WsfPathComputer Class Reference

WsfPathComputer computes a WsfPathList for a platform to reach a target state. More...

#include <WsfPathComputer.hpp>

Collaboration diagram for WsfPathComputer:

Classes
struct	SpeedAltitudeBreakpoint

Public Member Functions
	WsfPathComputer (ut::Random *aRandomPtr=nullptr)
WsfPathConstraints &	GetConstraints ()
void	ComputePath (const WsfPathState &aState, const WsfPathTarget &aTarget, WsfPathList &aPathList)
void	CreateTarget (const WsfPathState &aCurrentState, WsfPathConstraints &aCurrentConstraints, const WsfPathConstraints &aMoverConstraints, const WsfWaypoint &aTargetPoint, const WsfWaypoint *aNextPointPtr, WsfPathTarget &aTarget)
void	ConstrainTarget (WsfPathTarget &aTarget, const WsfPathConstraints &aConstraints)
	Bind target to a valid altitude/speed.
void	RevisePathHitPointAtTime (WsfPathTarget &aTarget, WsfPathList &aPath)
void	SetMaximumTurn (double aMaxTurn)
double	GetMaximumTurn () const
void	SetPathVarianceRadius (double aPathVarianceRadius)
void	SetSpeedVariancePct (double aSpeedVariancePct)
void	SetDefaultSwitch (WsfPath::Switch aDefaultSwitch)
void	SetRandom (ut::Random *aRandomPtr)
double	GetTurnRadius (double aSpeed)
void	TurnToHeading (const WsfPathState &aState, const WsfPathTarget &aTarget, WsfPathList &aPathList, WsfPathTarget::TurnDirection aTurnDirection)
void	TurnRelative (const WsfPathState &aState, const WsfPathTarget &aTarget, WsfPathList &aPathList, double aTurnAngle, double aTurnRadius=-1.0)
bool	TurnToPointHeading (const WsfPathState &aState, const WsfPathTarget &aTarget, WsfPathList &aPath)
void	StraightToPoint (const WsfPathState &aState, const WsfPathTarget &aTarget, WsfPathList &aPath, bool aAllowHeadingChange)
void	Rotate (UtVec3d aRotationAxis, double aArcLength, double aTime, const WsfPathTarget &aTarget, const WsfPathState &aState, WsfPathList &aPath, double aRotationRadius, double aTargetRoll=0.0)
void	StraightOnHeading (const WsfPathState &aState, const WsfPathTarget &aTarget, WsfPathList &aPath)
bool	ComputeSpeedAltitudeTargets (const WsfPathState &aState, const WsfPathTarget &aTarget, SpeedAltitudeBreakpoint &aBreakpoint)
bool	UsingComputedClimbRate ()
void	SetUsingComputedClimbRate (bool aBool)
void	ForceFlyFlightPath (bool aBool)

Public Attributes
ut::Random *	mRandomPtr
WsfPathConstraints	mConstraints
double	mSimTime
double	mIntegrationTime
double	mMaximumTurn
double	mPathVarianceRadius
double	mSpeedVariancePct
WsfPath::Switch	mDefaultSwitch
bool	mUsingComputedClimbRate
	'true' if the current target has a computed flight angle
bool	mUsingComputedLinearAcceleration
	'true' if the current target has a computed linear acceleration
bool	mUsingComputedSpeed
	'true' if the current target has a computed speed.
bool	mFlyFlightPathToTarget
	'true' use calculated flight path constraints to fly along slope to next target point

Detailed Description

WsfPathComputer computes a WsfPathList for a platform to reach a target state.

Constructor & Destructor Documentation

WsfPathComputer()

WsfPathComputer::WsfPathComputer

(

ut::Random *

aRandomPtr = nullptr

)

References mConstraints, mDefaultSwitch, mFlyFlightPathToTarget, mIntegrationTime, mMaximumTurn, mPathVarianceRadius, mRandomPtr, mSimTime, mSpeedVariancePct, mUsingComputedClimbRate, mUsingComputedLinearAcceleration, and mUsingComputedSpeed.

Member Function Documentation

ComputePath()

void WsfPathComputer::ComputePath	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		WsfPathList &	aPathList )

References WsfPathList::Append(), WsfPathTarget::cEXTRAPOLATE, WsfPathTarget::cHEADING, WsfPathTarget::cLOCATION, WsfPathTarget::cRELATIVE_TURN, WsfPathList::Empty(), WsfPathList::GetEndState(), WsfPathList::Segment::Initialize(), WsfPathTarget::mHeading, WsfPathTarget::mTargetType, WsfPathTarget::mTurnDirection, StraightOnHeading(), TurnRelative(), and TurnToHeading().

Referenced by WsfWaypointMover::GetFutureLocationWCS(), and RevisePathHitPointAtTime().

ComputeSpeedAltitudeTargets()

bool WsfPathComputer::ComputeSpeedAltitudeTargets	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		SpeedAltitudeBreakpoint &	aBreakpoint )

References WsfPathTarget::cALTITUDE, WsfPathTarget::cSPEED, WsfPathState::mAltitude, WsfPathTarget::mAltitude, WsfPathComputer::SpeedAltitudeBreakpoint::mClimbRate, mConstraints, WsfPathComputer::SpeedAltitudeBreakpoint::mFlightAngle, WsfPathComputer::SpeedAltitudeBreakpoint::mLinearAcceleration, WsfPathComputer::SpeedAltitudeBreakpoint::mSimTime, WsfPathTarget::mSpeed, WsfPathTarget::mTargetType, and WsfPathState::mVelocityNED.

Referenced by Rotate().

ConstrainTarget()

void WsfPathComputer::ConstrainTarget	(	WsfPathTarget &	aTarget,
		const WsfPathConstraints &	aConstraints )

Bind target to a valid altitude/speed.

References WsfPathTarget::cALTITUDE, WsfPathTarget::cSPEED, WsfPathTarget::mAltitude, WsfPathConstraints::mIsOnGround, WsfPathConstraints::mMaxAltitude, WsfPathConstraints::mMaxSpeed, WsfPathConstraints::mMinAltitude, WsfPathConstraints::mMinSpeed, WsfPathTarget::mSpeed, and WsfPathTarget::mTargetType.

Referenced by CreateTarget().

CreateTarget()

void WsfPathComputer::CreateTarget	(	const WsfPathState &	aCurrentState,
		WsfPathConstraints &	aCurrentConstraints,
		const WsfPathConstraints &	aMoverConstraints,
		const WsfWaypoint &	aTargetPoint,
		const WsfWaypoint *	aNextPointPtr,
		WsfPathTarget &	aTarget )

Given the current state, the next waypoint and the waypoint after, create the 'path target' for ComputePath.

Parameters

aCurrentState	[input] The current state.
aCurrentConstraints	[input] The current path constraints.
aMoverConstraints	[input] The constraints defined in the mover by the user.
aTargetPoint	[input] A reference to the target waypoint.
aNextPointPtr	[input] A pointer to the waypoint that follows the target waypoint. This is only used if the target waypoint specifies 'turn on approach', and may be 0.
aTarget	[output] The created path target.

Note

This is intended to be used in an iterative fashion as one traverses a route as it maintains a persistent state.

Routes are sometimes set up to loop on 1 point. Handle this case explicitly with a 360 turn.

References WsfPathTarget::cALTITUDE, WsfPathConstraints::cDEFAULT_MAX_FLIGHT_ANGLE, WsfPathConstraints::cDEFAULT_MAX_LINEAR_ACCEL, WsfWaypoint::cDISTANCE, WsfPath::cDOUBLE_NOT_SET, WsfPathTarget::cHEADING, WsfPathConstraints::cLARGE_DOUBLE, WsfWaypoint::cLATITUDE_AND_LONGITUDE, WsfPathTarget::cLOCATION, ConstrainTarget(), WsfWaypoint::cRELATIVE_HEADING, WsfPathTarget::cRELATIVE_TURN, WsfPathTarget::cSPEED, WsfPath::cSWITCH_MOVER_DEFAULT, WsfPath::cSWITCH_ON_APPROACH, WsfWaypoint::cTIME, WsfWaypoint::cTIME_TO_POINT, WsfPath::cTURN_DIR_RIGHT, WsfPathTarget::cTURN_ON_APPROACH, WsfPath::cUSE_PREVIOUS, WsfGeoPoint::Extrapolate(), GetConstraints(), WsfWaypoint::GetDistanceOrTime(), WsfWaypoint::GetHeading(), WsfGeoPoint::GetLat(), WsfWaypoint::GetLat(), WsfPathState::GetLocationLLA(), WsfGeoPoint::GetLon(), WsfWaypoint::GetLon(), WsfWaypoint::GetPointType(), WsfWaypoint::GetRadialAccel(), WsfPathState::GetSpeed(), WsfWaypoint::GetSwitch(), WsfWaypoint::GetTurnDirection(), WsfPathTarget::mAltitude, mConstraints, mDefaultSwitch, WsfPathTarget::mDistance, mFlyFlightPathToTarget, WsfPathTarget::mHeading, WsfPathTarget::mLatitude, WsfPathTarget::mLongitude, WsfPathConstraints::mMaxClimbRate, WsfPathConstraints::mMaxFlightPathAngle, WsfPathConstraints::mMaxLinearAccel, WsfPathConstraints::mMaxRadialAccel, WsfPathTarget::mNextPointLat, WsfPathTarget::mNextPointLon, WsfPathTarget::mNextPointRadialAccel, mPathVarianceRadius, mRandomPtr, WsfPathTarget::mSpeed, mSpeedVariancePct, WsfPathTarget::mTargetType, WsfPathTarget::mTime, WsfPathTarget::mTurnDirection, mUsingComputedClimbRate, mUsingComputedLinearAcceleration, and mUsingComputedSpeed.

Referenced by WsfWaypointMover::GetFutureLocationWCS().

ForceFlyFlightPath()

void WsfPathComputer::ForceFlyFlightPath ( bool aBool )

inline

References mFlyFlightPathToTarget.

GetConstraints()

WsfPathConstraints & WsfPathComputer::GetConstraints ( )

inline

References mConstraints.

Referenced by CreateTarget(), and RevisePathHitPointAtTime().

GetMaximumTurn()

double WsfPathComputer::GetMaximumTurn ( ) const

inline

References mMaximumTurn.

GetTurnRadius()

double WsfPathComputer::GetTurnRadius

(

double

aSpeed

)

Get the turn radius calculated based on current path constraints.

Parameters

aSpeed

Speed to use in turn radius calculations. (m/s)

Returns

The turn radius. (meters) (default = 0.0 m)

References mConstraints.

Referenced by WsfWaypointMover::TurnRadius(), WsfWaypointMover::TurnRadius(), and TurnRelative().

RevisePathHitPointAtTime()

void WsfPathComputer::RevisePathHitPointAtTime	(	WsfPathTarget &	aTarget,
		WsfPathList &	aPath )

References WsfPathList::Append(), ComputePath(), WsfPathTarget::cSPEED, WsfPathList::Empty(), GetConstraints(), WsfPathList::GetDuration(), WsfPathList::Segment::GetDuration(), WsfPathList::Segment::GetInitialState(), WsfPathList::GetSegments(), WsfPathState::GetSpeed(), WsfPathList::GetState(), WsfPathConstraints::mMaxLinearAccel, WsfPathConstraints::mMaxSpeed, WsfPathConstraints::mMinSpeed, WsfPathTarget::mSpeed, WsfPathTarget::mTargetType, WsfPathTarget::mTime, mUsingComputedSpeed, and WsfPathList::PopBack().

Referenced by WsfWaypointMover::GetFutureLocationWCS().

Rotate()

void WsfPathComputer::Rotate	(	UtVec3d	aRotationAxis,
		double	aArcLength,
		double	aTime,
		const WsfPathTarget &	aTarget,
		const WsfPathState &	aState,
		WsfPathList &	aPath,
		double	aRotationRadius,
		double	aTargetRoll = 0.0 )

References WsfPathList::Append(), ComputeSpeedAltitudeTargets(), WsfPathList::RotationArcSegment::ComputeState(), WsfPathTarget::cSPEED, WsfPathList::GetEndState(), WsfPathList::Segment::Initialize(), WsfPathList::RotationData::InitializeRotation(), WsfPathState::mAccelerationNED, WsfPathState::mAltitude, WsfPathComputer::SpeedAltitudeBreakpoint::mClimbRate, mConstraints, WsfPathComputer::SpeedAltitudeBreakpoint::mFlightAngle, WsfPathList::Segment::mIsApproximation, WsfPathState::mLatitude, WsfPathComputer::SpeedAltitudeBreakpoint::mLinearAcceleration, WsfPathState::mLongitude, WsfPathState::mOrientationNED, WsfPathComputer::SpeedAltitudeBreakpoint::mSimTime, WsfPathTarget::mSpeed, WsfPathTarget::mTargetType, WsfPathState::mVelocityNED, WsfPathList::DynamicsData::SetClimbRate(), WsfPathList::DynamicsData::SetFlightAngle(), WsfPathList::DynamicsData::SetLinearAcceleration(), WsfPathList::Segment::SetRollRate(), WsfPathList::RotationData::SetRotationRadius(), WsfPathList::RotationArcSegment::SetTargetRoll(), and WsfPathList::RotationSegment::SetTargetRoll().

Referenced by StraightOnHeading(), StraightToPoint(), TurnRelative(), and TurnToPointHeading().

SetDefaultSwitch()

void WsfPathComputer::SetDefaultSwitch ( WsfPath::Switch aDefaultSwitch )

inline

References mDefaultSwitch.

SetMaximumTurn()

void WsfPathComputer::SetMaximumTurn ( double aMaxTurn )

inline

Sets the maximum turn (radians). Turns greater than the maximum turn are ignored. Determines how hard we'll try to get to points behind us.

References mMaximumTurn.

SetPathVarianceRadius()

void WsfPathComputer::SetPathVarianceRadius ( double aPathVarianceRadius )

inline

References mPathVarianceRadius.

SetRandom()

void WsfPathComputer::SetRandom ( ut::Random * aRandomPtr )

inline

Sets the random device for computation of 'variance' to routes The random device must remain valid until the path computer is destroyed.

References mRandomPtr.

SetSpeedVariancePct()

void WsfPathComputer::SetSpeedVariancePct ( double aSpeedVariancePct )

inline

References mSpeedVariancePct.

SetUsingComputedClimbRate()

void WsfPathComputer::SetUsingComputedClimbRate ( bool aBool )

inline

References mUsingComputedClimbRate.

StraightOnHeading()

void WsfPathComputer::StraightOnHeading	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		WsfPathList &	aPath )

References WsfPathState::mAltitude, WsfPathTarget::mDistance, WsfPathState::mLatitude, WsfPathState::mLongitude, WsfPathState::mOrientationNED, WsfPathTarget::mTime, WsfPathState::mVelocityNED, and Rotate().

Referenced by ComputePath(), TurnRelative(), and TurnToPointHeading().

StraightToPoint()

void WsfPathComputer::StraightToPoint	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		WsfPathList &	aPath,
		bool	aAllowHeadingChange )

References WsfPathState::CopyToEntity(), WsfPathTarget::cSPEED, WsfPathTarget::cTURN_ON_APPROACH, WsfPathState::mAltitude, WsfPathState::mLatitude, WsfPathTarget::mLatitude, WsfPathState::mLongitude, WsfPathTarget::mLongitude, WsfPathTarget::mNextPointLat, WsfPathTarget::mNextPointLon, WsfPathTarget::mNextPointRadialAccel, WsfPathTarget::mSpeed, WsfPathTarget::mTargetType, WsfPathState::mVelocityNED, and Rotate().

Referenced by TurnToPointHeading().

TurnRelative()

void WsfPathComputer::TurnRelative	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		WsfPathList &	aPathList,
		double	aTurnAngle,
		double	aTurnRadius = -1.0 )

References WsfPathList::Append(), WsfPathList::GetDuration(), WsfPathList::GetEndState(), GetTurnRadius(), WsfPathList::Segment::Initialize(), WsfPathState::mAltitude, WsfPathTarget::mDistance, WsfPathTarget::mHeading, WsfPathState::mLatitude, WsfPathState::mLongitude, WsfPathState::mOrientationNED, WsfPathTarget::mTime, WsfPathState::mVelocityNED, Rotate(), and StraightOnHeading().

Referenced by ComputePath(), and TurnToHeading().

TurnToHeading()

void WsfPathComputer::TurnToHeading	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		WsfPathList &	aPathList,
		WsfPathTarget::TurnDirection	aTurnDirection )

References WsfPathTarget::mHeading, WsfPathState::mOrientationNED, and TurnRelative().

Referenced by ComputePath().

TurnToPointHeading()

bool WsfPathComputer::TurnToPointHeading	(	const WsfPathState &	aState,
		const WsfPathTarget &	aTarget,
		WsfPathList &	aPath )

References Rotate(), StraightOnHeading(), and StraightToPoint().

UsingComputedClimbRate()

bool WsfPathComputer::UsingComputedClimbRate ( )

inline

References mUsingComputedClimbRate.

Member Data Documentation

mConstraints

WsfPathConstraints WsfPathComputer::mConstraints

Referenced by ComputeSpeedAltitudeTargets(), CreateTarget(), GetConstraints(), GetTurnRadius(), Rotate(), and WsfPathComputer().

mDefaultSwitch

WsfPath::Switch WsfPathComputer::mDefaultSwitch

The default criteria used to determine when a waypoint switch should occur if the waypoint does not specify a switch criteria.

Referenced by CreateTarget(), SetDefaultSwitch(), and WsfPathComputer().

mFlyFlightPathToTarget

bool WsfPathComputer::mFlyFlightPathToTarget

'true' use calculated flight path constraints to fly along slope to next target point

Referenced by CreateTarget(), ForceFlyFlightPath(), and WsfPathComputer().

mIntegrationTime

double WsfPathComputer::mIntegrationTime

Referenced by WsfPathComputer().

mMaximumTurn

double WsfPathComputer::mMaximumTurn

Referenced by GetMaximumTurn(), SetMaximumTurn(), and WsfPathComputer().

mPathVarianceRadius

double WsfPathComputer::mPathVarianceRadius

Referenced by CreateTarget(), SetPathVarianceRadius(), and WsfPathComputer().

mRandomPtr

ut::Random* WsfPathComputer::mRandomPtr

Referenced by CreateTarget(), SetRandom(), and WsfPathComputer().

mSimTime

double WsfPathComputer::mSimTime

Referenced by WsfPathComputer().

mSpeedVariancePct

double WsfPathComputer::mSpeedVariancePct

Referenced by CreateTarget(), SetSpeedVariancePct(), and WsfPathComputer().

mUsingComputedClimbRate

bool WsfPathComputer::mUsingComputedClimbRate

'true' if the current target has a computed flight angle

Referenced by CreateTarget(), SetUsingComputedClimbRate(), UsingComputedClimbRate(), and WsfPathComputer().

mUsingComputedLinearAcceleration

bool WsfPathComputer::mUsingComputedLinearAcceleration

'true' if the current target has a computed linear acceleration

Referenced by CreateTarget(), and WsfPathComputer().

mUsingComputedSpeed

bool WsfPathComputer::mUsingComputedSpeed

'true' if the current target has a computed speed.

Referenced by CreateTarget(), RevisePathHitPointAtTime(), and WsfPathComputer().

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

• WsfPathComputer.hpp
• WsfPathComputer.cpp