#include <WsfNavigationErrors.hpp>

Inheritance diagram for WsfNavigationErrors:

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Collaboration diagram for WsfNavigationErrors:

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Classes
class	Term
	A single term in an error polynomial. More...

Public Member Functions
	WsfNavigationErrors ()
	WsfNavigationErrors (const WsfNavigationErrors &aSrc)
WsfNavigationErrors &	operator= (const WsfNavigationErrors &aRhs)
	~WsfNavigationErrors () override
Public Member Functions inherited from WsfSimpleComponentT< WsfPlatformComponent >
	WsfSimpleComponentT ()=default
	Empty constructor for serialization.
	WsfSimpleComponentT (int aRole, WsfStringId aName)
	WsfSimpleComponentT (int aRole)
	WsfSimpleComponentT (WsfStringId aName)
	WsfSimpleComponentT (const WsfSimpleComponentT &aSrc)
WsfSimpleComponentT &	operator= (const WsfSimpleComponentT &aRhs)
	~WsfSimpleComponentT () override=default
WsfStringId	GetComponentName () const override
const int *	GetComponentRoles () const override
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 WsfNamed
	WsfNamed ()
	WsfNamed (WsfStringId aName)
	WsfNamed (const WsfNamed &)=default
WsfNamed &	operator= (const WsfNamed &)=default
virtual	~WsfNamed ()=default
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)
Public Member Functions inherited from WsfSinglePlatformObserver
virtual	~WsfSinglePlatformObserver ()
virtual void	OnPlatformDeleting (double aSimTime, WsfPlatform *aPlatformPtr)
	Called before the platform is actually deleted.
virtual void	OnPlatformDeleted (double aSimTime, WsfPlatform *aPlatformPtr)
	Called just before the platform is removed from the simulation.

Static Public Member Functions
static void	RegisterComponentFactory (WsfScenario &aScenario)
static WsfNavigationErrors *	Find (const WsfPlatform &aPlatform)

Overrides of WsfSinglePlatformObserver.
enum	GPS_Status { cGPS_INACTIVE = -1 , cGPS_PERFECT = 0 , cGPS_ACTIVE = 1 , cGPS_DEGRADED = 2 , cGPS_EXTERNAL = 3 }
typedef std::vector< Term >	Polynomial
WsfPlatform *	mPlatformPtr
	Pointer to the platform for which errors are being computed.
GPS_Status	mGPS_Status
	GPS status. -1: no GPS (use INS), 0 = perfect (no errors), 1 : GPS Active; 2 GPS Degraded.
WsfVariable< int >	mGPS_StatusVar
WsfVariable< double >	mGPS_InTrackError
	Standard deviation of a Gaussian distribution for the 'in-track' errors for GPS.
WsfVariable< double >	mGPS_CrossTrackError
	Standard deviation of a Gaussian distribution for the 'cross-track' errors for GPS.
WsfVariable< double >	mGPS_VerticalError
	Standard deviation of a Gaussian distribution for vertical errors for GPS.
WsfVariable< double >	mGPS_DegradedMultiplier
WsfVariable< double >	mINS_GyroscopeBiasError
	Standard deviation of a Gaussian distribution for the INS gyroscope bias error.
WsfVariable< double >	mINS_AccelerometerBiasError
	Standard deviation of a Gaussian distribution for the INS accelerometer bias error.
WsfVariable< double >	mINS_RandomWalkError
	Standard deviation of a Gaussian distribution for the INS angular random walk error.
WsfVariable< double >	mINS_VerticalError
	Standard deviation of a Gaussian distribution for vertical error for INS.
static GPS_Status	GetGPS_Status (int aStatus)
void	OnPlatformUpdated (double aSimTime, WsfPlatform *aPlatformPtr) override
	Callback from platform when the mover is updated.
double	GetLastUpdateTime () const
	Get the time when the last call was made.
ut::coords::RSCS	GetLocationErrorRSCS () const
ut::coords::WCS	GetLocationErrorWCS () const
void	SetLocationErrorWCS (const ut::coords::WCS &aLocationErrorWCS)
ut::coords::WCS	GetPerceivedLocationWCS () const
	Get the perceived WCS location of the platform as of the last update.
void	GetPerceivedLocationLLA (double &aLat, double &aLon, double &aAlt) const
	Get the perceived latitude, longitude and altitude of the platform as of the last update.
UtEntity &	GetPerceivedEntity ()
void	Handoff (double aSimTime, WsfNavigationErrors *aSourcePtr)
	Hand-off of navigation error status from one platform to a another platform.
virtual bool	SetGPS_Status (double aSimTime, GPS_Status aStatus)
GPS_Status	GetGPS_Status () const
WsfSimulation *	GetSimulation () const
WSF_DEPRECATED void	GetLocationErrorWCS (double aLocationErrorWCS[3]) const
WSF_DEPRECATED void	GetLocationErrorXYZ (double aLocationErrorXYZ[3]) const
WSF_DEPRECATED void	GetPerceivedLocationWCS (double aLocationWCS[3]) const
	Get the perceived WCS location of the platform as of the last update.
virtual void	InitializeGPS_Status (double aSimTime)
ut::coords::RSCS	ConvertNED_ToRSCS (UtEntity *aEntityPtr, const ut::coords::NED &aLocNED) const
ut::coords::NED	ConvertRSCS_ToNED (UtEntity *aEntityPtr, const ut::coords::RSCS &aLocRSCS) const
double	GlobalGaussian ()
double	LocalGaussian ()
void	CompressPolynomial (Polynomial &aTerms)
	Compress a polynomial to remove terms with a zero coefficient.
double	EvaluatePolynomial (double aT, const Polynomial &aTerms) const
void	ReadPolynomial (UtInput &aInput, Polynomial &aTerms)
std::string	StatusString (int aStatus) const
virtual void	GPS_Update (double aSimTime)
void	INS_Initialize (double aSimTime)
void	INS_PrintEquations (const std::string &aString, const Polynomial aTerms[3], ut::log::MessageStream &aStream) const
void	INS_Start (double aSimTime)
void	INS_Update (double aSimTime)
void	WriteTimeHistory (double aSimTime)

INS Error polynomial.
The INS error polynomials are user-defined 10-term polynomials that is a function of time (since the start of INS-navigation). Separate polynomials can be defined for the horizontal (XY) and vertical (Z) directions. Prior to initialization the user-defined XY terms are stored in the X terms arrays. During initialization the X terms are copied to the Y terms and then the X/Y/Z arrays a multiplied by a separate random draw.
Polynomial	mINS_LocError [3]
Polynomial	mINS_VelError [3]
Polynomial	mINS_AclError [3]
ut::coords::WCS	mExternalLocationErrorWCS
	The location error used when mGPS_Status == GPS_Status::cGPS_EXTERNAL.
double	mINS_ScaleFactor [3]
	A simple scale factor for the INS errors.
double	mLastUpdateTime
double	mINS_StartTime
	The time when INS mode was initiated.
bool	mRandomnessEnabled
	true if randomness is enabled (default true).
bool	mShowStatusChanges
	true if status change messages should be written to stdout.
bool	mPerceivedEntityValid
bool	mINS_ErrorsInitialized
	true if INS errors have been initialized.
UtEntity	mPerceivedEntity
	The entity that represents the perceived state.
UtEntity	mTruthEntity
	The truth entity state.
ut::Random	mRandom
	Random number stream.
std::string	mTimeHistoryPath
std::ofstream	mTimeHistoryOfs
	Stream for writing time history output.

Component infrastructure methods
WsfComponent *	CloneComponent () const override
void *	QueryInterface (int aRole) override
int	GetComponentInitializationOrder () const override
void	ComponentParentChanged (WsfPlatform *aPlatformPtr) override

Common infrastructure methods.
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime)

Additional Inherited Members
Public Types inherited from WsfComponentT< WsfPlatform >
typedef WsfPlatform	ParentType
	This is needed to support the WsfComponentList template.
int	mRoles [2]

Detailed Description

A simple navigation error model. This is an optional object that can be instantiated on a platform which is responsible for modeling where the platform THINKS it is located. This is used when producing reports from the platform that include the location of the reporting platform.

Member Typedef Documentation

◆ Polynomial

typedef std::vector<Term> WsfNavigationErrors::Polynomial

protected

Member Enumeration Documentation

◆ GPS_Status

enum WsfNavigationErrors::GPS_Status

Enumerator
cGPS_INACTIVE
cGPS_PERFECT
cGPS_ACTIVE
cGPS_DEGRADED
cGPS_EXTERNAL

Constructor & Destructor Documentation

◆ WsfNavigationErrors() [1/2]

WsfNavigationErrors::WsfNavigationErrors ( )

◆ WsfNavigationErrors() [2/2]

WsfNavigationErrors::WsfNavigationErrors ( const WsfNavigationErrors & aSrc )

◆ ~WsfNavigationErrors()

WsfNavigationErrors::~WsfNavigationErrors ( )

override

References cGPS_INACTIVE, GetLocationErrorRSCS(), mGPS_Status, mINS_StartTime, mLastUpdateTime, mPlatformPtr, and mShowStatusChanges.

Member Function Documentation

◆ CloneComponent()

WsfComponent * WsfNavigationErrors::CloneComponent ( ) const

inlineoverridevirtual

Clones a component. May return null if component does not support clone.

Implements WsfComponent.

References WsfNavigationErrors().

◆ ComponentParentChanged()

void WsfNavigationErrors::ComponentParentChanged ( WsfPlatform * aParentPtr )

inlineoverridevirtual

The parent to which the component is attached has been updated. This virtual method is called whenever the components parent attachment has been changed. This is provided so derived class receives notification of the change.

Parameters

aParentPtr Pointer to the new parent. The new parent may be null if the attachment was severed.

Reimplemented from WsfComponentT< WsfPlatform >.

References mPlatformPtr.

◆ CompressPolynomial()

void WsfNavigationErrors::CompressPolynomial ( Polynomial & aTerms )

protected

Compress a polynomial to remove terms with a zero coefficient.

Referenced by INS_Initialize().

◆ ConvertNED_ToRSCS()

ut::coords::RSCS WsfNavigationErrors::ConvertNED_ToRSCS	(	UtEntity *	aEntityPtr,
		const ut::coords::NED &	aLocNED ) const

protected

Convert an error vector in the NED frame to the RSCS frame.

This transforms a error vector in the NED frame to local RSCS frame (X axis aligned with the heading vector, and the XY plane tangent to the Earth's surface).

Referenced by GetLocationErrorRSCS().

◆ ConvertRSCS_ToNED()

ut::coords::NED WsfNavigationErrors::ConvertRSCS_ToNED	(	UtEntity *	aEntityPtr,
		const ut::coords::RSCS &	aLocRSCS ) const

protected

Convert an RSCS error vector to an NED coordinate.

This transforms a error vector in the local RSCS frame (X axis aligned with the heading vector, and the XY plane tangent to the Earth's surface) into a coordinate in the standard NED frame.

Referenced by GPS_Update(), INS_Start(), and INS_Update().

◆ EvaluatePolynomial()

double WsfNavigationErrors::EvaluatePolynomial	(	double	aT,
		const Polynomial &	aTerms ) const

inlineprotected

Evaluate a polynomial for at the specified point. This assumes terms with zero coefficients have been removed.

Referenced by INS_Start(), and INS_Update().

◆ Find()

WsfNavigationErrors * WsfNavigationErrors::Find ( const WsfPlatform & aPlatform )

static

References cWSF_COMPONENT_NAVIGATION_ERRORS, WsfComponentListT< COMPONENT_TYPE >::FindComponentByRole(), and WsfNavigationErrors().

◆ GetComponentInitializationOrder()

int WsfNavigationErrors::GetComponentInitializationOrder ( ) const

inlineoverridevirtual

Forces a specific initialization order. Components are initialized in increasing initialization order value.

Reimplemented from WsfComponent.

References cWSF_INITIALIZE_ORDER_NAVIGATION_ERRORS.

◆ GetGPS_Status() [1/2]

GPS_Status WsfNavigationErrors::GetGPS_Status ( ) const

inline

References mGPS_Status.

Referenced by Initialize(), WsfIterativeRouteMover::IsWaypointSwitchTime(), UT_DEFINE_SCRIPT_METHOD(), and UT_DEFINE_SCRIPT_METHOD().

◆ GetGPS_Status() [2/2]

WsfNavigationErrors::GPS_Status WsfNavigationErrors::GetGPS_Status ( int aStatus )

static

This method is used to copy the value of the GPS_StatusVar variable, used for ProcessInput and referencing a script variable if it exists, to the GPS_Status variable, and to honor the legacy interface in the script method.

Parameters

aStatus The (legacy) integer status, defined to be cINACTIVE if aStatus < 0, cGPS_PERFECT if aStatus == 0, cGPS_DEGRADED if aStatus == 2, and cGPS_ACTIVE otherwise.

Returns: the corresponding WsfNavigationErrors::GPS_Status.

References cGPS_ACTIVE, cGPS_DEGRADED, cGPS_EXTERNAL, cGPS_INACTIVE, and cGPS_PERFECT.

◆ GetLastUpdateTime()

double WsfNavigationErrors::GetLastUpdateTime ( ) const

inline

Get the time when the last call was made.

References mLastUpdateTime.

◆ GetLocationErrorRSCS()

ut::coords::RSCS WsfNavigationErrors::GetLocationErrorRSCS ( ) const

Return the difference between where the platform thinks it is located and where it is actually located, as a vector in the Roll Stabilized Coordinate System (RSCS).

Returns: The RSCS error vector (P_perceived - P_true).

References cGPS_PERFECT, ConvertNED_ToRSCS(), GetLocationErrorWCS(), mGPS_Status, and mPlatformPtr.

Referenced by GetLocationErrorXYZ(), WriteTimeHistory(), and ~WsfNavigationErrors().

◆ GetLocationErrorWCS() [1/2]

ut::coords::WCS WsfNavigationErrors::GetLocationErrorWCS ( ) const

Return difference between where the platform thinks it is located and where it is actual located.

Returns: The WCS error vector (P_perceived - P_true).

References cGPS_EXTERNAL, cGPS_PERFECT, mExternalLocationErrorWCS, mGPS_Status, mPerceivedEntity, and mPlatformPtr.

Referenced by GetLocationErrorRSCS(), and GetLocationErrorWCS().

◆ GetLocationErrorWCS() [2/2]

void WsfNavigationErrors::GetLocationErrorWCS ( double aLocationErrorWCS[3] ) const

Return difference between where the platform thinks it is located and where it is actual located.

Parameters

aLocationErrorWCS The WCS error vector (P_perceived - P_true).

References GetLocationErrorWCS().

◆ GetLocationErrorXYZ()

void WsfNavigationErrors::GetLocationErrorXYZ ( double aLocationErrorXYZ[3] ) const

Return difference between where the platform thinks it is located and where it is actual located.

Parameters

aLocationErrorXYZ The RSCS error vector (P_perceived - P_true).

References GetLocationErrorRSCS().

◆ GetPerceivedEntity()

UtEntity & WsfNavigationErrors::GetPerceivedEntity ( )

inline

References mPerceivedEntity.

Referenced by WsfIterativeRouteMover::IsWaypointSwitchTime().

◆ GetPerceivedLocationLLA()

void WsfNavigationErrors::GetPerceivedLocationLLA	(	double &	aLat,
		double &	aLon,
		double &	aAlt ) const

Get the perceived latitude, longitude and altitude of the platform as of the last update.

References cGPS_PERFECT, mGPS_Status, mPerceivedEntity, and mPlatformPtr.

◆ GetPerceivedLocationWCS() [1/2]

ut::coords::WCS WsfNavigationErrors::GetPerceivedLocationWCS ( ) const

Get the perceived WCS location of the platform as of the last update.

References cGPS_PERFECT, mGPS_Status, mPerceivedEntity, and mPlatformPtr.

Referenced by GetPerceivedLocationWCS().

◆ GetPerceivedLocationWCS() [2/2]

void WsfNavigationErrors::GetPerceivedLocationWCS ( double aLocationWCS[3] ) const

Get the perceived WCS location of the platform as of the last update.

References GetPerceivedLocationWCS().

◆ GetSimulation()

WsfSimulation * WsfNavigationErrors::GetSimulation ( ) const

References mPlatformPtr.

Referenced by GlobalGaussian(), Initialize(), and SetGPS_Status().

◆ GlobalGaussian()

double WsfNavigationErrors::GlobalGaussian ( )

protected

References WsfSimulation::GetRandom(), GetSimulation(), and mRandomnessEnabled.

Referenced by INS_Initialize().

◆ GPS_Update()

void WsfNavigationErrors::GPS_Update ( double aSimTime )

protectedvirtual

References cGPS_DEGRADED, cGPS_EXTERNAL, ConvertRSCS_ToNED(), LocalGaussian(), mExternalLocationErrorWCS, mGPS_CrossTrackError, mGPS_DegradedMultiplier, mGPS_InTrackError, mGPS_Status, mGPS_VerticalError, mPerceivedEntity, mPerceivedEntityValid, and mPlatformPtr.

Referenced by InitializeGPS_Status(), and Update().

◆ Handoff()

void WsfNavigationErrors::Handoff	(	double	aSimTime,
		WsfNavigationErrors *	aSourcePtr )

Hand-off of navigation error status from one platform to a another platform.

References mPerceivedEntity, mPerceivedEntityValid, and WsfNavigationErrors().

◆ Initialize()

bool WsfNavigationErrors::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 GetGPS_Status(), WsfSimulation::GetRandom(), WsfSimulation::GetScriptContext(), GetSimulation(), mGPS_CrossTrackError, mGPS_DegradedMultiplier, mGPS_InTrackError, mGPS_Status, mGPS_StatusVar, mGPS_VerticalError, mINS_AccelerometerBiasError, mINS_GyroscopeBiasError, mINS_RandomWalkError, mINS_VerticalError, mPlatformPtr, mRandom, and ok.

◆ Initialize2()

bool WsfNavigationErrors::Initialize2 ( double aSimTime )

overridevirtual

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

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

Parameters

aSimTime The current simulation time.

Returns: true if successful or false if unsuccessful.

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

Reimplemented from WsfComponent.

References InitializeGPS_Status(), mLastUpdateTime, mPlatformPtr, mTimeHistoryOfs, and mTimeHistoryPath.

◆ InitializeGPS_Status()

void WsfNavigationErrors::InitializeGPS_Status ( double aSimTime )

protectedvirtual

References cGPS_INACTIVE, cGPS_PERFECT, GPS_Update(), INS_Initialize(), INS_Start(), INS_Update(), mGPS_Status, mINS_ErrorsInitialized, mINS_StartTime, and mPerceivedEntityValid.

Referenced by Initialize2(), and SetGPS_Status().

◆ INS_Initialize()

void WsfNavigationErrors::INS_Initialize ( double aSimTime )

protected

Initialize the INS error equations.

This is called the FIRST time INS is enabled for a given platform. It initializes the error equation coefficients based on input parameters and random draws.

Parameters

aSimTime The current simulation time.

References CompressPolynomial(), GlobalGaussian(), INS_PrintEquations(), mINS_AccelerometerBiasError, mINS_AclError, mINS_ErrorsInitialized, mINS_GyroscopeBiasError, mINS_LocError, mINS_RandomWalkError, mINS_ScaleFactor, mINS_VelError, mINS_VerticalError, mPlatformPtr, and mShowStatusChanges.

Referenced by InitializeGPS_Status().

◆ INS_PrintEquations()

void WsfNavigationErrors::INS_PrintEquations	(	const std::string &	aString,
		const Polynomial	aTerms[3],
		ut::log::MessageStream &	aStream ) const

protected

References mINS_LocError.

Referenced by INS_Initialize().

◆ INS_Start()

void WsfNavigationErrors::INS_Start ( double aSimTime )

protected

References ConvertRSCS_ToNED(), EvaluatePolynomial(), mINS_LocError, mINS_StartTime, mPerceivedEntity, mPerceivedEntityValid, mPlatformPtr, and mTruthEntity.

Referenced by InitializeGPS_Status().

◆ INS_Update()

void WsfNavigationErrors::INS_Update ( double aSimTime )

protected

References ConvertRSCS_ToNED(), EvaluatePolynomial(), mINS_AclError, mINS_StartTime, mINS_VelError, mLastUpdateTime, mPerceivedEntity, mPlatformPtr, and mTruthEntity.

Referenced by InitializeGPS_Status(), and Update().

◆ LocalGaussian()

double WsfNavigationErrors::LocalGaussian ( )

protected

References mRandom, and mRandomnessEnabled.

Referenced by GPS_Update().

◆ OnPlatformUpdated()

void WsfNavigationErrors::OnPlatformUpdated	(	double	aSimTime,
		WsfPlatform *	aPlatformPtr )

overridevirtual

Callback from platform when the mover is updated.

Reimplemented from WsfSinglePlatformObserver.

References Update().

◆ operator=()

◆ ProcessInput()

bool WsfNavigationErrors::ProcessInput ( UtInput & aInput )

overridevirtual

Evaluate the current input command and determine if it is one processed by the component. The component should get the current command from the input stream and determine if it is one that it recognizes. If it does not recognize the command then it should leave the command in the input stream and return false. If it does recognize the command then it should process the command and return true. If invalid arguments are encountered then it should throw an exception.

Parameters

aInput The input stream.

Returns: true if the current command was recognized (and processed), or false if the command was not recognized.

Exceptions

UtInput::ExceptionBase if an invalid input was encountered.

Reimplemented from WsfComponent.

References mGPS_CrossTrackError, mGPS_DegradedMultiplier, mGPS_InTrackError, mGPS_StatusVar, mGPS_VerticalError, mINS_AccelerometerBiasError, mINS_GyroscopeBiasError, mINS_LocError, mINS_RandomWalkError, mINS_ScaleFactor, mINS_VerticalError, mRandomnessEnabled, mShowStatusChanges, mTimeHistoryPath, and ReadPolynomial().

◆ QueryInterface()

void * WsfNavigationErrors::QueryInterface ( int aRole )

inlineoverridevirtual

Requests a component's role interface. A component can support one or more roles.

Parameters

aRole The role whose interface is to be returned.

Returns: A pointer to the object if it supports the indicated role, or 'null' if it does not. Usage: WsfProcessor* procPtrOrNull = (WsfProcessor*)componentPtr->QueryComponentInterface(cWSF_COMPONENT_PROCESSOR);

Implements WsfComponent.

References WsfSimpleComponentT< WsfPlatformComponent >::mRoles.

◆ ReadPolynomial()

void WsfNavigationErrors::ReadPolynomial	(	UtInput &	aInput,
		Polynomial &	aTerms )

protected

Referenced by ProcessInput().

◆ RegisterComponentFactory()

void WsfNavigationErrors::RegisterComponentFactory ( WsfScenario & aScenario )

static

References WsfScenario::RegisterComponentFactory().

◆ SetGPS_Status()

bool WsfNavigationErrors::SetGPS_Status	(	double	aSimTime,
		GPS_Status	aGPS_Status )

virtual

Set the GPS status

Parameters

aSimTime	The current simulation time
aGPS_Status	The new GPS status.

Returns: 'true' if the status was changed. The return value is 'false' if the requested status was the same as the current status.

References GetSimulation(), InitializeGPS_Status(), mGPS_Status, mLastUpdateTime, mPlatformPtr, mShowStatusChanges, WsfObserver::NavigationStatusChanged(), StatusString(), and WriteTimeHistory().

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ SetLocationErrorWCS()

void WsfNavigationErrors::SetLocationErrorWCS ( const ut::coords::WCS & aLocationErrorWCS )

Set the location error from an external source. This will only affect the parent platform if the GPS_Status (mGPS_Status) is set to GPS_Status::cGPS_EXTERNAL.

Parameters

aLocationErrorWCS The location error in WCS coordinates to be applied.

References cGPS_EXTERNAL, mExternalLocationErrorWCS, and mGPS_Status.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ StatusString()

std::string WsfNavigationErrors::StatusString ( int aStatus ) const

protected

Referenced by SetGPS_Status(), and WriteTimeHistory().

◆ Update()

void WsfNavigationErrors::Update ( double aSimTime )

References cGPS_INACTIVE, cGPS_PERFECT, GPS_Update(), INS_Update(), mGPS_Status, mLastUpdateTime, and WriteTimeHistory().

Referenced by OnPlatformUpdated().

◆ WriteTimeHistory()

void WsfNavigationErrors::WriteTimeHistory ( double aSimTime )

protected

References GetLocationErrorRSCS(), mGPS_Status, mPlatformPtr, mTimeHistoryOfs, and StatusString().

Referenced by SetGPS_Status(), and Update().

Member Data Documentation

◆ mExternalLocationErrorWCS

ut::coords::WCS WsfNavigationErrors::mExternalLocationErrorWCS

protected

The location error used when mGPS_Status == GPS_Status::cGPS_EXTERNAL.

Referenced by GetLocationErrorWCS(), GPS_Update(), and SetLocationErrorWCS().

◆ mGPS_CrossTrackError

WsfVariable<double> WsfNavigationErrors::mGPS_CrossTrackError

protected

Standard deviation of a Gaussian distribution for the 'cross-track' errors for GPS.

Referenced by GPS_Update(), Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mGPS_DegradedMultiplier

WsfVariable<double> WsfNavigationErrors::mGPS_DegradedMultiplier

protected

When GPS_Status is cGPS_Degraded, multiply all errors computed from mGPS_InTrackError, mGPS_CrossTrackError, and mGPS_VerticalError by this number.

Referenced by GPS_Update(), Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mGPS_InTrackError

WsfVariable<double> WsfNavigationErrors::mGPS_InTrackError

protected

Standard deviation of a Gaussian distribution for the 'in-track' errors for GPS.

Referenced by GPS_Update(), Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mGPS_Status

GPS_Status WsfNavigationErrors::mGPS_Status

protected

GPS status. -1: no GPS (use INS), 0 = perfect (no errors), 1 : GPS Active; 2 GPS Degraded.

Referenced by GetGPS_Status(), GetLocationErrorRSCS(), GetLocationErrorWCS(), GetPerceivedLocationLLA(), GetPerceivedLocationWCS(), GPS_Update(), Initialize(), InitializeGPS_Status(), operator=(), SetGPS_Status(), SetLocationErrorWCS(), Update(), WriteTimeHistory(), WsfNavigationErrors(), WsfNavigationErrors(), and ~WsfNavigationErrors().

◆ mGPS_StatusVar

WsfVariable<int> WsfNavigationErrors::mGPS_StatusVar

protected

Referenced by Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mGPS_VerticalError

WsfVariable<double> WsfNavigationErrors::mGPS_VerticalError

protected

Standard deviation of a Gaussian distribution for vertical errors for GPS.

Referenced by GPS_Update(), Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_AccelerometerBiasError

WsfVariable<double> WsfNavigationErrors::mINS_AccelerometerBiasError

protected

Standard deviation of a Gaussian distribution for the INS accelerometer bias error.

Referenced by Initialize(), INS_Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_AclError

Polynomial WsfNavigationErrors::mINS_AclError[3]

protected

Referenced by INS_Initialize(), INS_Update(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_ErrorsInitialized

bool WsfNavigationErrors::mINS_ErrorsInitialized

protected

true if INS errors have been initialized.

Referenced by InitializeGPS_Status(), INS_Initialize(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_GyroscopeBiasError

WsfVariable<double> WsfNavigationErrors::mINS_GyroscopeBiasError

protected

Standard deviation of a Gaussian distribution for the INS gyroscope bias error.

Referenced by Initialize(), INS_Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_LocError

Polynomial WsfNavigationErrors::mINS_LocError[3]

protected

Referenced by INS_Initialize(), INS_PrintEquations(), INS_Start(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_RandomWalkError

WsfVariable<double> WsfNavigationErrors::mINS_RandomWalkError

protected

Standard deviation of a Gaussian distribution for the INS angular random walk error.

Referenced by Initialize(), INS_Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_ScaleFactor

double WsfNavigationErrors::mINS_ScaleFactor[3]

protected

A simple scale factor for the INS errors.

Referenced by INS_Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_StartTime

double WsfNavigationErrors::mINS_StartTime

protected

The time when INS mode was initiated.

Referenced by InitializeGPS_Status(), INS_Start(), INS_Update(), operator=(), WsfNavigationErrors(), WsfNavigationErrors(), and ~WsfNavigationErrors().

◆ mINS_VelError

Polynomial WsfNavigationErrors::mINS_VelError[3]

protected

Referenced by INS_Initialize(), INS_Update(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mINS_VerticalError

WsfVariable<double> WsfNavigationErrors::mINS_VerticalError

protected

Standard deviation of a Gaussian distribution for vertical error for INS.

Referenced by Initialize(), INS_Initialize(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mLastUpdateTime

double WsfNavigationErrors::mLastUpdateTime

protected

The time when the GPS error/INS drift direction was last computed. This is less than zero if initialization has not completed.

Referenced by GetLastUpdateTime(), Initialize2(), INS_Update(), operator=(), SetGPS_Status(), Update(), WsfNavigationErrors(), WsfNavigationErrors(), and ~WsfNavigationErrors().

◆ mPerceivedEntity

UtEntity WsfNavigationErrors::mPerceivedEntity

protected

The entity that represents the perceived state.

Referenced by GetLocationErrorWCS(), GetPerceivedEntity(), GetPerceivedLocationLLA(), GetPerceivedLocationWCS(), GPS_Update(), Handoff(), INS_Start(), INS_Update(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mPerceivedEntityValid

bool WsfNavigationErrors::mPerceivedEntityValid

protected

True if the perceived entity is valid. This will be true if GPS/INS is active or a hand-off was received.

Referenced by GPS_Update(), Handoff(), InitializeGPS_Status(), INS_Start(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mPlatformPtr

WsfPlatform* WsfNavigationErrors::mPlatformPtr

protected

Pointer to the platform for which errors are being computed.

Referenced by ComponentParentChanged(), GetLocationErrorRSCS(), GetLocationErrorWCS(), GetPerceivedLocationLLA(), GetPerceivedLocationWCS(), GetSimulation(), GPS_Update(), Initialize(), Initialize2(), INS_Initialize(), INS_Start(), INS_Update(), operator=(), SetGPS_Status(), WriteTimeHistory(), WsfNavigationErrors(), WsfNavigationErrors(), and ~WsfNavigationErrors().

◆ mRandom

ut::Random WsfNavigationErrors::mRandom

protected

Random number stream.

Referenced by Initialize(), LocalGaussian(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mRandomnessEnabled

bool WsfNavigationErrors::mRandomnessEnabled

protected

true if randomness is enabled (default true).

Referenced by GlobalGaussian(), LocalGaussian(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mShowStatusChanges

bool WsfNavigationErrors::mShowStatusChanges

protected

true if status change messages should be written to stdout.

Referenced by INS_Initialize(), operator=(), ProcessInput(), SetGPS_Status(), WsfNavigationErrors(), WsfNavigationErrors(), and ~WsfNavigationErrors().

◆ mTimeHistoryOfs

std::ofstream WsfNavigationErrors::mTimeHistoryOfs

protected

Stream for writing time history output.

Referenced by Initialize2(), operator=(), WriteTimeHistory(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mTimeHistoryPath

std::string WsfNavigationErrors::mTimeHistoryPath

protected

The directory name (without a trailing '/') indicating where time history output is to be written.

Referenced by Initialize2(), operator=(), ProcessInput(), WsfNavigationErrors(), and WsfNavigationErrors().

◆ mTruthEntity

UtEntity WsfNavigationErrors::mTruthEntity

protected

The truth entity state.

Referenced by INS_Start(), INS_Update(), operator=(), WsfNavigationErrors(), and WsfNavigationErrors().

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

Classes

Public Member Functions

Static Public Member Functions

Overrides of WsfSinglePlatformObserver.

INS Error polynomial.

Component infrastructure methods

Common infrastructure methods.

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Polynomial

Member Enumeration Documentation

◆ GPS_Status

Constructor & Destructor Documentation

◆ WsfNavigationErrors() [1/2]

◆ WsfNavigationErrors() [2/2]

◆ ~WsfNavigationErrors()

Member Function Documentation

◆ CloneComponent()

◆ ComponentParentChanged()

◆ CompressPolynomial()

◆ ConvertNED_ToRSCS()

◆ ConvertRSCS_ToNED()

◆ EvaluatePolynomial()

◆ Find()

◆ GetComponentInitializationOrder()

◆ GetGPS_Status() [1/2]

◆ GetGPS_Status() [2/2]

◆ GetLastUpdateTime()

◆ GetLocationErrorRSCS()

◆ GetLocationErrorWCS() [1/2]

◆ GetLocationErrorWCS() [2/2]

◆ GetLocationErrorXYZ()

◆ GetPerceivedEntity()

◆ GetPerceivedLocationLLA()

◆ GetPerceivedLocationWCS() [1/2]

◆ GetPerceivedLocationWCS() [2/2]

◆ GetSimulation()

◆ GlobalGaussian()

◆ GPS_Update()

◆ Handoff()

◆ Initialize()

◆ Initialize2()

◆ InitializeGPS_Status()

◆ INS_Initialize()

◆ INS_PrintEquations()

◆ INS_Start()

◆ INS_Update()

◆ LocalGaussian()

◆ OnPlatformUpdated()

◆ operator=()

◆ ProcessInput()

◆ QueryInterface()

◆ ReadPolynomial()

◆ RegisterComponentFactory()

◆ SetGPS_Status()

◆ SetLocationErrorWCS()

◆ StatusString()

◆ Update()

◆ WriteTimeHistory()

Member Data Documentation

◆ mExternalLocationErrorWCS

◆ mGPS_CrossTrackError

◆ mGPS_DegradedMultiplier

◆ mGPS_InTrackError

◆ mGPS_Status

◆ mGPS_StatusVar

◆ mGPS_VerticalError

◆ mINS_AccelerometerBiasError

◆ mINS_AclError

◆ mINS_ErrorsInitialized

◆ mINS_GyroscopeBiasError

◆ mINS_LocError

◆ mINS_RandomWalkError

◆ mINS_ScaleFactor

◆ mINS_StartTime

◆ mINS_VelError

◆ mINS_VerticalError

◆ mLastUpdateTime

◆ mPerceivedEntity