New motion model to simulate Rotorcraft dynamics. More...

#include <WsfRotorcraftMover.hpp>

Inheritance diagram for WsfRotorcraftMover:

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Collaboration diagram for WsfRotorcraftMover:

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Classes
class	RotorcraftMode
	A 'mode' of the Rotorcraft Mover. More...
struct	LocalGuidance

Public Member Functions
	WsfRotorcraftMover ()=delete
	WsfRotorcraftMover (WsfScenario &aScenario)
	WsfRotorcraftMover (const WsfRotorcraftMover &aRhs)
WsfRotorcraftMover &	operator= (const WsfRotorcraftMover &)=delete
	~WsfRotorcraftMover () override
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
WsfSpatialDomain	GetSpatialDomain () const override
void	SetMode (WsfStringId aModeId) override
void	SetHeading (double aHeading) override
bool	TurnToHeading (double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override
void	SetOrientationNED (double aHeading, double aPitch, double aRoll) override
bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude) override
bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute) override
bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override
bool	Unpause (double aSimTime, bool aInterrupt) override
Public Member Functions inherited from WsfIterativeRouteMover
	WsfIterativeRouteMover ()=delete
	WsfIterativeRouteMover (WsfScenario &aScenario)
	WsfIterativeRouteMover (const WsfIterativeRouteMover &aSrc)
WsfIterativeRouteMover &	operator= (const WsfIterativeRouteMover &)=delete
	~WsfIterativeRouteMover () override
void	Pause (double aSimTime, double aUnpauseTime) override
	Sets the mover to a paused state.
void	SetGuidanceFrom (const WsfWaypoint &aPreviousWaypoint) override
void	SetGuidanceTo (const WsfWaypoint &aPreviousWaypoint) override
void	AdvanceToNextWaypoint (double aSimTime, const WsfWaypoint &aTarget, const WsfWaypoint *aNextPointPtr) override
void	UpdatePosition (double aSimTime) override
double	GetTurnLeadDistance (double aCurrentSpeed, double aCurrentHeading)
bool	GetConverging () const
bool	TurnToRelativeHeading (double aSimTime, double aHeadingChange, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override
WsfPathGuidance *	GetGuidance () const
Public Member Functions inherited from WsfRouteMover
	WsfRouteMover ()=delete
	WsfRouteMover (const WsfScenario &aScenario)
	WsfRouteMover (const WsfRouteMover &aSrc)
WsfRouteMover &	operator= (const WsfRouteMover &)=delete
	~WsfRouteMover () override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
void	Update (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
const WsfRoute *	GetRoute () const override
const WsfRoute *	GetDefaultRoute () const override
int	RoutePointIndex () const override
bool	SetRoute (double aSimTime, const WsfRoute &aRoute) override
bool	GoToLabel (double aSimTime, WsfStringId aLabelId) override
bool	GoToWaypoint (double aSimTime, unsigned int aDestination) override
bool	GoToClosestPoint (double aSimTime) override
bool	FindAndSetPath (double aSimTime, WsfGeoPoint aStartPtr, WsfGeoPoint aEndPtr) override
bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude) override
bool	UpdateRoute (double aSimTime, const WsfRoute &aRoute) override
bool	UpdateDefaultRoute () override
virtual bool	SetRoutePoint (double aSimTime, const WsfRoute &aRoute, int aTargetPoint)
bool	ReturnToRoute (double aSimTime) override
bool	IsPaused () const override
	Returns true if the mover is paused.
WsfRouteComputer *	GetRouteComputer () const
void	SetRouteComputer (WsfRouteComputer *aRouteComputerPtr)
void	SetEndOfPath (WsfPath::EndPath aEndOfPathOption)
	Sets the default end-of-path option for the mover.
int	GetTargetIndex () const
	Return next waypoint index.
void	SetTargetIndex (int aIndex)
int	GetCurrentIndex () const
	Return current waypoint index.
bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override
MissTurnOption	GetTurnFailOption () const
double	GetTurnFailThreshold () const
WsfPath::Switch	GetSwitch () const
virtual const WsfPathConstraints *	GetMoverConstraints () const
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)
void	SetNonOperational (double aSimTime) override
void	SetOperational (double aSimTime) override
void	PartBroken (double aSimTime) override
void	Restore (double aSimTime) override
virtual bool	IsStopped () const
	Return whether the mover (and its attached platform) is stopped.
virtual bool	IsExtrapolating () const
virtual void	SetPitch (double aPitch)
virtual void	SetRoll (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 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	GetFutureLocationWCS (double aSimTime, double aLocationWCS[3])
WsfStringId	GetModeId () const
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	GetPropertyDouble (const std::string &aPropertyName, double &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
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

Protected Member Functions
void	SetModeId_P (WsfStringId aModeId)
bool	SetLocalGuidance (double aSimTime)
void	SetSwitches (double aSimTime)
void	SetPositionHold (double aSimTime, bool aValue)
void	SetAltitudeHold (double aSimTime, bool aValue)
void	LocalUpdate (double aSimTime, bool &aMoved, bool &aAdvanceToNextWaypoint) override
bool	ComputeAccel (double aCurrentRate, double aCurrentValue, double aTargetValue, double aCriticalAccel, double &aCriticalTime)
void	ExportMotionState ()
double	MaximumGroundSpeed () const
double	MaximumAcceleration () const
double	MaximumClimbRate () const
double	MaximumDescentRate () const
double	MinimumUpwardAccel () const
double	BodyRatesGain () const
double	WeathercockSpeed () const
double	MaximumBodyRate () const
Protected Member Functions inherited from WsfIterativeRouteMover
virtual void	PostMoveUpdate (double aSimTime)
void	AdvanceTime (double aSimTime, bool &aAdvanceToNextWaypoint)
void	SetGuidance (WsfPathGuidance *aGuidancePtr)
void	SetConverging (bool aValue)
void	ClearConverging ()
void	ResetWPSwitching ()
double	SegmentDistRemaining () const
double	SegmentTimeRemaining () const
double	CumSegmentDist () const
double	CumSegmentTime () const
double	GetMinTurnRadius () const
	Return the current value of minimum turn radius.
bool	GetIsOnGround () const
	Return an indication of whether this platform is currently sitting on terrain.
void	SetIsOnGround (bool aValue)
bool	GetIsInAir () const
	Return an indication of whether this platform is currently in air.
void	IncrSegmentDist (double aIncrement)
void	IncrSegmentTime (double aIncrement)
void	SetMinTurnRadius (double aValue)
virtual bool	IsWaypointSwitchTime (double aSimTime)
void	SetGroundAttitude (double aLatitude, double aLongitude)
void	CalcAltitudesAndAttitude (double)
	Update the height of terrain and height above terrain values, and re-orient (if needed).
double	GetHeightOfTerrain () const
Protected Member Functions inherited from WsfRouteMover
void	TriggerUnpause (double aSimTime)
	Called when the pause time has expired to resume movement.
void	SetAltRef (WsfPath::AltRef aAltRef)
WsfPath::AltRef	GetAltRef () const
virtual void	WaypointReached (double aSimTime)
	Called when waypoint is reached.
void	RouteChanged ()
	Called when the route is changed to reset processing of current point.
bool	IsSwitchingPoints ()
void	AddUnpauseEventFor (WsfRouteMover *aMoverPtr, double aUnpauseTime)
void	DisableAndClearUnpause ()
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)

Protected Attributes
unsigned int	mFlightIndex
WsfStringId	mStartModeId
bool	mIsWeatherCocking
bool	mNeedToClimb
bool	mIsAltitudeHold
bool	mIsPositionHold
std::vector< RotorcraftMode * >	mRotorcraftModeList
	The mover-specific list of modes (not valid until Initialize is called).
LocalGuidance	mLocalGuidance
double	mLocalUpdateTime
double	mCourseRad
double	mAltErrToROC_Gain
double	mFabsROC_Limit
double	mHeadingRad
double	mHeadingErrorRad
double	mSouthAndEastTipTimeConstant
double	mPosHoldCaptureRadius
double	mDesiredAccelUp
UtVec3dX	mDesiredAccelNED
UtVec3dX	mDesiredVelNED
UtVec3dX	mVelNED
UtVec3dX	mAccelNED
UtVec3dX	mNetAccelNED
UtVec3dX	mNetAccelWCS
UtVec3dX	mPrevNetAccelWCS
UtVec3dX	mVelWCS
UtVec3dX	mPrevVelWCS
UtVec3dX	mLocWCS
UtVec3dX	mPrevLocWCS
UtVec3dX	mNED_Error
UtVec3dX	mVelNED_Error
UtControl::TF_1V	mSouthTipFilter
UtControl::TF_1V	mEastTipFilter
UtDCM	mDcmWCStoNED
UtDCM	mDcmNEDtoDisk
UtDCM	mDcmDiskToECS
UtDCM	mDcmNEDtoECS
UtPID_Controller	mNorthAccelValuePID
UtPID_Controller	mEastAccelValuePID
UtPID_Controller	mVerticalAccelValuePID
UtPID_Controller	mNorthAccelRatePID
UtPID_Controller	mEastAccelRatePID
UtPID_Controller	mVerticalAccelRatePID
WsfWaypointPathGuidance *	mWPP_GuidancePtr
RotorcraftMode *	mModePtr
double	mLatitudeDeg
double	mLongitudeDeg
double	mAltitude
double	mAltitudeRate
double	mGroundSpeed
double	mAltitudeError
double	mTimeToTargetAlt
double	mDesiredROC
double	mReductionRatio
double	mDistToTgtLL
double	mTimeToTgtLL
Protected Attributes inherited from WsfRouteMover
wsf::Terrain *	mTerrainPtr
bool	mForceUpdates
MissTurnOption	mTurnFailOption
	If true, the mover will ensure it passes each point.
double	mTurnFailureThreshold
	Threshold of turn failure as percentage of turn radius.
double	mUnpauseTime
	Simulation time at which the mover will unpause.
double	mAltitudeOffset
	Altitude offset of the parent platform's center of gravity / mass (CG).
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

Additional Inherited Members
Public Types inherited from WsfRouteMover
enum	MissTurnOption { cCLOSEST_POINT = 0 , cREVERSE_TURN = 1 , cSKIP_POINT = 2 }
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.
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

Detailed Description

New motion model to simulate Rotorcraft dynamics.

The WCS frame is assumed the Inertial frame, so integrations are there, but most calculations are in the NED frame, whose rotation rate is assumed insignificant. Reference frame hierarchy is WCS => NED => RotorDiskPlane (X points North) => Heading, and DCMs are used to do each transform. Acceleration and Velocity are controlled in the NED frame, with the heading determined independently. "Speed" is usually taken as ground speed in this context, as rate of climb is relatively small.

The rotorcraft rotor disk cants in the direction of the acceleration vector, which at hover is vertical, but during turns and velocity transitions can be inclined significantly.

Heading is subject to a weathercocking model. Desired heading is held independent of NED acceleration, until mWeatherCockSpeed is exceeded, after which the heading slews to match the flight course. When speed decays below weathercock speed, desired heading takes over, and the heading slews back to the desired value again.

Constraint values come from WsfPathGuidance, but there is some judgment used as to what values to map to what for Rotorcraft use.

Constructor & Destructor Documentation

◆ WsfRotorcraftMover() [1/3]

WsfRotorcraftMover::WsfRotorcraftMover ( )

delete

References WsfRotorcraftMover().

Referenced by Clone(), operator=(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ WsfRotorcraftMover() [2/3]

WsfRotorcraftMover::WsfRotorcraftMover ( WsfScenario & aScenario )

References mAccelNED, mAltErrToROC_Gain, mAltitude, mAltitudeError, mAltitudeRate, mCourseRad, mDcmDiskToECS, mDcmNEDtoDisk, mDcmNEDtoECS, mDcmWCStoNED, mDesiredAccelNED, mDesiredAccelUp, mDesiredROC, mDesiredVelNED, mDistToTgtLL, mEastAccelRatePID, mEastAccelValuePID, mEastTipFilter, mFabsROC_Limit, mFlightIndex, mGroundSpeed, mHeadingErrorRad, mHeadingRad, mIsAltitudeHold, mIsPositionHold, mIsWeatherCocking, mLatitudeDeg, mLocalGuidance, mLocalUpdateTime, mLocWCS, mLongitudeDeg, mModePtr, mNED_Error, mNeedToClimb, mNetAccelNED, mNetAccelWCS, mNorthAccelRatePID, mNorthAccelValuePID, mPosHoldCaptureRadius, mPrevLocWCS, mPrevNetAccelWCS, mPrevVelWCS, mReductionRatio, mRotorcraftModeList, mSouthAndEastTipTimeConstant, mSouthTipFilter, mStartModeId, mTimeToTargetAlt, mTimeToTgtLL, mVelNED, mVelNED_Error, mVelWCS, mVerticalAccelRatePID, mVerticalAccelValuePID, mWPP_GuidancePtr, WsfIterativeRouteMover::SetGuidance(), WsfMover::SetModeList(), and WsfIterativeRouteMover::WsfIterativeRouteMover().

◆ WsfRotorcraftMover() [3/3]

WsfRotorcraftMover::WsfRotorcraftMover ( const WsfRotorcraftMover & aRhs )

References WsfIterativeRouteMover::GetGuidance(), mAccelNED, mAltErrToROC_Gain, mAltitude, mAltitudeError, mAltitudeRate, mCourseRad, mDcmDiskToECS, mDcmNEDtoDisk, mDcmNEDtoECS, mDcmWCStoNED, mDesiredAccelNED, mDesiredAccelUp, mDesiredROC, mDesiredVelNED, mDistToTgtLL, mEastAccelRatePID, mEastAccelValuePID, mEastTipFilter, mFabsROC_Limit, mFlightIndex, mGroundSpeed, mHeadingErrorRad, mHeadingRad, mIsAltitudeHold, mIsPositionHold, mIsWeatherCocking, mLatitudeDeg, mLocalUpdateTime, mLocWCS, mLongitudeDeg, mModePtr, mNED_Error, mNeedToClimb, mNetAccelNED, mNetAccelWCS, mNorthAccelRatePID, mNorthAccelValuePID, mPosHoldCaptureRadius, mPrevLocWCS, mPrevNetAccelWCS, mPrevVelWCS, mReductionRatio, mRotorcraftModeList, mSouthAndEastTipTimeConstant, mSouthTipFilter, mStartModeId, mTimeToTargetAlt, mTimeToTgtLL, mVelNED, mVelNED_Error, mVelWCS, mVerticalAccelRatePID, mVerticalAccelValuePID, mWPP_GuidancePtr, WsfIterativeRouteMover::WsfIterativeRouteMover(), and WsfRotorcraftMover().

◆ ~WsfRotorcraftMover()

WsfRotorcraftMover::~WsfRotorcraftMover ( )

override

Member Function Documentation

◆ BodyRatesGain()

double WsfRotorcraftMover::BodyRatesGain ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

◆ Clone()

WsfMover * WsfRotorcraftMover::Clone ( ) const

overridevirtual

Clone this object.

Returns: a pointer to the new object.

Implements WsfMover.

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

◆ ComputeAccel()

bool WsfRotorcraftMover::ComputeAccel	(	double	aCurrentRate,
		double	aCurrentValue,
		double	aTargetValue,
		double	aCriticalAccel,
		double &	aCriticalTime )

protected

Referenced by LocalUpdate().

◆ ExportMotionState()

void WsfRotorcraftMover::ExportMotionState ( )

protected

References WsfPlatformPart::GetPlatform(), mDcmNEDtoECS, mLocWCS, mNetAccelWCS, and mVelWCS.

Referenced by LocalUpdate().

◆ GetSpatialDomain()

WsfSpatialDomain WsfRotorcraftMover::GetSpatialDomain ( ) const

inlineoverridevirtual

Return the spatial domain in which the mover is operating.

The spatial domain is the domain in which the mover is operating (land, sea, space, etc.).

Returns: The spatial domain in which the platform is operating. WSF_SPATIAL_DOMAIN_LAND is returned if this method is not overridden by a derived class.

Reimplemented from WsfMover.

References WSF_SPATIAL_DOMAIN_AIR.

◆ GoToAltitude()

bool WsfRotorcraftMover::GoToAltitude	(	double	aSimTime,
		double	aAltitude,
		double	aClimbDiveRate,
		bool	aKeepRoute )

overridevirtual

Command the mover change its altitude.

Parameters

aSimTime	The current simulated time (seconds).
aAltitude	The desired altitude to attempt to achieve (in meters).
aClimbDiveRate	The desired climb/dive rate (meters/second). If zero then use the mover default.
aKeepRoute	'true' if the mover should maintain current route. 'false' to extrapolate.

Returns: true if successful.

Reimplemented from WsfIterativeRouteMover.

References WsfIterativeRouteMover::GoToAltitude(), and mLocalGuidance.

◆ GoToLocation()

bool WsfRotorcraftMover::GoToLocation	(	double	aSimTime,
		double	aLatitude,
		double	aLongitude,
		double	aAltitude )

overridevirtual

Command the mover to move towards a specified location.

Parameters

aSimTime	The current simulated clock time (seconds).
aLatitude	The desired latitude.
aLongitude	The desired longitude.
aAltitude	The desired altitude. If -1 is used for aAltitude the current altitude is used.

Returns: true if successful.

Reimplemented from WsfIterativeRouteMover.

References WsfIterativeRouteMover::GoToLocation(), mLatitudeDeg, mLocalGuidance, mLongitudeDeg, SetAltitudeHold(), and SetPositionHold().

◆ GoToSpeed()

bool WsfRotorcraftMover::GoToSpeed	(	double	aSimTime,
		double	aSpeed,
		double	aLinearAccel,
		bool	aKeepRoute )

overridevirtual

For this Mover only, any speed request is assumed a sea level equivalent speed, and constant dynamic pressure is flown as the altitude increases or decreases.

Reimplemented from WsfIterativeRouteMover.

References WsfIterativeRouteMover::GoToSpeed(), mLocalGuidance, and mModePtr.

◆ Initialize()

bool WsfRotorcraftMover::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 WsfIterativeRouteMover.

References WsfModeList::GetDerivedModeList(), WsfMover::GetModeList(), WsfPlatformPart::GetPlatform(), WsfMover::GetUpdateInterval(), WsfIterativeRouteMover::Initialize(), mAltitude, mAltitudeRate, mCourseRad, mDcmDiskToECS, mDcmWCStoNED, mEastAccelRatePID, mEastAccelValuePID, mEastTipFilter, mGroundSpeed, mHeadingRad, mLatitudeDeg, mLocalUpdateTime, mLocWCS, mLongitudeDeg, mNorthAccelRatePID, mNorthAccelValuePID, mRotorcraftModeList, mSouthAndEastTipTimeConstant, mSouthTipFilter, mStartModeId, mVelNED, mVelWCS, mVerticalAccelRatePID, mVerticalAccelValuePID, SetMode(), and success.

◆ Initialize2()

bool WsfRotorcraftMover::Initialize2 ( double aSimTime )

overridevirtual

Perform phase 2 initialization of the part. This is invoked by WsfPlatform::Initialize() during phase 2 initialization of the platform. During phase 2, platform components may assume that the platform location has been defined, initial tracks have been loaded and that all components have completed phase 1 initialization.

Parameters

aSimTime The current simulation time.

Returns: 'true' if successful or 'false' if some sort of error occurred.

Reimplemented from WsfMover.

References WsfRouteMover::Initialize2(), and success.

◆ LocalUpdate()

void WsfRotorcraftMover::LocalUpdate	(	double	aSimTime,
		bool &	aMoved,
		bool &	aAdvanceToNextWaypoint )

overrideprotectedvirtual

Implements WsfIterativeRouteMover.

References BodyRatesGain(), ComputeAccel(), ExportMotionState(), WsfPlatformPart::GetDamageFactor(), wsf::Terrain::GetElevInterp(), WsfPlatformPart::GetPlatform(), WsfPlatform::GetTerrain(), WsfIterativeRouteMover::IsWaypointSwitchTime(), mAccelNED, mAltErrToROC_Gain, mAltitude, mAltitudeError, mAltitudeRate, MaximumAcceleration(), MaximumBodyRate(), MaximumClimbRate(), MaximumDescentRate(), mCourseRad, mDcmDiskToECS, mDcmNEDtoDisk, mDcmNEDtoECS, mDcmWCStoNED, mDesiredAccelNED, mDesiredAccelUp, mDesiredROC, mDesiredVelNED, mEastAccelRatePID, mEastAccelValuePID, mEastTipFilter, mFabsROC_Limit, mGroundSpeed, mHeadingErrorRad, mHeadingRad, MinimumUpwardAccel(), mIsAltitudeHold, mIsPositionHold, mIsWeatherCocking, mLatitudeDeg, mLocalGuidance, mLocalUpdateTime, mLocWCS, mLongitudeDeg, mModePtr, mNED_Error, mNeedToClimb, mNetAccelNED, mNetAccelWCS, mNorthAccelRatePID, mNorthAccelValuePID, mPrevLocWCS, mPrevNetAccelWCS, mPrevVelWCS, mReductionRatio, mSouthTipFilter, mTimeToTargetAlt, mVelNED, mVelNED_Error, mVelWCS, mVerticalAccelRatePID, mVerticalAccelValuePID, SetLocalGuidance(), SetSwitches(), WsfMover::Update(), and WeathercockSpeed().

◆ MaximumAcceleration()

double WsfRotorcraftMover::MaximumAcceleration ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

◆ MaximumBodyRate()

double WsfRotorcraftMover::MaximumBodyRate ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

◆ MaximumClimbRate()

double WsfRotorcraftMover::MaximumClimbRate ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

◆ MaximumDescentRate()

double WsfRotorcraftMover::MaximumDescentRate ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

◆ MaximumGroundSpeed()

double WsfRotorcraftMover::MaximumGroundSpeed ( ) const

protected

References mModePtr.

Referenced by SetLocalGuidance().

◆ MinimumUpwardAccel()

double WsfRotorcraftMover::MinimumUpwardAccel ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

◆ operator=()

WsfRotorcraftMover & WsfRotorcraftMover::operator= ( const WsfRotorcraftMover & )

delete

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

◆ ProcessInput()

bool WsfRotorcraftMover::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 WsfIterativeRouteMover.

References mAltErrToROC_Gain, mEastAccelRatePID, mEastAccelValuePID, mLocalGuidance, mNorthAccelRatePID, mNorthAccelValuePID, mPosHoldCaptureRadius, mSouthAndEastTipTimeConstant, mStartModeId, mVerticalAccelRatePID, mVerticalAccelValuePID, and WsfIterativeRouteMover::ProcessInput().

◆ SetAltitudeHold()

void WsfRotorcraftMover::SetAltitudeHold	(	double	aSimTime,
		bool	aValue )

protected

References mIsAltitudeHold.

Referenced by GoToLocation(), SetLocalGuidance(), and SetSwitches().

◆ SetHeading()

void WsfRotorcraftMover::SetHeading ( double aHeading )

overridevirtual

Request the platform mover to go to a desired NED heading angle (radians). This is merely a request, and the mover may not be able to comply.

Reimplemented from WsfMover.

References mLocalGuidance.

Referenced by TurnToHeading().

◆ SetLocalGuidance()

bool WsfRotorcraftMover::SetLocalGuidance ( double aSimTime )

protected

References MaximumGroundSpeed(), mDistToTgtLL, mGroundSpeed, mIsPositionHold, mLatitudeDeg, mLocalGuidance, mLongitudeDeg, mModePtr, mTimeToTgtLL, mWPP_GuidancePtr, SetAltitudeHold(), and SetPositionHold().

Referenced by LocalUpdate().

◆ SetMode()

void WsfRotorcraftMover::SetMode ( WsfStringId aModeName )

overridevirtual

Set the current mode ID of the WsfMover. This value is implementation defined, and may be used to indicate "Stopped", "Idle", "Taxi", "Climb", or any other state or mode of interest. Derived WsfMover implementations may modify their behavior based upon this value.

Reimplemented from WsfMover.

References WsfMover::SetMode(), and SetModeId_P().

Referenced by Initialize().

◆ SetModeId_P()

void WsfRotorcraftMover::SetModeId_P ( WsfStringId aModeId )

protected

References WsfRotorcraftMover::RotorcraftMode::cNOT_SET, mLocalGuidance, mModePtr, mRotorcraftModeList, and mWPP_GuidancePtr.

Referenced by SetMode().

◆ SetOrientationNED()

void WsfRotorcraftMover::SetOrientationNED	(	double	aHeading,
		double	aPitch,
		double	aRoll )

overridevirtual

Request the platform mover to go to a desired NED orientation (radians). This is merely a request, and the mover may not be able to comply fully.

Reimplemented from WsfMover.

References mLocalGuidance.

◆ SetPositionHold()

void WsfRotorcraftMover::SetPositionHold	(	double	aSimTime,
		bool	aValue )

protected

References mEastTipFilter, mIsPositionHold, and mSouthTipFilter.

Referenced by GoToLocation(), SetLocalGuidance(), and SetSwitches().

◆ SetSwitches()

void WsfRotorcraftMover::SetSwitches ( double aSimTime )

protected

References mAltitude, mAltitudeError, mDcmWCStoNED, mDistToTgtLL, mIsAltitudeHold, mIsPositionHold, mLocalGuidance, mLocWCS, mNED_Error, mTimeToTgtLL, SetAltitudeHold(), and SetPositionHold().

Referenced by LocalUpdate().

◆ TurnToHeading()

bool WsfRotorcraftMover::TurnToHeading	(	double	aSimTime,
		double	aHeading,
		double	aRadialAccel,
		WsfPath::TurnDirection	aTurnDirection )

overridevirtual

Command the mover to change its heading.

Parameters

aSimTime	The current simulated clock time (seconds).
aHeading	The desired heading (in radians).
aRadialAccel	The desired radial acceleration (meters/second^2). If zero then use the mover default.
aTurnDirection	The direction in which to turn.

Returns: true if successful.

Reimplemented from WsfIterativeRouteMover.

References SetHeading(), and WsfIterativeRouteMover::TurnToHeading().

◆ Unpause()

bool WsfRotorcraftMover::Unpause	(	double	aSimTime,
		bool	aInterrupt )

overridevirtual

Resume movement

Parameters

aSimTime	The current simulation time
aInterrupt	'true' if the unpause was not scheduled

Reimplemented from WsfRouteMover.

References WsfRouteMover::IsPaused(), mLocalUpdateTime, and WsfRouteMover::Unpause().

◆ WeathercockSpeed()

double WsfRotorcraftMover::WeathercockSpeed ( ) const

protected

References mModePtr.

Referenced by LocalUpdate().

Member Data Documentation

◆ mAccelNED

UtVec3dX WsfRotorcraftMover::mAccelNED

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mAltErrToROC_Gain

double WsfRotorcraftMover::mAltErrToROC_Gain

protected

Referenced by LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mAltitude

double WsfRotorcraftMover::mAltitude

protected

Referenced by Initialize(), LocalUpdate(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mAltitudeError

double WsfRotorcraftMover::mAltitudeError

protected

Referenced by LocalUpdate(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mAltitudeRate

double WsfRotorcraftMover::mAltitudeRate

protected

Referenced by Initialize(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mCourseRad

double WsfRotorcraftMover::mCourseRad

protected

Referenced by Initialize(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDcmDiskToECS

UtDCM WsfRotorcraftMover::mDcmDiskToECS

protected

Referenced by Initialize(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDcmNEDtoDisk

UtDCM WsfRotorcraftMover::mDcmNEDtoDisk

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDcmNEDtoECS

UtDCM WsfRotorcraftMover::mDcmNEDtoECS

protected

Referenced by ExportMotionState(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDcmWCStoNED

UtDCM WsfRotorcraftMover::mDcmWCStoNED

protected

Referenced by Initialize(), LocalUpdate(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDesiredAccelNED

UtVec3dX WsfRotorcraftMover::mDesiredAccelNED

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDesiredAccelUp

double WsfRotorcraftMover::mDesiredAccelUp

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDesiredROC

double WsfRotorcraftMover::mDesiredROC

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDesiredVelNED

UtVec3dX WsfRotorcraftMover::mDesiredVelNED

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mDistToTgtLL

double WsfRotorcraftMover::mDistToTgtLL

protected

Referenced by SetLocalGuidance(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mEastAccelRatePID

UtPID_Controller WsfRotorcraftMover::mEastAccelRatePID

protected

Referenced by Initialize(), LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mEastAccelValuePID

UtPID_Controller WsfRotorcraftMover::mEastAccelValuePID

protected

Referenced by Initialize(), LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mEastTipFilter

UtControl::TF_1V WsfRotorcraftMover::mEastTipFilter

protected

Referenced by Initialize(), LocalUpdate(), SetPositionHold(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mFabsROC_Limit

double WsfRotorcraftMover::mFabsROC_Limit

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mFlightIndex

unsigned int WsfRotorcraftMover::mFlightIndex

protected

Referenced by WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mGroundSpeed

double WsfRotorcraftMover::mGroundSpeed

protected

Referenced by Initialize(), LocalUpdate(), SetLocalGuidance(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mHeadingErrorRad

double WsfRotorcraftMover::mHeadingErrorRad

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mHeadingRad

double WsfRotorcraftMover::mHeadingRad

protected

Referenced by Initialize(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mIsAltitudeHold

bool WsfRotorcraftMover::mIsAltitudeHold

protected

Referenced by LocalUpdate(), SetAltitudeHold(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mIsPositionHold

bool WsfRotorcraftMover::mIsPositionHold

protected

Referenced by LocalUpdate(), SetLocalGuidance(), SetPositionHold(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mIsWeatherCocking

bool WsfRotorcraftMover::mIsWeatherCocking

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mLatitudeDeg

double WsfRotorcraftMover::mLatitudeDeg

protected

Referenced by GoToLocation(), Initialize(), LocalUpdate(), SetLocalGuidance(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mLocalGuidance

LocalGuidance WsfRotorcraftMover::mLocalGuidance

protected

Referenced by GoToAltitude(), GoToLocation(), GoToSpeed(), LocalUpdate(), ProcessInput(), SetHeading(), SetLocalGuidance(), SetModeId_P(), SetOrientationNED(), SetSwitches(), and WsfRotorcraftMover().

◆ mLocalUpdateTime

double WsfRotorcraftMover::mLocalUpdateTime

protected

Referenced by Initialize(), LocalUpdate(), Unpause(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mLocWCS

UtVec3dX WsfRotorcraftMover::mLocWCS

protected

Referenced by ExportMotionState(), Initialize(), LocalUpdate(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mLongitudeDeg

double WsfRotorcraftMover::mLongitudeDeg

protected

Referenced by GoToLocation(), Initialize(), LocalUpdate(), SetLocalGuidance(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mModePtr

RotorcraftMode* WsfRotorcraftMover::mModePtr

protected

Referenced by BodyRatesGain(), GoToSpeed(), LocalUpdate(), MaximumAcceleration(), MaximumBodyRate(), MaximumClimbRate(), MaximumDescentRate(), MaximumGroundSpeed(), MinimumUpwardAccel(), SetLocalGuidance(), SetModeId_P(), WeathercockSpeed(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mNED_Error

UtVec3dX WsfRotorcraftMover::mNED_Error

protected

Referenced by LocalUpdate(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mNeedToClimb

bool WsfRotorcraftMover::mNeedToClimb

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mNetAccelNED

UtVec3dX WsfRotorcraftMover::mNetAccelNED

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mNetAccelWCS

UtVec3dX WsfRotorcraftMover::mNetAccelWCS

protected

Referenced by ExportMotionState(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mNorthAccelRatePID

UtPID_Controller WsfRotorcraftMover::mNorthAccelRatePID

protected

Referenced by Initialize(), LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mNorthAccelValuePID

UtPID_Controller WsfRotorcraftMover::mNorthAccelValuePID

protected

Referenced by Initialize(), LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mPosHoldCaptureRadius

double WsfRotorcraftMover::mPosHoldCaptureRadius

protected

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

◆ mPrevLocWCS

UtVec3dX WsfRotorcraftMover::mPrevLocWCS

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mPrevNetAccelWCS

UtVec3dX WsfRotorcraftMover::mPrevNetAccelWCS

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mPrevVelWCS

UtVec3dX WsfRotorcraftMover::mPrevVelWCS

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mReductionRatio

double WsfRotorcraftMover::mReductionRatio

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mRotorcraftModeList

std::vector<RotorcraftMode*> WsfRotorcraftMover::mRotorcraftModeList

protected

The mover-specific list of modes (not valid until Initialize is called).

Referenced by Initialize(), SetModeId_P(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mSouthAndEastTipTimeConstant

double WsfRotorcraftMover::mSouthAndEastTipTimeConstant

protected

Referenced by Initialize(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mSouthTipFilter

UtControl::TF_1V WsfRotorcraftMover::mSouthTipFilter

protected

Referenced by Initialize(), LocalUpdate(), SetPositionHold(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mStartModeId

WsfStringId WsfRotorcraftMover::mStartModeId

protected

Referenced by Initialize(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mTimeToTargetAlt

double WsfRotorcraftMover::mTimeToTargetAlt

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mTimeToTgtLL

double WsfRotorcraftMover::mTimeToTgtLL

protected

Referenced by SetLocalGuidance(), SetSwitches(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mVelNED

UtVec3dX WsfRotorcraftMover::mVelNED

protected

Referenced by Initialize(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mVelNED_Error

UtVec3dX WsfRotorcraftMover::mVelNED_Error

protected

Referenced by LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mVelWCS

UtVec3dX WsfRotorcraftMover::mVelWCS

protected

Referenced by ExportMotionState(), Initialize(), LocalUpdate(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mVerticalAccelRatePID

UtPID_Controller WsfRotorcraftMover::mVerticalAccelRatePID

protected

Referenced by Initialize(), LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mVerticalAccelValuePID

UtPID_Controller WsfRotorcraftMover::mVerticalAccelValuePID

protected

Referenced by Initialize(), LocalUpdate(), ProcessInput(), WsfRotorcraftMover(), and WsfRotorcraftMover().

◆ mWPP_GuidancePtr

WsfWaypointPathGuidance* WsfRotorcraftMover::mWPP_GuidancePtr

protected

Referenced by SetLocalGuidance(), SetModeId_P(), WsfRotorcraftMover(), and WsfRotorcraftMover().

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WsfRotorcraftMover() [1/3]

◆ WsfRotorcraftMover() [2/3]

◆ WsfRotorcraftMover() [3/3]

◆ ~WsfRotorcraftMover()

Member Function Documentation

◆ BodyRatesGain()

◆ Clone()

◆ ComputeAccel()

◆ ExportMotionState()

◆ GetSpatialDomain()

◆ GoToAltitude()

◆ GoToLocation()

◆ GoToSpeed()

◆ Initialize()

◆ Initialize2()

◆ LocalUpdate()

◆ MaximumAcceleration()

◆ MaximumBodyRate()

◆ MaximumClimbRate()

◆ MaximumDescentRate()

◆ MaximumGroundSpeed()

◆ MinimumUpwardAccel()

◆ operator=()

◆ ProcessInput()

◆ SetAltitudeHold()

◆ SetHeading()

◆ SetLocalGuidance()

◆ SetMode()

◆ SetModeId_P()

◆ SetOrientationNED()

◆ SetPositionHold()

◆ SetSwitches()

◆ TurnToHeading()

◆ Unpause()

◆ WeathercockSpeed()

Member Data Documentation

◆ mAccelNED

◆ mAltErrToROC_Gain

◆ mAltitude

◆ mAltitudeError

◆ mAltitudeRate

◆ mCourseRad

◆ mDcmDiskToECS

◆ mDcmNEDtoDisk

◆ mDcmNEDtoECS

◆ mDcmWCStoNED

◆ mDesiredAccelNED

◆ mDesiredAccelUp

◆ mDesiredROC

◆ mDesiredVelNED

◆ mDistToTgtLL

◆ mEastAccelRatePID

◆ mEastAccelValuePID

◆ mEastTipFilter

◆ mFabsROC_Limit

◆ mFlightIndex

◆ mGroundSpeed

◆ mHeadingErrorRad

◆ mHeadingRad

◆ mIsAltitudeHold

◆ mIsPositionHold

◆ mIsWeatherCocking

◆ mLatitudeDeg

◆ mLocalGuidance

◆ mLocalUpdateTime

◆ mLocWCS

◆ mLongitudeDeg

◆ mModePtr

◆ mNED_Error

◆ mNeedToClimb

◆ mNetAccelNED

◆ mNetAccelWCS

◆ mNorthAccelRatePID