WsfSubsurfaceMover Class Reference

#include <WsfSubsurfaceMover.hpp>

Inheritance diagram for WsfSubsurfaceMover:

Collaboration diagram for WsfSubsurfaceMover:

Public Member Functions
	WsfSubsurfaceMover (WsfScenario &aScenario)
	~WsfSubsurfaceMover () override=default
Public Member Functions inherited from WsfWaypointMover
	WsfWaypointMover ()=delete
	WsfWaypointMover (const WsfScenario &aScenario)
	WsfWaypointMover (const WsfWaypointMover &aSrc)
WsfWaypointMover &	operator= (const WsfWaypointMover &)=delete
	~WsfWaypointMover () override
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	SetPlatform (WsfPlatform *aPlatformPtr) override
bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute) override
bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override
bool	TurnToRelativeHeading (double aSimTime, double aHeadingChange, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override
bool	TurnToHeading (double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override
bool	GetFutureLocationWCS (double aSimTime, double aLocationWCS[3]) override
WsfPathConstraints &	GetConstraints ()
bool	IsOnGround () const
void	SetIsOnRoad (bool aIsOnRoad)
bool	IsOnRoad () const
const WsfPathConstraints *	GetMoverConstraints () const override
const WsfPathConstraints &	GetCurrentConstraints () const
const WsfPathTarget &	GetTarget () const
WsfPathComputer &	GetPathComputer ()
const WsfAngleOfAttack *	GetAngleOfAttackTable ()
bool	GetPropertyDouble (const std::string &aPropertyName, double &aProperty) override
virtual double	MaximumRadialAcceleration ()
double	TurnRadius ()
double	TurnRadius (double atSpeed) override
virtual double	MaximumTurnRate ()
virtual double	CornerVelocity (WsfGeoPoint *aTarget)
void	Pause (double aSimTime, double aUnpauseTime) override
	Stop the movement of the platform until aUnpauseTime.
bool	Unpause (double aSimTime, bool aInterrupt) override
void	ResetPosition (double aSimTime) override
	Informs the mover to use the current platform state.
bool	IsExtrapolating () const override
Public Member Functions inherited from WsfRouteMover
	WsfRouteMover ()=delete
	WsfRouteMover (const WsfScenario &aScenario)
	WsfRouteMover (const WsfRouteMover &aSrc)
WsfRouteMover &	operator= (const WsfRouteMover &)=delete
	~WsfRouteMover () override
bool	Initialize2 (double aSimTime) override
void	Update (double aSimTime) 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.
MissTurnOption	GetTurnFailOption () const
double	GetTurnFailThreshold () const
WsfPath::Switch	GetSwitch () const
Public Member Functions inherited from WsfMover
	WsfMover ()=delete
	WsfMover (const WsfScenario &aScenario)
	WsfMover (const WsfMover &aSrc)
WsfMover &	operator= (const WsfMover &)=delete
	~WsfMover () override
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 void	SetHeading (double aHeading)
virtual void	SetPitch (double aPitch)
virtual void	SetRoll (double aRoll)
virtual void	SetOrientationNED (double aHeading, double aPitch, double aRoll)
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)
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
WsfPlatform *	GetPlatform () const
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

Common framework methods
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
WsfSpatialDomain	GetSpatialDomain () const override
void	PostMoveUpdate (double aSimTime) override
double	GetHeightOfSurface () const
	Return the Height of Surface of the point directly above the mover.
virtual void	Dive ()
	Set the state of the mover consistent with being under water.
virtual void	Surface ()
	Set the state of the mover consistent with being on the surface of the water.

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
Protected Member Functions inherited from WsfWaypointMover
void	SetGuidanceFrom (const WsfWaypoint &aPreviousWaypoint) override
void	SetGuidanceTo (const WsfWaypoint &aNextWaypoint) override
void	AdvanceToNextWaypoint (double aSimTime, const WsfWaypoint &aTarget, const WsfWaypoint *aNextPointPtr) override
double	GetHeightOfTerrain () const
void	UpdateHeightOfTerrain ()
void	SetIsOnGround (bool aIsOnGround)
void	EnableTerrain (bool aUseTerrain)
void	ExecutePath (double aSimTime)
void	UpdatePosition (double aSimTime) override
void	HitWaypoint (double aSimTime)
	Called when a waypoint is reached. Triggers processing of next waypoint.
void	ResetPath (double aSimTime)
void	SetCompleteTime (double aSimTime)
	Schedules the HitPointEvent to execute at aSimTime.
void	SetComplete ()
	Disables any pending HitPointEvent.
void	UpdateConstraints (const WsfWaypoint &aWaypoint)
void	CreatePath (const WsfWaypoint &aTargetPoint, const WsfWaypoint *aNextPointPtr=nullptr)
void	CreatePath (bool aResetDefaults=true)
void	Extrapolate (double aSimTime)
void	MoveToGround ()
void	SetGroundAttitude (double aLatitude, double aLongitude)
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 inherited from WsfWaypointMover
WsfPathComputer	mPathComputer
	Computes the mover's path.
double	mPathStartTime
	The sim-time at which mPath was begun.
WsfPathList	mPath
	The current path being traversed by the platform.
WsfPathList	mTotalPath
	If mDebugKeepPath is set, this contains entire path traversed by platform.
WsfPathTarget	mTarget
	Current 'goal' parameters.
HitPointEvent *	mHitEventPtr
	Event triggered when mover reaches waypoint.
WsfPathConstraints	mMoverConstraints
	Constraints of the mover.
WsfPathConstraints	mCurrentConstraints
	Currently used constraints.
double	mDefaultRadialAcceleration
double	mDefaultLinearAcceleration
double	mDefaultClimbRate
double	mPrePauseVelocity [3]
	}
double	mHeightOfTerrain
unsigned int	mTargetTypeFlags
bool	mIsOnGround
	Is the platform moving along the ground.
bool	mIsOnRoad
	Is the platform moving along roads.
bool	mPitchEnable
bool	mDebugKeepPath
bool	mDebugPathComputation
bool	mUseTerrain
double	mPathComputeTimestep
	Mover will optionally recompute path on a regular interval if this is non-zero.
WsfAngleOfAttack *	mAngleOfAttackPtr
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

Detailed Description

WsfSubsurfaceMover is a specialization of WsfNewWaypointMover for sea-borne, submersible vehicles It provides a GetDepth() method to retrieve the depth below the surface, and a GetHeightOfSurface() method. By default this mover will stop at the end of its route.

Constructor & Destructor Documentation

WsfSubsurfaceMover()

WsfSubsurfaceMover::WsfSubsurfaceMover

(

WsfScenario &

aScenario

)

References WsfPath::cEP_STOP, WsfRouteMover::SetEndOfPath(), and WsfWaypointMover::WsfWaypointMover().

Referenced by Clone().

~WsfSubsurfaceMover()

WsfSubsurfaceMover::~WsfSubsurfaceMover ( )

overridedefault

References WsfMover::WsfMover().

Member Function Documentation

Clone()

WsfMover * WsfSubsurfaceMover::Clone ( ) const

overridevirtual

Clone this object.

Returns

a pointer to the new object.

Implements WsfMover.

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

Dive()

void WsfSubsurfaceMover::Dive ( )

protectedvirtual

Set the state of the mover consistent with being under water.

References WsfWaypointMover::mIsOnGround.

GetHeightOfSurface()

double WsfSubsurfaceMover::GetHeightOfSurface ( ) const

inlineprotected

Return the Height of Surface of the point directly above the mover.

Referenced by PostMoveUpdate().

GetSpatialDomain()

WsfSpatialDomain WsfSubsurfaceMover::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_SUBSURFACE.

Initialize()

bool WsfSubsurfaceMover::Initialize ( double aSimTime )

overridevirtual

Initialize the kinematic state of the associated platform. Fix the initial location, orientation, speed and acceleration of the attached platform to what it should be at the beginning of its existence.

Parameters

aSimTime

The current simulation time.

Returns

True if successful.

Reimplemented from WsfRouteMover.

References WsfWaypointMover::Initialize().

PostMoveUpdate()

void WsfSubsurfaceMover::PostMoveUpdate ( double aSimTime )

overridevirtual

Reimplemented from WsfWaypointMover.

References GetHeightOfSurface(), WsfPlatformPart::GetPlatform(), WsfWaypointMover::IsOnGround(), WsfWaypointMover::PostMoveUpdate(), and Surface().

Surface()

void WsfSubsurfaceMover::Surface ( )

protectedvirtual

Set the state of the mover consistent with being on the surface of the water.

References WsfWaypointMover::mIsOnGround.

Referenced by PostMoveUpdate().

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

• WsfSubsurfaceMover.hpp
• WsfSubsurfaceMover.cpp