wsf::six_dof::GuidanceComputer Class Reference

#include <WsfSixDOF_GuidanceComputer.hpp>

Inheritance diagram for wsf::six_dof::GuidanceComputer:

Collaboration diagram for wsf::six_dof::GuidanceComputer:

Public Member Functions
	GuidanceComputer ()=delete
	GuidanceComputer (WsfScenario &aScenarioPtr)
	~GuidanceComputer ()=default
GuidanceComputer &	operator= (const GuidanceComputer &other)=delete
WsfProcessor *	Clone () const override
bool	Initialize (double aSimTime) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
void	UpdateGuidance (double aSimTime, double aCurTime, double aEndTime) override
double	GetCommandedAltitude ()
double	GetCommandedSpeed ()
bool	GetAllowRouteFollowing ()
bool	StopEngines () override
	Called from script interface to command the mover to stop the engines.
void	RouteChanged (double aSimTime) override
void	StageIgnition (double aSimTime, double aEventTime) override
void	StageBurnout (double aSimTime, double aEventTime) override
void	StageSeparation (double aSimTime, double aEventTime) override
Public Member Functions inherited from WsfGuidanceComputer
	WsfGuidanceComputer (WsfScenario &aScenarioPtr)
	~WsfGuidanceComputer () override
WsfGuidanceComputer &	operator= (const WsfGuidanceComputer &)=delete
virtual void	SensorTrackInitiated (double aSimTime, WsfSensor *aSensorPtr, const WsfTrack *aTrackPtr)
bool	ShowStatus () const
bool	ShowDiagnostics () const
bool	ShowGraphics () const
Phase &	GetCurrentPhase ()
double	GetCommandedFlightPathAngle () const
double	GetLastFlightPathAngle () const
double	GetLaunchComputerFlightPathAngle () const
double	GetTimeConstant (const Phase &aPhase) const
	Return the guidance time constant for the legacy guidance program.
double	GetTimeSinceLaunch (double aSimTime)
double	GetTimeSincePhaseStart (double aSimTime)
double	GetLastUpdateTime () const
void	DrawPoint (double aRedValue, double aGreenValue, double aBlueValue, int aPointSize)
void	PrintStatusHeader (double aSimTime, double aCurTime, ut::log::MessageStream &aStream)
WsfProcessor *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
const char *	GetScriptClassName () const override
void	UpdateGuidance (double aSimTime, double aCurTime, double aEndTime) override
bool	SelectPhase (WsfStringId aPhaseName)
bool	ClearCommandedAltitude (WsfStringId aPhaseName)
bool	ClearCommandedFlightPathAngle (WsfStringId aPhaseName)
bool	ClearCommandedSpeed (WsfStringId aPhaseName)
bool	ClearCommandedThrottle (WsfStringId aPhaseName)
bool	SetAllowRouteFollowing (WsfStringId aPhaseName, bool aValue)
bool	SetAimpointAltitudeOffset (WsfStringId aPhaseName, double aValue)
bool	SetAimpointAzimuthOffset (WsfStringId aPhaseName, double aValue, const std::string &aDirection)
bool	SetAimpointRangeOffset (WsfStringId aPhaseName, double aValue)
bool	SetAimpointEvaluationInterval (WsfStringId aPhaseName, double aValue)
bool	SetCommandedAltitude (WsfStringId aPhaseName, double aValue, bool aAltIsAGL)
bool	SetCommandedAzimuthOffset (WsfStringId aPhaseName, double aValue)
bool	SetCommandedFlightPathAngle (WsfStringId aPhaseName, double aValue)
bool	SetCommandedMach (WsfStringId aPhaseName, double aValue)
bool	SetCommandedSpeed (WsfStringId aPhaseName, double aValue)
bool	SetCommandedThrottle (WsfStringId aPhaseName, double aValue)
bool	SetGuidanceDelay (WsfStringId aPhaseName, double aValue)
bool	SetGuidanceTarget (WsfStringId aPhaseName, const std::string &aValue)
bool	SetProportionalNavigationGain (WsfStringId aPhaseName, double aValue)
bool	SetProportionalNavigationLimitAngle (WsfStringId aPhaseName, double aValue)
bool	SetProportionalNavigationMethod (WsfStringId aPhaseName, const std::string &aValue)
bool	SetVelocityPursuitGain (WsfStringId aPhaseName, double aValue)
bool	SetGeeBias (WsfStringId aPhaseName, double aValue)
virtual bool	SetLateralGeeBias (WsfStringId aPhaseName, double aValue)
bool	SetMaximumCommandedGees (WsfStringId aPhaseName, double aValue)
bool	SetMaximumPitchAngle (WsfStringId aPhaseName, double aValue)
bool	SetMaximumAscentRate (WsfStringId aPhaseName, double aValue)
bool	SetMaximumDescentRate (WsfStringId aPhaseName, double aValue)
bool	SetPitchChangeGain (WsfStringId aPhaseName, double aValue)
virtual bool	EjectStage (double aPreSeparationCoastTime, double aPreIgnitionCoastTime)
bool	StartProgram (WsfStringId aProgramName)
bool	StopProgram (WsfStringId aProgramName)
Public Member Functions inherited from WsfScriptProcessor
	WsfScriptProcessor (const WsfScenario &aScenario)
	WsfScriptProcessor (const WsfScenario &aScenario, WsfStringId aPartClass, const std::string &aPartVarName)
	~WsfScriptProcessor () override
WsfProcessor *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage) override
void	SendMessage (double aSimTime, const WsfMessage &aMessage) override
virtual void	ExecuteOnMessageCreate (double aSimTime, WsfMessage &aMessage)
virtual bool	ExecuteScript (double aSimTime, const std::string &aScriptName)
virtual bool	ExecuteScript (double aSimTime, WsfStringId aScriptName, UtScriptData &aScriptRetVal, const UtScriptDataList &aScriptArgs=UtScriptDataList())
void	ExecuteScriptAtTime (double aTime, WsfStringId aScriptName, const UtScriptDataList &aScriptArgs)
virtual void	SuppressMessage (bool aSuppressMessage)
WsfScriptMessageHandler *	GetMessageHandler ()
WsfScriptContext &	GetScriptContext ()
UtScriptContext *	GetScriptAccessibleContext () const override
void	SetPlatform (WsfPlatform *aPlatformPtr) override
const WsfBehaviorTree *	BehaviorTree () const
WsfAdvancedBehaviorTree *	AdvancedBehaviorTree () const
virtual const WsfScriptStateMachine *	GetStateMachine () const
wsf::ExternalLinks &	GetExternalLinks ()
std::string	State ()
std::string	StateAll ()
void	SetState (std::string &stateName)
void	SetStateAll (std::string &stateNameAll)
Public Member Functions inherited from WsfProcessor
	WsfProcessor (const WsfScenario &aScenario)
	~WsfProcessor () override=default
ComponentList &	GetComponents ()
const ComponentList &	GetComponents () const
virtual void	ProcessCallback (double aSimTime, const WsfCallback &aCallback)
WsfComponent *	CloneComponent () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
int	GetComponentInitializationOrder () const override
const char *	GetScriptClassName () const override
bool	PreInitialize (double aSimTime) override
void	PreInput () 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
double	GetUpdateInterval () const override
void	SetUpdateInterval (double aUpdateInterval) override
Public Member Functions inherited from WsfPlatformPart
	WsfPlatformPart (const WsfScenario &aScenario, int aPartType)
WsfPlatformPart &	operator= (const WsfPlatformPart &aRhs)=delete
	~WsfPlatformPart () 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.
virtual void	Restore (double aSimTime)
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	ReceiveMessage (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.
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
Public Member Functions inherited from WsfMoverGuidance
	WsfMoverGuidance ()
virtual	~WsfMoverGuidance ()

Protected Member Functions
	GuidanceComputer (const GuidanceComputer &aSrc)
void	SelectPhase (double aSimTime, double aChangeTime, WsfStringId aPhaseName) override
void	SelectWaypoint (double aSimTime, double aChangeTime, unsigned int aNewIndex) override
	Select the indicated waypoint as the current target waypoint.
bool	UpdateAimpoint (double aCurTime, const Phase &aPhase) override
void	UpdateTargetPerception (double aCurTime) override
	Update the perception of the target.
void	UpdateWeaponPerception (double aCurTime) override
	Update the perception of the weapon.
void	UpdateTerrainFollowing (const Phase &aPhase)
void	UpdateRouteFollowing (const Phase &aPhase)
void	CheckForWaypointChange (double aSimTime, double aEndTime) override
	Determine if a waypoint switch is required.
	WsfGuidanceComputer (const WsfGuidanceComputer &aSrc)
bool	BeginExternalCommand (WsfStringId aPhaseName, unsigned int &aPhaseIndex)
	Begin processing for an external command (i.e.: from a script or other external source).
void	BeginExternalCommandEcho (unsigned int aPhaseIndex, const char *aCommandPtr, ut::log::MessageStream &aStream)
virtual void	CheckForPhaseChange (double aSimTime, double aEndTime)
	Check for a change in the guidance phase.
double	ComputeAzimuth (const double aRelLoc[3]) const
double	ComputeElevation (const double aRelLoc[3]) const
void	ComputeInterceptData (double aCurTime, double &aTimeToGo, double &aRangeToGo)
	A helper for CheckForPhaseChange to compute the time and range to intercept.
unsigned int	FindPhase (WsfStringId aPhaseName) const
WsfGuidanceProgram *	FindProgram (WsfStringId aProgramName) const
double	GetSimTime () const
void	StartProgram (double aSimTime, double aChangeTime, WsfStringId aProgramName)
void	StopProgram (double aSimTime, double aChangeTime, WsfStringId aProgramName)
void	UpdateRouteFollowing (const Phase &aPhase)
void	UpdateTerrainFollowing (const Phase &aPhase)
bool	ValidateNextPhaseName (const Phase &aPhase, WsfStringId aNextPhaseName)
Protected Member Functions inherited from WsfScriptProcessor
	WsfScriptProcessor (const WsfScriptProcessor &aSrc)
	WsfProcessor (const WsfProcessor &aSrc)
	Copy constructor (for Clone()).
WsfProcessor &	operator= (const WsfProcessor &aRhs)=delete
	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
Mover *	mVehicleMoverPtr = nullptr
WsfGuidanceProgram *	mLegacyProgramPtr
ProgramList	mDefinedPrograms
	The list of defined programs.
ProgramList	mActivePrograms
size_t	mProgramCompleteIndex
double	mTimeConstant
	The guidance time constant for intercept navigation by the legacy program.
bool	mGuideToTruth
	'true' if should guide to target truth.
bool	mShowStatus
	'true' if 'show_status' specified
bool	mShowDiagnostics
	'true' if 'show_diagnostics' specified
bool	mShowCommands
	'true' if 'show_commands' specified
bool	mShowEvaluations
	'true' if 'show_evaluations' specified.
bool	mShowGraphics
	'true' if 'show_graphics' is specified
WsfGuidedMoverBase *	mMoverPtr
UtAtmosphere	mAtmosphere
UtCallbackHolder	mCallbacks
wsf::Terrain *	mTerrainPtr
double	mLaunchTime
double	mLaunchLocWCS [3]
double	mLastUpdateTime
double	mPhaseStartTime
double	mGuidanceStartTime
double	mCommandedFlightPathAngle
State	mState
	The state of the weapon and target.
std::vector< Phase >	mPhaseList
	The list of phases.
Phase	mPhaseTemplate
	The template used to construct a phase.
bool	mExplicitPhaseUsed
	'true' if a 'phase' command was used
bool	mImplicitPhaseUsed
	'true' if a phase was defined without using 'phase'
WsfStringId	mInitialPhaseName
	The name (ID) of the starting phase.
unsigned int	mPhaseIndex
	The index of the current phase.
double	mLastFlightPathAngle
double	mLastTgtUpdateTime
double	mLastTgtLocWCS [3]
double	mLastTgtVelWCS [3]
bool	mTgtStateDefined
double	mInterceptLocWCS [3]
double	mLaunchComputerFlightPathAngle
unsigned int	mRouteIndex
bool	mFollowingRoute
bool	mWasClosing
double	mAimpointExpireTime
double	mAimpointLocWCS [3]
unsigned int	mAimpointDrawId
WsfDraw *	mDrawPtr
	For drawing graphics.
bool	mOnExitScriptActive
	The following is used to prevent recursion if a SelectPhase occurs in the user 'on_exit' block.
Protected Attributes inherited from WsfScriptProcessor
WsfScriptContext *	mContextPtr
	Pointer to the script context.
WsfScriptMessageHandler *	mMessageHandlerPtr
	Pointer to the 'on_message' handler.
UtScript *	mOnMessageCreateScriptPtr
	Pointer to the 'on_message_create' script.
UtScriptClass *	mMessageClassPtr
wsf::ExternalLinks	mExternalLinks
	The external recipients.
WsfBehaviorTree *	mBehaviorTreePtr
ut::CloneablePtr< WsfAdvancedBehaviorTree >	mAdvancedBehaviorTreePtr
std::unique_ptr< WsfScriptStateMachine >	mStateMachinePtr
int	mStateIndex
bool	mSuppressMessage

Additional Inherited Members
Public Types inherited from WsfGuidanceComputer
enum	GuidanceTarget { cGT_DEFAULT , cGT_TRUTH , cGT_PERCEPTION , cGT_PREDICTED_INTERCEPT }
enum	OffsetDirection { cOD_LEFT , cOD_RIGHT , cOD_EITHER }
using	ComponentList = WsfComponentListT<WsfProcessorComponent>
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 WsfGuidanceComputer
static const double	cUNDEFINED_DOUBLE = 1.0E+30
	A value that indicates a double precision value has not been defined.
static const double	cFROM_LAUNCH_COMPUTER = 1.0E+31
	Indicates 'flight_path_angle from_launch_computer'.
static const double	cFLIGHT_PATH_ANGLE_TOLERANCE = 0.0001 * UtMath::cRAD_PER_DEG
	The tolerance for performing a flight path angle phase change.
static const double	cLARGE_POSITIVE_DOUBLE = 1.0E+30
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed
using	ProgramList = std::list<WsfGuidanceProgram*>

Detailed Description

This class derives from WsfGuidanceComputer and provides a class representing a guidance computer for steering/influencing a SixDOF Mover. The computer will follow proportional homing guidance to null line-of-sight rates to intercept a track. The track pointer will be "pushed" into this processor from some external source, and extrapolated in time if required. The primary output of the class are constrained steering commands in pitch and yaw, which are pushed into the Mover to control vehicle motion/guidance.

Constructor & Destructor Documentation

GuidanceComputer() [1/3]

wsf::six_dof::GuidanceComputer::GuidanceComputer ( )

delete

References GuidanceComputer().

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

GuidanceComputer() [2/3]

wsf::six_dof::GuidanceComputer::GuidanceComputer ( WsfScenario & aScenarioPtr )

explicit

References WsfGuidanceComputer::WsfGuidanceComputer().

~GuidanceComputer()

wsf::six_dof::GuidanceComputer::~GuidanceComputer ( )

default

GuidanceComputer() [3/3]

wsf::six_dof::GuidanceComputer::GuidanceComputer ( const GuidanceComputer & aSrc )

protected

References GuidanceComputer(), and WsfGuidanceComputer::WsfGuidanceComputer().

Member Function Documentation

CheckForWaypointChange()

void wsf::six_dof::GuidanceComputer::CheckForWaypointChange ( double aSimTime, double aEndTime )

overrideprotectedvirtual

Determine if a waypoint switch is required.

Reimplemented from WsfGuidanceComputer.

References WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfRoute::GetWaypointAt(), WsfGuidanceComputer::mRouteIndex, WsfGuidanceComputer::mState, mVehicleMoverPtr, WsfGuidanceComputer::mWasClosing, and SelectWaypoint().

Referenced by UpdateGuidance().

Clone()

WsfProcessor * wsf::six_dof::GuidanceComputer::Clone ( ) const

overridevirtual

Create a clone of this object.

Returns

A pointer to the new copy.

Implements WsfProcessor.

References GuidanceComputer(), and WsfProcessor::WsfProcessor().

Referenced by operator=().

GetAllowRouteFollowing()

bool wsf::six_dof::GuidanceComputer::GetAllowRouteFollowing ( )

inline

References WsfGuidanceComputer::GetCurrentPhase(), and WsfGuidanceComputer::Phase::mAllowRouteFollowing.

GetCommandedAltitude()

double wsf::six_dof::GuidanceComputer::GetCommandedAltitude ( )

inline

References WsfGuidanceComputer::GetCurrentPhase(), and WsfGuidanceComputer::Phase::mCommandedAlt.

GetCommandedSpeed()

double wsf::six_dof::GuidanceComputer::GetCommandedSpeed ( )

inline

References WsfGuidanceComputer::GetCurrentPhase(), and WsfGuidanceComputer::Phase::mCommandedSpeed.

Initialize()

bool wsf::six_dof::GuidanceComputer::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 WsfGuidanceProgramTypes::CreateInstance(), WsfPlatformPart::DebugEnabled(), WsfGuidanceComputer::FindPhase(), WsfGuidanceComputer::FindProgram(), WsfGuidanceProgramTypes::Get(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetScenario(), WsfPlatformPart::GetSimulation(), WsfGuidanceProgram::Initialize(), WsfScriptProcessor::Initialize(), WsfGuidanceComputer::mAimpointDrawId, WsfGuidanceComputer::mCallbacks, WsfGuidanceComputer::mDefinedPrograms, WsfGuidanceComputer::mDrawPtr, WsfGuidanceComputer::Phase::mEndOfRoutePhaseName, WsfGuidanceComputer::mInitialPhaseName, WsfGuidanceComputer::mLastUpdateTime, WsfGuidanceComputer::mLaunchLocWCS, WsfGuidanceComputer::mLaunchTime, WsfGuidanceComputer::mLegacyProgramPtr, WsfGuidanceComputer::Phase::mPhaseChangeList, WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::Phase::mPhaseName, WsfGuidanceComputer::Phase::mPrograms, WsfGuidanceComputer::Phase::mSensorTrackInitiatedPhaseName, WsfGuidanceComputer::mShowEvaluations, WsfGuidanceComputer::mShowGraphics, WsfGuidanceComputer::mShowStatus, WsfGuidanceComputer::Phase::mStageBurnoutPhaseName, WsfGuidanceComputer::Phase::mStageIgnitionPhaseName, WsfGuidanceComputer::Phase::mStageSeparationPhaseName, WsfGuidanceComputer::mTerrainPtr, mVehicleMoverPtr, ok, pi, RouteChanged(), WsfGuidanceComputer::SensorTrackInitiated(), WsfObserver::SensorTrackInitiated(), WsfPlatformPart::SetInitiallyTurnedOn(), StageBurnout(), StageIgnition(), StageSeparation(), WsfGuidanceComputer::ValidateNextPhaseName(), WsfGuidanceComputer::WsfGuidanceComputer(), and WsfGuidanceComputer::WsfGuidanceProgram.

Referenced by operator=().

operator=()

GuidanceComputer & wsf::six_dof::GuidanceComputer::operator= ( const GuidanceComputer & other )

delete

References Clone(), GuidanceComputer(), Initialize(), TurnOff(), TurnOn(), UpdateGuidance(), and WsfProcessor::WsfProcessor().

RouteChanged()

void wsf::six_dof::GuidanceComputer::RouteChanged ( double aSimTime )

overridevirtual

A callback from the mover that indicates that the route has changed.

Parameters

aSimTime

The current simulation time.

Reimplemented from WsfGuidanceComputer.

References WsfRoute::Empty(), WsfGuidanceComputer::mFollowingRoute, WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), and SelectWaypoint().

Referenced by Initialize().

SelectPhase()

void wsf::six_dof::GuidanceComputer::SelectPhase ( double aSimTime, double aChangeTime, WsfStringId aPhaseName )

overrideprotectedvirtual

Select the indicated phase as the current phase.

Parameters

aSimTime	The current simulation time.
aChangeTime	The time at which the phase change is actually occurring. This may be less than the current simulation time.
aPhaseName	The name (dictionary ID) of the phase that is to become the current phase.

Reimplemented from WsfGuidanceComputer.

References WsfGuidanceComputer::cFROM_LAUNCH_COMPUTER, WsfGuidanceComputer::cUNDEFINED_DOUBLE, WsfGuidanceComputer::DrawPoint(), WsfGuidanceComputer::Phase::ExecuteOnEntry(), WsfGuidanceComputer::Phase::ExecuteOnUpdate(), WsfGuidanceComputer::FindPhase(), WsfGuidanceComputer::FindProgram(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfObserver::GuidanceComputerPhaseChanged(), WsfGuidanceComputer::mActivePrograms, WsfGuidanceComputer::mAimpointExpireTime, WsfGuidanceComputer::mCommandedFlightPathAngle, WsfGuidanceComputer::Phase::mCommandedFlightPathAngle, WsfGuidanceComputer::Phase::mCommandedSpeed, WsfScriptProcessor::mContextPtr, WsfGuidanceComputer::Phase::mGuidanceDelay, WsfGuidanceComputer::mGuidanceStartTime, WsfGuidanceComputer::mLaunchComputerFlightPathAngle, WsfGuidanceComputer::mOnExitScriptActive, WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::mPhaseStartTime, WsfGuidanceComputer::mProgramCompleteIndex, WsfGuidanceComputer::Phase::mProgramCompletePhaseName, WsfGuidanceComputer::Phase::mPrograms, WsfGuidanceComputer::mShowGraphics, WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), WsfGuidanceProgram::Start(), UpdateRouteFollowing(), UpdateTerrainFollowing(), and WsfGuidanceComputer::WsfGuidanceProgram.

Referenced by SelectWaypoint(), StageBurnout(), StageIgnition(), StageSeparation(), and TurnOn().

SelectWaypoint()

void wsf::six_dof::GuidanceComputer::SelectWaypoint ( double aSimTime, double aChangeTime, unsigned int aNewIndex )

overrideprotectedvirtual

Select the indicated waypoint as the current target waypoint.

Reimplemented from WsfGuidanceComputer.

References WsfRoute::Empty(), WsfGuidanceComputer::mFollowingRoute, WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::mRouteIndex, WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), and SelectPhase().

Referenced by CheckForWaypointChange(), and RouteChanged().

StageBurnout()

void wsf::six_dof::GuidanceComputer::StageBurnout ( double aSimTime, double aEventTime )

overridevirtual

A callback from the mover that indicates the current stage has just burned-out.

Parameters

aSimTime	The current simulation time.
aEventTime	The actual time the stage burned-out. This may be less than the current simulation time.

Reimplemented from WsfGuidanceComputer.

References WsfGuidanceComputer::DrawPoint(), WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::mShowGraphics, WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), SelectPhase(), and UpdateWeaponPerception().

Referenced by Initialize().

StageIgnition()

void wsf::six_dof::GuidanceComputer::StageIgnition ( double aSimTime, double aEventTime )

overridevirtual

A callback from the mover that indicates the current stage is igniting.

Parameters

aSimTime	The current simulation time.
aEventTime	The actual time the stage ignited. This may be less than the current simulation time.

Reimplemented from WsfGuidanceComputer.

References WsfGuidanceComputer::DrawPoint(), WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::mShowGraphics, WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), SelectPhase(), and UpdateWeaponPerception().

Referenced by Initialize().

StageSeparation()

void wsf::six_dof::GuidanceComputer::StageSeparation ( double aSimTime, double aEventTime )

overridevirtual

A callback from the mover that indicates the current stage is separating.

Parameters

aSimTime	The current simulation time.
aEventTime	The actual time the stage separated. This may be less than the current simulation time.

Reimplemented from WsfGuidanceComputer.

References WsfGuidanceComputer::DrawPoint(), WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::mShowGraphics, WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), SelectPhase(), and UpdateWeaponPerception().

Referenced by Initialize().

StopEngines()

bool wsf::six_dof::GuidanceComputer::StopEngines ( )

overridevirtual

Called from script interface to command the mover to stop the engines.

Reimplemented from WsfGuidanceComputer.

References WsfGuidanceComputer::GetSimTime(), WsfGuidanceComputer::mShowStatus, mVehicleMoverPtr, WsfGuidanceComputer::PrintStatusHeader(), simTime, and wsf::six_dof::utils::TimeToTime().

TurnOff()

void wsf::six_dof::GuidanceComputer::TurnOff ( double aSimTime )

overridevirtual

Turn off the platform part (system).

Parameters

aSimTime

The current simulation time.

Reimplemented from WsfPlatformPart.

References WsfPlatformPart::GetPlatform(), mVehicleMoverPtr, WsfProcessor::TurnOff(), and WsfMoverGuidance::WsfMoverGuidance().

Referenced by operator=().

TurnOn()

void wsf::six_dof::GuidanceComputer::TurnOn ( double aSimTime )

overridevirtual

Turn on the platform part (system).

Parameters

aSimTime

The current simulation time.

Reimplemented from WsfPlatformPart.

References WsfGuidanceComputer::mInitialPhaseName, WsfGuidanceComputer::mLastUpdateTime, WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, mVehicleMoverPtr, SelectPhase(), WsfProcessor::TurnOn(), UpdateTargetPerception(), and UpdateWeaponPerception().

Referenced by operator=().

UpdateAimpoint()

bool wsf::six_dof::GuidanceComputer::UpdateAimpoint ( double aCurTime, const Phase & aPhase )

overrideprotectedvirtual

Update the aimpoint location to which we will guide.

Returns

true if the aimpoint is valid.

Reimplemented from WsfGuidanceComputer.

References WsfPath::cALT_REF_AGL, WsfPath::cDOUBLE_NOT_SET, WsfGuidanceComputer::cGT_PREDICTED_INTERCEPT, WsfGuidanceComputer::cOD_EITHER, WsfGuidanceComputer::cOD_LEFT, WsfGuidanceComputer::cOD_RIGHT, WsfGuidanceComputer::cUNDEFINED_DOUBLE, WsfWaypoint::GetAlt(), WsfWaypoint::GetAltRef(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfRoute::GetWaypointAt(), WsfGuidanceComputer::Phase::mAimpointAltitudeOffset, WsfGuidanceComputer::Phase::mAimpointAzimuthOffset, WsfGuidanceComputer::mAimpointDrawId, WsfGuidanceComputer::Phase::mAimpointEvaluationInterval, WsfGuidanceComputer::mAimpointExpireTime, WsfGuidanceComputer::mAimpointLocWCS, WsfGuidanceComputer::Phase::mAimpointRangeOffset, WsfGuidanceComputer::Phase::mCommandedAlt, WsfGuidanceComputer::Phase::mCommandedAltIsAGL, WsfGuidanceComputer::mDrawPtr, WsfGuidanceComputer::mFollowingRoute, WsfGuidanceComputer::Phase::mGuidanceTarget, WsfGuidanceComputer::mInterceptLocWCS, WsfGuidanceComputer::Phase::mOffsetDirection, WsfGuidanceComputer::mRouteIndex, WsfGuidanceComputer::mShowGraphics, WsfGuidanceComputer::mState, WsfGuidanceComputer::mTerrainPtr, WsfGuidanceComputer::mTgtStateDefined, and mVehicleMoverPtr.

Referenced by UpdateGuidance().

UpdateGuidance()

void wsf::six_dof::GuidanceComputer::UpdateGuidance ( double aSimTime, double aCurTime, double aEndTime )

overridevirtual

Perform a guidance update. This is called from the mover when a guidance update is desired. It computes the desired values and pushes them back in to the mover.

Parameters

aSimTime	The current simulation time.
aCurTime	The current internal time within the mover. This can be less than aSimTime.
aEndTime	The internal time to which the mover is trying to advance. This is typically one mover integration step beyond aCurTime

Implements WsfMoverGuidance.

References WsfGuidanceProgram::cCOMPLETE, WsfGuidanceComputer::CheckForPhaseChange(), CheckForWaypointChange(), WsfGuidanceComputer::cUNDEFINED_DOUBLE, WsfPlatformPart::DebugEnabled(), deltaTime, WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfObject::GetType(), WsfPlatformPart::IsTurnedOn(), WsfGuidanceComputer::Commands::mAccelCmd, WsfGuidanceComputer::mActivePrograms, WsfGuidanceComputer::Commands::mAngleRateCmd, WsfGuidanceComputer::mAtmosphere, WsfGuidanceComputer::Phase::mCommandedSpeed, WsfScriptProcessor::mContextPtr, WsfGuidanceComputer::mFollowingRoute, WsfGuidanceComputer::mGuidanceStartTime, WsfGuidanceComputer::mLastUpdateTime, WsfGuidanceComputer::mLaunchTime, WsfGuidanceComputer::mLegacyProgramPtr, WsfGuidanceComputer::Phase::mMaxGeeCmd, WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::Phase::mPhaseName, WsfGuidanceComputer::mProgramCompleteIndex, WsfGuidanceComputer::Phase::mProgramCompletePhaseName, WsfGuidanceComputer::Phase::mPrograms, WsfGuidanceComputer::mState, WsfGuidanceComputer::mTgtStateDefined, mVehicleMoverPtr, UpdateAimpoint(), UpdateTargetPerception(), UpdateWeaponPerception(), and WsfGuidanceComputer::WsfGuidanceProgram.

Referenced by operator=().

UpdateRouteFollowing()

void wsf::six_dof::GuidanceComputer::UpdateRouteFollowing ( const Phase & aPhase )

protected

Determine if we are starting, continuing or stopping route following.

Parameters

aPhase

The current phase.

References WsfRoute::Empty(), WsfGuidanceComputer::Phase::mAllowRouteFollowing, WsfGuidanceComputer::mFollowingRoute, WsfGuidanceComputer::mRouteIndex, and mVehicleMoverPtr.

Referenced by SelectPhase().

UpdateTargetPerception()

void wsf::six_dof::GuidanceComputer::UpdateTargetPerception ( double aCurTime )

overrideprotectedvirtual

Update the perception of the target.

Reimplemented from WsfGuidanceComputer.

References WsfGuidanceComputer::cGT_PERCEPTION, WsfGuidanceComputer::cGT_TRUTH, WsfGuidanceComputer::cLARGE_POSITIVE_DOUBLE, deltaTime, WsfTrackManager::GetCurrentTarget(), WsfPlatform::GetLastUpdateTime(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfGuidanceComputer::Phase::mGuidanceTarget, WsfGuidanceComputer::mGuideToTruth, WsfGuidanceComputer::mLastTgtLocWCS, WsfGuidanceComputer::mLastTgtUpdateTime, WsfGuidanceComputer::mLastTgtVelWCS, WsfGuidanceComputer::mPhaseIndex, WsfGuidanceComputer::mPhaseList, WsfGuidanceComputer::mState, WsfGuidanceComputer::mTgtStateDefined, mVehicleMoverPtr, trackPtr, and WsfPlatform::Update().

Referenced by TurnOn(), and UpdateGuidance().

UpdateTerrainFollowing()

void wsf::six_dof::GuidanceComputer::UpdateTerrainFollowing ( const Phase & aPhase )

protected

Update the terrain following status.

Parameters

aPhase

The current phase.

References WsfGuidanceComputer::cUNDEFINED_DOUBLE, WsfGuidanceComputer::Phase::mCommandedAlt, WsfGuidanceComputer::Phase::mCommandedAltIsAGL, and mVehicleMoverPtr.

Referenced by SelectPhase().

UpdateWeaponPerception()

void wsf::six_dof::GuidanceComputer::UpdateWeaponPerception ( double aCurTime )

overrideprotectedvirtual

Update the perception of the weapon.

Reimplemented from WsfGuidanceComputer.

References WsfPlatformPart::GetPlatform(), WsfGuidanceComputer::mLastFlightPathAngle, WsfGuidanceComputer::mState, and mVehicleMoverPtr.

Referenced by StageBurnout(), StageIgnition(), StageSeparation(), TurnOn(), and UpdateGuidance().

Member Data Documentation

mVehicleMoverPtr

Mover* wsf::six_dof::GuidanceComputer::mVehicleMoverPtr = nullptr

protected

Referenced by CheckForWaypointChange(), Initialize(), RouteChanged(), SelectPhase(), SelectWaypoint(), StageBurnout(), StageIgnition(), StageSeparation(), StopEngines(), TurnOff(), TurnOn(), UpdateAimpoint(), UpdateGuidance(), UpdateRouteFollowing(), UpdateTargetPerception(), UpdateTerrainFollowing(), and UpdateWeaponPerception().

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

• WsfSixDOF_GuidanceComputer.hpp
• WsfSixDOF_GuidanceComputer.cpp