A set of utilities that perform generic calculations among WSF objects. More...

Functions
template<typename SYSTEM, typename ATTRIBUTE_TYPE>
bool	GetAuxValue (SYSTEM *aSystem, const std::string &aLabel, ATTRIBUTE_TYPE &aValue)
template<typename SYSTEM, typename ATTRIBUTE_TYPE>
bool	GetAuxValue (SYSTEM &aSystem, const std::string &aLabel, ATTRIBUTE_TYPE &aValue)
template<class T1, class T2>
double	TimeToDestination (T1 &aSource, T2 &aDest, const double aVel[3])
	Calculate the time it would take an object (e.g., a WsfPlatform) to traverse a great circle distance from a source to a destination.
template<class T1, class T2>
double	DistanceToDestination (T1 &aSource, T2 &aDest)
	Calculate the great circle distance from a source to a destination.
int WSF_EXPORT	CountBitsOn (unsigned int aBitMask)
unsigned int	GenerateBitMask (int aNumBits)
void WSF_EXPORT	ClosestApproachPoint2D (const double aMoverLocWCS[3], const double aMoverVelWCS[3], const double aTargetLocWCS[3], double aClosestLocWCS[3])
double WSF_EXPORT	ClosestApproachPoint3D (const double aMoverLocWCS[3], const double aMoverVelWCS[3], const double aTargetLocWCS[3], double aClosestLocWCS[3])
bool WSF_EXPORT	PotentiallyWithinRange (double aSimTime, WsfPlatform aObject1Ptr, WsfPlatform aObject2Ptr, double aMaximumRange)
bool WSF_EXPORT	TriangulateLocation (const double aOriginWCS_1[3], const double &aBearing1, const double &aElevation1, const double aOriginWCS_2[3], const double &aBearing2, const double &aElevation2, double aLocationWCS[3])
void WSF_EXPORT	ConvertRangeBearing (const double aFromLocationWCS[3], UtEntity *aToEntity, double &aRange, double &aBearing)
void WSF_EXPORT	ErrorNED (double aRange, double aBearing, double aElevation, double aRangeError, double aBearingError, double aElevationError, double aErrorNED[3])
void WSF_EXPORT	ErrorNED (double aRange, double aBearing, double aRangeError, double aBearingError, double aErrorNED[3])
int WSF_EXPORT	TrackIdToInt (const WsfTrackId &aTrackId)
WsfTrackId WSF_EXPORT	IntToTrackId (int aIntTrackId)
void WSF_EXPORT	CovarianceToEllipse_2x2 (std::vector< double > &aMatrix, double &aSemiMajorAxis, double &aSemiMinorAxis, double &aBearingRad)
double WSF_EXPORT	BallisticPropagate (const UtVec3d &aLocationWCS, const UtVec3d &aVelocityWCS, double aStopAltitude, UtVec3d &aPropagatedLocationWCS, UtVec3d &aPropagatedVelocityWCS)
void WSF_EXPORT	MakeTrack (double aSimTime, WsfTrack &aTrack, WsfPlatform &aTarget, WsfPlatform &aSource)
	Fill a track with truth information on aTarget with aSource as the track source.
void WSF_EXPORT	GetErrorEstimateLLA_SpeedHeading (const WsfTrack &aTrack, unsigned short &aValidity, double &aStDevLat, double &aStDevLon, double &aStDevAlt, double &aStDevSpeed, double &aStDevHeading)
void WSF_EXPORT	PrintLLA (const std::string &aLabel, double aLocationWCS[3])
	Calls PrintLLA() for the LLA representation of aLocationWCS.
void WSF_EXPORT	PrintLLA (const std::string &aLabel, double aLat, double aLon, double aAlt)
void WSF_EXPORT	PrintLength (const std::string &aLabel, double aLength)
template<class T1, class T2>
double	SlantRange (T1 &aSource, T2 &aDest)
	Calculate the slant range distance from a source to a destination (second parameter is const).

Variables
static const unsigned short	cLLA_ERROR_VALID = 0x01
	Validity Masks associated with the "aValidity" parameter in the following method:
static const unsigned short	cSPEED_ERROR_VALID = 0x02
static const unsigned short	cHEADING_ERROR_VALID = 0x04

Detailed Description

A set of utilities that perform generic calculations among WSF objects.

Function Documentation

◆ BallisticPropagate()

double WsfUtil::BallisticPropagate	(	const UtVec3d &	aLocationWCS,
		const UtVec3d &	aVelocityWCS,
		double	aStopAltitude,
		UtVec3d &	aPropagatedLocationWCS,
		UtVec3d &	aPropagatedVelocityWCS )

Computes a simple ballistic projection from a starting location and velocity until falling below an altitude. Does NOT consider drag.

Parameters

aLocationWCS	Starting location in WCS
aVelocityWCS	Starting velocity in WCS
aStopAltitude	Altitude below which propagation is halted
aPropagatedLocationWCS	Resulting location in WCS
aPropagatedVelocityWCS	Resulting velocity in WCS

Returns: Seconds until reaching the desired altitude

◆ ClosestApproachPoint2D()

void WsfUtil::ClosestApproachPoint2D	(	const double	aMoverLocWCS[3],
		const double	aMoverVelWCS[3],
		const double	aTargetLocWCS[3],
		double	aClosestLocWCS[3] )

Compute the horizontal point of closest approach of a moving object to a given point. Given the location and velocity of a moving object and determine the horizontal point of closest approach to a given target location. This algorithm only solves the problem in the horizontal plane.

Parameters

aMoverLocWCS	[input] The WCS location of the moving object.
aMoverVelWCS	[input] The WCS velocity of the moving object.
aTargetLocWCS	[input] The WCS location of the target.
aClosestLocWCS	[output] The WCS location of the moving object at its point of closest approach.

Note: If the velocity of the mover is zero or if the points are coincident then location of the mover will be returned.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ ClosestApproachPoint3D()

double WsfUtil::ClosestApproachPoint3D	(	const double	aMoverLocWCS[3],
		const double	aMoverVelWCS[3],
		const double	aTargetLocWCS[3],
		double	aClosestLocWCS[3] )

Compute the point of closest approach of a moving object at a given velocity.

Parameters

aMoverLocWCS	[input] The WCS location of the moving object.
aMoverVelWCS	[input] The WCS velocity of the moving object.
aTargetLocWCS	[input] The WCS location of the static target.
aClosestLocWCS	[output] The WCS location of the moving object at its point of closest approach.

Returns: Time in seconds when the closest point is reached. Returns -1 if the velocity is zero.

Note: If the velocity of the mover is zero then the location of the mover will be returned.

◆ ConvertRangeBearing()

void WsfUtil::ConvertRangeBearing	(	const double	aFromLocationWCS[3],
		UtEntity *	aToEntityPtr,
		double &	aRange,
		double &	aBearing )

Given an origin WCS location, range, and bearing, return the range and bearing from the given entity.

◆ CountBitsOn()

int WsfUtil::CountBitsOn ( unsigned int aBitMask )

Count the number of bits on in a bit mask

Parameters

aBitMask The bit mask to be tested.

Returns: The number of bits on in the bit mask.

Referenced by WsfPlatform::ScriptOverride(), WsfDefaultSensorTracker::TargetDeleted(), WsfDefaultSensorTracker::TargetDetected(), and WsfDefaultSensorTracker::TargetSkipped().

◆ CovarianceToEllipse_2x2()

void WsfUtil::CovarianceToEllipse_2x2	(	std::vector< double > &	aMatrix,
		double &	aSemiMajorAxis,
		double &	aSemiMinorAxis,
		double &	aBearingRad )

Given a 2x2 covariance matrix (in the form of a std::vector<double>), compute the semi-major axis, semi-minor axis, and bearing, in radians, of the associated error ellipse measured clockwise from north (y-axis).

Parameters

aMatrix	The covariance matrix in std::vector<double> form.
aSemiMajorAxis	The semi-major axis of the error ellipse.
aSemiMinorAxis	The semi-minor axis of the error ellipse.
aBearingRad	The bearing, in radians, of the semi-major axis measured clockwise from north (y-axis).

Note: e.g., Ref. http://www.math.harvard.edu/archive/21b_fall_04/exhibits/2dmatrices/index.html

References c1.

Referenced by wsf::event::utils::PrintTrackCovarianceData(), and wsf::event::utilsCSV::PrintTrackCovarianceData().

◆ DistanceToDestination()

template<class T1, class T2>

double WsfUtil::DistanceToDestination	(	T1 &	aSource,
		T2 &	aDest )

Calculate the great circle distance from a source to a destination.

Parameters

aSource	The source object (non-const; typically a WsfPlatform or UtEntity).
aDest	The destination object.

Note: 'aSource' and 'aDest' must be of types that implement the method GetLocationLLA( double& lat, double& lon, double& alt) (e.g., WsfPlatform::GetLocationLLA).

Returns: The great circle distance between 'source' and 'destination.'

Referenced by TimeToDestination().

◆ ErrorNED() [1/2]

void WsfUtil::ErrorNED	(	double	aRange,
		double	aBearing,
		double	aElevation,
		double	aRangeError,
		double	aBearingError,
		double	aElevationError,
		double	aErrorNED[3] )

Given a range, bearing, elevation, and associated errors, compute the associated NED error.

◆ ErrorNED() [2/2]

void WsfUtil::ErrorNED	(	double	aRange,
		double	aBearing,
		double	aRangeError,
		double	aBearingError,
		double	aErrorNED[3] )

Given a range and bearing, and associated errors, compute the associated NED error. This version of the method will return a D error of the input range.

◆ GenerateBitMask()

unsigned int WsfUtil::GenerateBitMask ( int aNumBits )

inline

Form a bit mask with specified number of least-significant bits on.

Parameters

aNumBits The number of bits to be on.

Returns: The resulting mask.

Referenced by WsfPlatform::GetAppearance(), WsfExchange::IsCapable(), WsfSensorMode::ProcessInput(), WsfPlatform::ScriptOverride(), WsfPlatform::SetAppearance(), and WsfExchange::SetCapabilityFlag().

◆ GetAuxValue() [1/2]

template<typename SYSTEM, typename ATTRIBUTE_TYPE>

bool WsfUtil::GetAuxValue	(	SYSTEM &	aSystem,
		const std::string &	aLabel,
		ATTRIBUTE_TYPE &	aValue )

inline

References GetAuxValue().

◆ GetAuxValue() [2/2]

template<typename SYSTEM, typename ATTRIBUTE_TYPE>

bool WsfUtil::GetAuxValue	(	SYSTEM *	aSystem,
		const std::string &	aLabel,
		ATTRIBUTE_TYPE &	aValue )

inline

Referenced by GetAuxValue(), WsfExtEmission::GetSensor(), WsfMilExtInterface::GetWeapon(), and WsfDisPlatform::PlatformInitialized().

◆ GetErrorEstimateLLA_SpeedHeading()

void WsfUtil::GetErrorEstimateLLA_SpeedHeading	(	const WsfTrack &	aTrack,
		unsigned short &	aValidity,
		double &	aStDevLat,
		double &	aStDevLon,
		double &	aStDevAlt,
		double &	aStDevSpeed,
		double &	aStDevHeading )

Given a track with valid location and covariance, provide estimates of error in location (lat, lon, alt), as well as speed, and heading of the target. If the covariance is 3x3, only the location errors are will be valid. A validity bit-field is passed as a parameter to determine which of the outputs are valid. The masks for this field are defied in the WsfUtil header: WsfUtil::cLLA_ERROR_VALID = 0x01 WsfUtil::cSPEED_ERROR_VALID = 0x02 WsfUtil::cHEADING_ERROR_VALID = 0x04

Parameters

aTrack	The track that is the source of the data being evaluated (position, velocity, and covariance).
aStDevLat	The estimated latitude error of the track location, in degreees.
aValidity	The bit-field that indicates the validitity of the return values.
aStDevLon	The estimated longitude error of the track location, in degrees.
aStDevAlt	The estimated altitude error of the track location, in meters.
aStDevSpeed	The estimated error in the track's speed (magnitude of velocity estimate), in meters per second.
aStDevHeading	The estimated error of the track's heading (arctan of east velocity component divided by north velocity component), in degrees.

Returns: true for a 6x6 covariance matrix, false for a 3x3 or unrecognized size matrix.

References cHEADING_ERROR_VALID, cLLA_ERROR_VALID, and cSPEED_ERROR_VALID.

◆ IntToTrackId()

WsfTrackId WsfUtil::IntToTrackId ( int aIntTrackId )

Given an integer track id, compute a WSF track id. It is assumed that the argument was initially computed by the WsfUtil::ToInt method; otherwise the returned track id will not have meaning to an WSF simulation.

Note: This algorithm returns unique numbers only for track numbers < 65535. This method should be used as a convenience for interfacing with software that expects integer track numbers.

◆ MakeTrack()

void WsfUtil::MakeTrack	(	double	aSimTime,
		WsfTrack &	aTrack,
		WsfPlatform &	aTarget,
		WsfPlatform &	aSource )

Fill a track with truth information on aTarget with aSource as the track source.

References WsfPlatform::GetIndex(), WsfObject::GetNameId(), WsfPlatform::GetNextTrackId(), WsfPlatform::GetSideId(), WsfPlatform::GetSimulation(), WsfPlatform::GetSpatialDomain(), WsfObject::GetTypeId(), WsfTrack::Initialize(), WsfTrack::Set3D(), WsfTrack::SetPlatformOriginator(), WsfMeasurement::SetSpatialDomain(), WsfTrack::SetTargetIndex(), WsfTrack::SetTargetName(), and WsfTrack::SetTargetType().

Referenced by WsfExtDetonation::Execute(), WsfCuedLaserWeapon::Fire(), WsfWeaponServer::ProcessCommand(), and UT_DEFINE_SCRIPT_METHOD().

◆ PotentiallyWithinRange()

bool WsfUtil::PotentiallyWithinRange	(	double	aSimTime,
		WsfPlatform *	aObject1Ptr,
		WsfPlatform *	aObject2Ptr,
		double	aMaximumRange )

Perform a very conservative check to see if two objects are within a defined interaction range.

This method is called by various 'device' objects (sensors, interferers, etc.) to determine if two platforms are POTENTIALLY within the interaction range of the device. It is basically a fast culling check that is used to prevent more expensive calculations that may be unnecessary.

Judicious use of this method can reduce computation time.

Parameters

aSimTime	The current simulation time.
aObject1Ptr	Pointer to the first platform.
aObject2Ptr	Pointer to the second platform.
aMaximumRange	The declared maximum interaction range.

Returns: true if there is even a remote possibility that the objects can interact.

References deltaTime, WsfPlatform::GetLastUpdateTime(), and WsfPlatform::Update().

Referenced by WsfSensorMode::WithinDetectionRange().

◆ PrintLength()

void WsfUtil::PrintLength	(	const std::string &	aLabel,
		double	aLength )

Prints out a length value in meters and feet on a single line prepended by a label. used for debug output.

◆ PrintLLA() [1/2]

void WsfUtil::PrintLLA	(	const std::string &	aLabel,
		double	aLat,
		double	aLon,
		double	aAlt )

Prints out lat,lon,alt in both DMS and D formats as an info message. Used for debug output.

◆ PrintLLA() [2/2]

void WsfUtil::PrintLLA	(	const std::string &	aLabel,
		double	aLocationWCS[3] )

Calls PrintLLA() for the LLA representation of aLocationWCS.

References PrintLLA().

Referenced by PrintLLA().

◆ SlantRange()

template<class T1, class T2>

double WsfUtil::SlantRange	(	T1 &	aSource,
		T2 &	aDest )

Calculate the slant range distance from a source to a destination (second parameter is const).

Parameters

aSource	The source object (non-const; typically a WsfPlatform or UtEntity).
aDest	The destination object.

Note: 'aSource' and 'aDest' must be of types that implement the method GetLocationWCS( double[3]) (e.g., WsfPlatform::GetLocationWCS).

Returns: The slant range distance between 'source' and 'destination.'

Referenced by WsfThreatProcessor::IsThreatening().

◆ TimeToDestination()

template<class T1, class T2>

double WsfUtil::TimeToDestination	(	T1 &	aSource,
		T2 &	aDest,
		const double	aVel[3] )

Calculate the time it would take an object (e.g., a WsfPlatform) to traverse a great circle distance from a source to a destination.

Parameters

aSource	The source object.
aDest	The destination object.
aVel	velocity vector for the source object.

Note: 'aSource' and 'aDest' must be of types that implement the method GetLocationLLA( double& lat, double& lon, double& alt) (e.g., WsfPlatform::GetLocationLLA).

Returns: The time required to reach the given destination.

References DistanceToDestination().

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ TrackIdToInt()

int WsfUtil::TrackIdToInt ( const WsfTrackId & aTrackId )

Given a WSF track id, compute a unique single integer.

Note: This algorithm returns unique numbers only for track numbers < 65535. This method should be used as a convenience for interfacing with software that expects integer track numbers.

References WsfTrackId::GetLocalTrackNumber(), and WsfTrackId::GetOwningPlatformId().

Referenced by MTT_PerceivedCluster::CopyFrom(), and WsfMTT_Correlation::CorrelateImpl().

◆ TriangulateLocation()

bool WsfUtil::TriangulateLocation	(	const double	aOriginWCS_1[3],
		const double &	aBearing1,
		const double &	aElevation1,
		const double	aOriginWCS_2[3],
		const double &	aBearing2,
		const double &	aElevation2,
		double	aLocationWCS[3] )

Compute a triangulated position based on two valid azimuth/elevation measurements.

Parameters

aOriginWCS_1	The WCS origin of the first measurement.
aBearing1	The bearing measurement of the target from the first sensor.
aElevation1	The elevation measurement of the target from the first sensor.
aOriginWCS_2	The WCS origin of the first measurement.
aBearing2	The bearing measurement of the target from the first sensor.
aElevation2	The elevation measurement of the target from the first sensor.
aLocationWCS	The computed triangulated position. TODO The algorithm currently only utilized the second elevation measurement. review the paper to ensure the triangulation is as accurate as possible.

Variable Documentation

◆ cHEADING_ERROR_VALID

const unsigned short WsfUtil::cHEADING_ERROR_VALID = 0x04

static

Referenced by GetErrorEstimateLLA_SpeedHeading().

◆ cLLA_ERROR_VALID

const unsigned short WsfUtil::cLLA_ERROR_VALID = 0x01

static

Validity Masks associated with the "aValidity" parameter in the following method:

Referenced by GetErrorEstimateLLA_SpeedHeading().

◆ cSPEED_ERROR_VALID

const unsigned short WsfUtil::cSPEED_ERROR_VALID = 0x02

static

Referenced by GetErrorEstimateLLA_SpeedHeading().

Functions

Variables

Detailed Description

Function Documentation

◆ BallisticPropagate()

◆ ClosestApproachPoint2D()

◆ ClosestApproachPoint3D()

◆ ConvertRangeBearing()

◆ CountBitsOn()

◆ CovarianceToEllipse_2x2()

◆ DistanceToDestination()

◆ ErrorNED() [1/2]

◆ ErrorNED() [2/2]

◆ GenerateBitMask()

◆ GetAuxValue() [1/2]

◆ GetAuxValue() [2/2]

◆ GetErrorEstimateLLA_SpeedHeading()

◆ IntToTrackId()

◆ MakeTrack()

◆ PotentiallyWithinRange()

◆ PrintLength()

◆ PrintLLA() [1/2]

◆ PrintLLA() [2/2]

◆ SlantRange()

◆ TimeToDestination()

◆ TrackIdToInt()

◆ TriangulateLocation()

Variable Documentation

◆ cHEADING_ERROR_VALID

◆ cLLA_ERROR_VALID

◆ cSPEED_ERROR_VALID