuelMass(), GetPropertyDouble(), GetThrustForcesECS(), Initialize(), InitiateMotion(), InitiateStage(), JettisonEjectables(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mDesiredCoordinateFrame

CoordinateFrame WsfGuidedMover::mDesiredCoordinateFrame

protected

Referenced by AdvanceTime(), InitiateMotion(), ProcessInput(), SelectCoordinateFrame(), UpdateExternalState(), WsfGuidedMover(), and WsfGuidedMover().

mDivertFuelFlowRate

double WsfGuidedMover::mDivertFuelFlowRate

protected

Referenced by ComputeDivertForces(), Initialize(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mDivertMaxAlt

double WsfGuidedMover::mDivertMaxAlt

protected

Referenced by ComputeDivertForces(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mDivertMinAlt

double WsfGuidedMover::mDivertMinAlt

protected

Referenced by ComputeDivertForces(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mDivertThrust

double WsfGuidedMover::mDivertThrust

protected

Referenced by ComputeDivertForces(), GetDivertThrust(), Initialize(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mECI_ConversionPtr

ut::CloneablePtr<UtECI_Conversion> WsfGuidedMover::mECI_ConversionPtr {nullptr}

protected

Referenced by GetECI_Conversion(), and WsfGuidedMover().

mECI_LastUpdateTime

double WsfGuidedMover::mECI_LastUpdateTime {0.0}

protected

Referenced by GetECI_Conversion().

mECI_UpdateTime

double WsfGuidedMover::mECI_UpdateTime {0.0}

protected

Referenced by GetECI_Conversion(), and SwitchCoordinateFrame().

mEjectables

std::vector<Ejectable> WsfGuidedMover::mEjectables

protected

The list of eject-able objects.

Referenced by AdvanceTime(), Initialize(), InitiateStage(), JettisonEjectables(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mExplicitStageUsed

bool WsfGuidedMover::mExplicitStageUsed

protected

'true' if a 'stage' command was used

Referenced by ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mGuidanceOn

bool WsfGuidedMover::mGuidanceOn

protected

Referenced by ComputeAeroForces(), WsfGuidedMover(), and WsfGuidedMover().

mImplicitStageUsed

bool WsfGuidedMover::mImplicitStageUsed

protected

'true' if a stage was defined without using 'stage'

Referenced by ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mIntegrationMethod

IntegrationMethod WsfGuidedMover::mIntegrationMethod

protected

Referenced by AdvanceTime(), AdvanceTimeMultistep(), AdvanceTimeSinglestep(), Initialize(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mIV_Values

double WsfGuidedMover::mIV_Values[6]

protected

Referenced by AdvanceTimeMultistep(), AdvanceTimeSinglestep(), ComputeThrustForces(), GetTimeConstant(), PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mLastAeroForcesECS

double WsfGuidedMover::mLastAeroForcesECS[3]

protected

Referenced by AdvanceTimeRK(), AdvanceTimeSinglestep(), ComputeAeroForces(), GetAeroForcesECS(), PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mLastMach

double WsfGuidedMover::mLastMach

protected

For tracking Mach 1 crossing for show_status.

Referenced by AdvanceTime(), InitiateMotion(), WsfGuidedMover(), and WsfGuidedMover().

mLastPitch

double WsfGuidedMover::mLastPitch

protected

Referenced by PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mLastQ

double WsfGuidedMover::mLastQ

protected

For tracking MaxQ for show_status.

Referenced by AdvanceTime(), WsfGuidedMover(), and WsfGuidedMover().

mLastRoll

double WsfGuidedMover::mLastRoll

protected

Referenced by PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mLastYaw

double WsfGuidedMover::mLastYaw

protected

Referenced by PostUpdate(), WsfGuidedMover(), and WsfGuidedMover().

mMaxQ

double WsfGuidedMover::mMaxQ

protected

Referenced by AdvanceTime(), InitiateMotion(), WsfGuidedMover(), and WsfGuidedMover().

mStageList

std::vector<Stage> WsfGuidedMover::mStageList

protected

The list of stages.

Referenced by AdvanceTimeMultistep(), AdvanceTimeRK(), AdvanceTimeSinglestep(), GetEmptyMass(), GetEmptyMass(), GetFuelMass(), GetFuelMass(), GetLevelFlightDrag(), GetLevelFlightFuelBurnRate(), GetLevelFlightThrust(), GetMaximumLateralAerodynamicForce(), GetNumStages(), GetPayloadMass(), GetPayloadMass(), GetPropertyDouble(), IgniteStage(), Initialize(), InitiateStage(), PostUpdate(), ProcessInput(), SeparateStage(), WsfGuidedMover(), and WsfGuidedMover().

mTempEntity

UtEntity WsfGuidedMover::mTempEntity

protected

Temporary entity for WCS<->ECI conversions.

Referenced by Initialize(), UpdateExternalState(), WsfGuidedMover(), and WsfGuidedMover().

mTempState1

State WsfGuidedMover::mTempState1

protected

Temporary state for RK2/RK4 integration.

Referenced by AdvanceTimeLegacyRK2(), AdvanceTimeLegacyRK4(), WsfGuidedMover(), and WsfGuidedMover().

mTempState2

State WsfGuidedMover::mTempState2

protected

Temporary state for RK4 integration.

Referenced by AdvanceTimeLegacyRK4(), WsfGuidedMover(), and WsfGuidedMover().

mTempState3

State WsfGuidedMover::mTempState3

protected

Temporary state for RK4 integration.

Referenced by AdvanceTimeLegacyRK4(), WsfGuidedMover(), and WsfGuidedMover().

mTestSupportObjectPtr

std::unique_ptr<WsfGuidedMoverTestObject> WsfGuidedMover::mTestSupportObjectPtr

protected

Referenced by GetTestSupportObject(), WsfGuidedMover(), and WsfGuidedMover().

mTimeConstantPtr

UtCloneablePtr<UtTable::Table> WsfGuidedMover::mTimeConstantPtr

protected

airframe time constant

Referenced by GetTimeConstant(), ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

mVerifyValues

bool WsfGuidedMover::mVerifyValues

protected

Referenced by ProcessInput(), WsfGuidedMover(), and WsfGuidedMover().

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The documentation for this class was generated from the following files:

• WsfGuidedMover.hpp
• WsfGuidedMover.cpp