#include <WsfMover.hpp>

Inheritance diagram for WsfMover:

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Collaboration diagram for WsfMover:

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Classes
class	KinematicModel

Public Member Functions
	WsfMover ()=delete
	WsfMover (const WsfScenario &aScenario)
	WsfMover (const WsfMover &aSrc)
WsfMover &	operator= (const WsfMover &)=delete
	~WsfMover () override
Public Member Functions inherited from WsfPlatformPart
	WsfPlatformPart (const WsfScenario &aScenario, int aPartType)
WsfPlatformPart &	operator= (const WsfPlatformPart &aRhs)=delete
	~WsfPlatformPart () override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
bool	DebugEnabled () const
	Returns 'true' if debugging is enabled for this instance.
void	SetDebugEnabled (bool aDebugEnabled)
unsigned int	GetDebugMask ()
bool	IsExternallyControlled () const
virtual void	SetExternallyControlled (double aSimTime, bool aIsExternallyControlled)
int	GetPartType () const
const char *	GetScriptClassName () const override
WsfSimulation *	GetSimulation () const
const WsfScenario &	GetScenario () const
WsfStringId	GetComponentName () const override
void	ComponentParentChanged (WsfPlatform *aPlatformPtr) override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
WsfPlatform *	GetPlatform () const
virtual void	SetPlatform (WsfPlatform *aPlatformPtr)
virtual void	PlatformAdded (double aSimTime, WsfPlatform *aPlatformPtr)
virtual void	PlatformDeleted (WsfPlatform *aPlatformPtr)
double	GetLastStatusChangeTime () const
void	SetLastStatusChangeTime (double aSimTime)
	Allows a system to set the time at which the device was initialized.
bool	CanBeMadeOperational () const
	Returns an indication that this system can be made operational.
bool	CanBeMadeNonOperational () const
	Returns an indication that this system can be made non-operational.
bool	CanBeTurnedOn () const
	Returns an indication that this system can be turned on.
bool	CanBeTurnedOff () const
	Returns an indication that this system can be turned off.
bool	IsTurnedOn () const
bool	InitiallyTurnedOn () const
	Is the system to be turned 'on' when added to the simulation?
void	SetInitiallyTurnedOn (bool aInitiallyTurnedOn)
	Sets if the system is turned on when added to the simulation.
bool	IsOperational () const
bool	SetOperational (double aSimTime, bool aMakeOperational)
double	GetDamageFactor () const
bool	SetDamageFactor (double aSimTime, double aDamageFactor)
bool	IsCritical () const
void	SetCritical (bool aValue)
virtual void	OnPlatformBrokenEvent (double aSimTime)
	Owning platform has issued a broken event.
bool	IsBroken () const
WsfInternalLinks &	GetInternalLinks ()
	Return the internal links for this part.
virtual bool	HasInternalLinks () const
	Does this platform part have a communication link to other platform parts?
virtual bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage)
virtual bool	ReceiveMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessageTo (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
void	SendMessageToProcessor (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
virtual void	SendQueuedMessages (double aSimTime)
const WsfCategoryList &	GetCategories () const
	Get the categories to which this part belongs.
void	AddCategory (WsfStringId aCategoryId)
	Adds the provided category to the platform part's category list.
bool	IsCategoryMember (WsfStringId aCategoryId) const
const WsfGroupList &	GetGroups () const
	Get the groups to which this platform part belongs.
void	JoinGroup (WsfGroup *aGroupPtr)
	Join the given group.
void	LeaveGroup (WsfGroup *aGroupPtr)
	Leave the given group.
bool	IsGroupMember (WsfStringId aGroupId)
unsigned int	GetUpdateEventEpoch () const
void	IncrementUpdateEventEpoch ()
bool	UpdateEventActive () const
	Is an 'Update' event active?
void	SetUpdateEventActive (bool aUpdateEventActive)
	Indicate if the 'Update' event is active.
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)
Public Member Functions inherited from WsfComponentT< WsfPlatform >
	WsfComponentT ()
	WsfComponentT (const WsfComponentT &) noexcept
WsfComponentT &	operator= (const WsfComponentT &) noexcept
	~WsfComponentT () override=default
ParentType *	GetComponentParent () const
void	SetComponentParent (ParentType *aParentPtr)
Public Member Functions inherited from WsfComponent
virtual	~WsfComponent ()=default
template<typename T>
bool	QueryInterfaceT (T *&aRolePtr)
bool	ComponentHasRole (int aRole)
	Returns true if the component has the specified role.
virtual bool	PreInitialize (double aSimTime)
virtual void	PreInput ()
Public Member Functions inherited from WsfUniqueId
	WsfUniqueId ()
	Construtor initializes the unique identifier to 0.
	WsfUniqueId (const WsfUniqueId &)
	Copy constructor initializes the unique identifier to 0.
WsfUniqueId &	operator= (const WsfUniqueId &)
unsigned int	GetUniqueId () const
	Get the unique identifier assigned to this object.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
Public Member Functions inherited from WsfAuxDataEnabled
	WsfAuxDataEnabled ()=default
	WsfAuxDataEnabled (const WsfAuxDataEnabled &aSrc)=default
WsfAuxDataEnabled &	operator= (const WsfAuxDataEnabled &aRhs)
	WsfAuxDataEnabled (WsfAuxDataEnabled &&)=default
WsfAuxDataEnabled &	operator= (WsfAuxDataEnabled &&)=default
virtual	~WsfAuxDataEnabled () noexcept
void	SetAuxData (const WsfAttributeContainer &aAuxData)
void	DeleteAuxData ()
	Delete the aux data container from the object.
void	MergeAuxData (const WsfAuxDataEnabled &aSrc)
	Merge the object's aux data with aux data from an existing object.
void	UpdateAuxData (const WsfAuxDataEnabled &aSrc)
	Update the object's aux data with aux data from an existing object.
bool	HasAuxData () const
	Returns true if this object has aux data.
bool	ProcessInput (UtInput &aInput)
template<typename T>
void	Serialize (T &aBuff)
	(De)serialization for XIO
WsfAttributeContainer &	GetAuxData ()
const WsfAttributeContainer &	GetAuxData () const noexcept
const WsfAttributeContainer &	GetAuxDataConst () const noexcept

Static Public Attributes
static const char *	cTYPE_KIND = "mover"
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed

Deprecated methods
These should not be used in new code. They have been replaced with the property methods.
double	mLastUpdateTime
	The simulation time when Update was last called.
WsfVariable< double >	mUpdateTimeTolerance
bool	mThreadSafe
std::vector< WsfMoverMode * >	mMoverModeList
	The generic list of modes (not valid until Initialize is called).
WsfStringId	mModeId
virtual double	TurnRadius (double atSpeed)
WsfModeList *	GetModeList () const
virtual void	TriggerExtrapolation ()
virtual KinematicModel *	CreateKinematicModel (double aSimTime, WsfStringId aPlatformTypeId, const double aLocationWCS[3], const double aVelocityWCS[3], WsfMover aMoverPtr, WsfDraw aDrawPtr) const
void	SetModeList (WsfModeList *aModeListPtr)
void	SetUpdateTimeTolerance (double aDt)
	Revise the internal time tolerance allowed for Update() sequencing logic.

Component infrastructure methods not provided by WsfPlatformPart.
WsfComponent *	CloneComponent () const override
int	GetComponentInitializationOrder () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override

Common infrastructure methods.
WsfMover *	Clone () const override=0
const char *	GetScriptClassName () const override
virtual void	SwapMoverInitiated (double aSimTime, WsfMover *aOldMoverPtr)
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
bool	Initialize2 (double aSimTime) override

Status methods.
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
void	Restore (double aSimTime) override
virtual WsfSpatialDomain	GetSpatialDomain () const
virtual bool	IsStopped () const
	Return whether the mover (and its attached platform) is stopped.
virtual bool	IsPaused () const
virtual bool	IsExtrapolating () const
virtual void	SetHeading (double aHeading)
virtual void	SetPitch (double aPitch)
virtual void	SetRoll (double aRoll)
virtual void	SetOrientationNED (double aHeading, double aPitch, double aRoll)
virtual void	ResetPosition (double aSimTime)
	Informs the mover to use the current platform state.

Mover update control
double	GetLastUpdateTime () const
double	GetUpdateInterval () const override
double	GetUpdateTimeTolerance () const
void	SetUpdateInterval (double aUpdateInterval) override
void	SetLastUpdateTime (double aLastUpdateTime)
virtual bool	UpdateAllowed () const
bool	UpdateWhenBroken () const
void	SetUpdateWhenBroken ()
void	SetNoUpdateWhenBroken ()

Navigation methods.
These methods provide the interface for external control of the mover. It is up to each mover implement these as desired. The methods should return 'false' if the method is not implemented.
virtual const WsfRoute *	GetRoute () const
virtual const WsfRoute *	GetDefaultRoute () const
virtual int	RoutePointIndex () const
virtual bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute)
virtual bool	ReturnToRoute (double aSimTime)
virtual bool	GoToClosestPoint (double aSimTime)
virtual bool	GoToLabel (double aSimTime, WsfStringId aLabelId)
virtual bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude)
virtual bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute)
virtual bool	TurnToHeading (double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection)
virtual bool	TurnToRelativeHeading (double aSimTime, double aHeadingChange, double aRadialAccel, WsfPath::TurnDirection aTurnDirection)
virtual bool	SetRoute (double aSimTime, const WsfRoute &aRoute)
virtual bool	UpdateRoute (double aSimTime, const WsfRoute &aRoute)
virtual bool	UpdateDefaultRoute ()
virtual bool	GoToWaypoint (double aSimTime, unsigned int aDestination)
virtual bool	FindAndSetPath (double aSimTime, WsfGeoPoint aStartPtr, WsfGeoPoint aEndPtr)
virtual bool	FlyRates (const UtVec3d &aAngularRates, const UtVec3d &aLongitudinalAccel)
virtual bool	FlyHeadingSpeedAltitude (double aHeading, double aSpeed, double aAltitude, double aMaxGees, double aMaxClimb)
virtual bool	TurnInPlaneWithSpeed (const UtVec3d &aPlane, double aGees, double aSpeed)
virtual bool	TurnInPlaneWithThrottle (const UtVec3d &aPlane, double aGees, double aThrottle)
virtual bool	FlyVectorWithSpeed (const UtVec3d &aVelocityVector, double aMaxGees, double aSpeed)
virtual bool	FlyVectorWithThrottle (const UtVec3d &aVelocityVector, double aMaxGees, double aThrottle)
virtual bool	ExecuteTriggers (double aSimTime, unsigned int aPointIndex)
virtual bool	GetFutureLocationWCS (double aSimTime, double aLocationWCS[3])
WsfStringId	GetModeId () const
virtual void	SetMode (WsfStringId aModeName)
bool	ThreadSafe () const
	Returns true if the mover update is thread safe.
void	SetThreadSafe ()
void	SetNotThreadSafe ()

Property Methods
These methods are used for the defining and accessing named 'properties' (key/value pairs) that represent capabilities of the mover. The base class maintains a set of 'common' properties, but a derived class can override the GetProperty method to access class-specific properties.
virtual void	InitializeProperties ()
	Add any input properties and its default value common properties list.
virtual bool	PropertyExists (const std::string &aPropertyName)
	Return true if the given property exists in the set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const int &aProperty)
	Add an integer property to the common set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const double &aProperty)
	Add an floating point property to the common set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const std::string &aProperty)
	Add an string property to the set of common properties.
virtual bool	GetPropertyInt (const std::string &aPropertyName, int &aProperty)
virtual bool	GetPropertyDouble (const std::string &aPropertyName, double &aProperty)
virtual bool	GetPropertyString (const std::string &aPropertyName, std::string &aProperty)
virtual double	GetThrottlePosition ()

Additional Inherited Members
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.
	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)

Detailed Description

A platform part that moves the platform to which it is attached. A 'mover' is a platform part that is responsible for maintaining the kinematic state (position, orientation, speed, acceleration, etc) of the platform to which it is attached. It is called by the simulation to effect the movement of platforms within the simulation.

Constructor & Destructor Documentation

◆ WsfMover() [1/3]

WsfMover::WsfMover ( )

delete

References WsfMover().

◆ WsfMover() [2/3]

WsfMover::WsfMover ( const WsfScenario & aScenario )

References mLastUpdateTime, mModeId, mMoverModeList, mThreadSafe, mUpdateTimeTolerance, WsfObject::SetName(), WsfMover(), and WsfPlatformPart::WsfPlatformPart().

◆ WsfMover() [3/3]

WsfMover::WsfMover ( const WsfMover & aSrc )

References if(), mLastUpdateTime, mModeId, mMoverModeList, mThreadSafe, mUpdateTimeTolerance, WsfMover(), and WsfPlatformPart::WsfPlatformPart().

◆ ~WsfMover()

WsfMover::~WsfMover ( )

override

Member Function Documentation

◆ Clone()

WsfMover * WsfMover::Clone ( ) const

overridepure virtual

Clone this object.

Returns: a pointer to the new object.

Implements WsfObject.

Implemented in Fires::FiresMover, TargetMover, wsf::six_dof::PointMassMover, wsf::six_dof::RigidBodyMover, WsfAirMover, WsfARGO8_Mover, WsfBrawlerMover, WsfChaffMover, WsfDisMover, WsfFollower, WsfFormationFlyer, WsfGroundMover, WsfGuidedMover, WsfHybridMover, WsfIntegratingSpaceMover, WsfMath3D_Mover, WsfNORAD_SpaceMover, WsfOffsetMover, WsfP6DOF_Mover, WsfParabolicMover, WsfRoadMover, WsfRotorcraftMover, WsfShadowMover, WsfSpaceMover, WsfSpaceMoverBase, WsfStraightLineMover, WsfSubsurfaceMover, WsfSurfaceMover, WsfTBM_Mover, WsfTowedMover, WsfTSPI_Mover, and WsfWaypointMover.

References GetSpatialDomain(), WsfPlatformPart::Initialize2(), IsExtrapolating(), IsPaused(), IsStopped(), SetHeading(), SetOrientationNED(), SetPitch(), SetRoll(), SwapMoverInitiated(), and WsfMover().

◆ CloneComponent()

WsfComponent * WsfMover::CloneComponent ( ) const

inlineoverridevirtual

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

Implements WsfComponent.

References WsfObject::Clone().

◆ CreateKinematicModel()

virtual KinematicModel * WsfMover::CreateKinematicModel	(	double	aSimTime,
		WsfStringId	aPlatformTypeId,
		const double	aLocationWCS[3],
		const double	aVelocityWCS[3],
		WsfMover *	aMoverPtr,
		WsfDraw *	aDrawPtr ) const

inlinevirtual

Get the kinematic model of this mover if available. If aMoverPtr is null, "this" has been initialized (i.e., GetPlatform(), etc. will work); however, if aMoverPtr is non-null, "this" has not been initialized, so that any data needed from the simulation or scenario should be retrieved using aMoverPtr instead. In either case, the kinematic model needs to be extracted without disturbing the state of the platform to which either of "this" or aMoverPtr is attached.

Parameters

aSimTime	The current simulation time.
aPlatformTypeId	The platform type id that is being propagated kinematically.
aLocationWCS	The location of the platform at aSimTime.
aVelocityWCS	The velocity of the platform at aSimTime.
aMoverPtr	If non-null, a valid mover from which "this" should be initialized.
aDrawPtr	A WsfDraw object that can be used for custom visualization.

Returns: The kinematic model pointer if available, otherwise nullptr.

Reimplemented in WsfSpaceMoverBase, and WsfTSPI_Mover.

References WsfMover().

◆ ExecuteTriggers()

bool WsfMover::ExecuteTriggers	(	double	aSimTime,
		unsigned int	aPointIndex )

virtual

Executes scripts, callbacks, and mode changes (if any) for the given route index waypoint.

Parameters

aSimTime	Current simulated time.
aPointIndex	Route waypoint array index to execute a script or callback for.

Returns: Indicates whether a script, or callback was executed, or a Mover mode was changed.

Note: Executing a script or callback may possibly change the current or destination waypoint.

Reimplemented in wsf::six_dof::Mover, and WsfP6DOF_Mover.

◆ FindAndSetPath()

bool WsfMover::FindAndSetPath	(	double	aSimTime,
		WsfGeoPoint *	aStartPtr,
		WsfGeoPoint *	aEndPtr )

virtual

Reimplemented in WsfRouteMover.

◆ FlyHeadingSpeedAltitude()

virtual bool WsfMover::FlyHeadingSpeedAltitude	(	double	aHeading,
		double	aSpeed,
		double	aAltitude,
		double	aMaxGees,
		double	aMaxClimb )

inlinevirtual

Reimplemented in wsf::six_dof::Mover, and WsfBrawlerMover.

◆ FlyRates()

virtual bool WsfMover::FlyRates	(	const UtVec3d &	aAngularRates,
		const UtVec3d &	aLongitudinalAccel )

inlinevirtual

Reimplemented in wsf::six_dof::Mover, and WsfBrawlerMover.

◆ FlyVectorWithSpeed()

virtual bool WsfMover::FlyVectorWithSpeed	(	const UtVec3d &	aVelocityVector,
		double	aMaxGees,
		double	aSpeed )

inlinevirtual

Reimplemented in wsf::six_dof::Mover, and WsfBrawlerMover.

◆ FlyVectorWithThrottle()

virtual bool WsfMover::FlyVectorWithThrottle	(	const UtVec3d &	aVelocityVector,
		double	aMaxGees,
		double	aThrottle )

inlinevirtual

Reimplemented in wsf::six_dof::Mover, and WsfBrawlerMover.

◆ GetComponentInitializationOrder()

int WsfMover::GetComponentInitializationOrder ( ) const

inlineoverridevirtual

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

Reimplemented from WsfComponent.

References cWSF_INITIALIZE_ORDER_MOVER.

◆ GetComponentRoles()

const int * WsfMover::GetComponentRoles ( ) const

overridevirtual

Returns a zero-terminated array of component roles. Note that the array should be in decreasing order of specificity and should generally the inheritance hierarchy. The first entry should be the components 'primary' role. For example a sensor would do the following:

static const int roles[] = { cWSF_COMPONENT_SENSOR, cWSF_COMPONENT_ARTICULATED_PART,
                             cWSF_COMPONENT_PLATFORM_PART, 0 };
return roles;

Implements WsfComponent.

Reimplemented in WsfSpaceMoverBase.

References cWSF_COMPONENT_MOVER, cWSF_COMPONENT_NULL, and cWSF_COMPONENT_PLATFORM_PART.

◆ GetDefaultRoute()

const WsfRoute * WsfMover::GetDefaultRoute ( ) const

virtual

Return the pointer to the default route. Some movers implement the concept of a 'default' route, which is the initial route.

Returns: A pointer to the default route or zero if a default route is not defined.

Reimplemented in wsf::six_dof::Mover, WsfHybridMover, WsfP6DOF_Mover, and WsfRouteMover.

Referenced by WsfPathFinder::ComputeExtrapolate(), WsfNavigationMesh::ComputeSetRoute(), and WsfPathFinder::ReturnToRoute().

◆ GetFutureLocationWCS()

bool WsfMover::GetFutureLocationWCS	(	double	aSimTime,
		double	aLocationWCS[3] )

virtual

Get the anticipated location at some future time

Parameters

aSimTime	A time in the future for which the location is to be determined.
aLocationWCS	The location at the time specified by aSimTime.

Returns: false if the future location cannot be determined.

Note: Not all movers support this method.

Reimplemented in WsfSpaceMoverBase, and WsfWaypointMover.

◆ GetLastUpdateTime()

double WsfMover::GetLastUpdateTime ( ) const

inline

Get the simulation time when this mover was last updated.

Returns: The simulation time the Update method was last called.

References mLastUpdateTime.

Referenced by WsfExtEntityDeadReckon::DR_State::LoadFromPlatform(), and WsfWaypointMover::UpdatePosition().

◆ GetModeId()

WsfStringId WsfMover::GetModeId ( ) const

inline

Get the current mode ID of the Mover. This value is implementation defined, and may be used to indicate "Stopped", "Idle", "Taxi", "Climb", or any other state or mode of interest. Derived WsfMover implementations may modify their behavior based upon this value.

References mModeId.

◆ GetModeList()

WsfModeList * WsfMover::GetModeList ( ) const

inline

Referenced by WsfRotorcraftMover::Initialize().

◆ GetPropertyDouble()

bool WsfMover::GetPropertyDouble	(	const std::string &	aPropertyName,
		double &	aProperty )

virtual

Get the value of a floating point property from either a derived-class set of properties or the common set of properties.

Reimplemented in WsfGuidedMover, and WsfWaypointMover.

References PropertyExists().

Referenced by WsfGuidedMover::GetPropertyDouble(), and WsfWaypointMover::GetPropertyDouble().

◆ GetPropertyInt()

bool WsfMover::GetPropertyInt	(	const std::string &	aPropertyName,
		int &	aProperty )

virtual

Get the value of an integer property from either a derived-class set of properties or the common set of properties.

References PropertyExists().

◆ GetPropertyString()

bool WsfMover::GetPropertyString	(	const std::string &	aPropertyName,
		std::string &	aProperty )

virtual

Get the value of a string property from either a derived-class set of properties or the common set of properties.

References PropertyExists().

◆ GetRoute()

const WsfRoute * WsfMover::GetRoute ( ) const

virtual

Return the pointer to the current route.

Returns: A pointer to the current route or zero if a current route is not defined.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfGuidedMoverBase, WsfHybridMover, WsfP6DOF_Mover, and WsfRouteMover.

Referenced by XWsfOSM_Traffic::ChangeScriptedLane(), XWsfOSM_Traffic::ScriptGoOffroad(), WsfSA_Processor::UpdateNavData(), and UT_DEFINE_SCRIPT_METHOD().

◆ GetScriptClassName()

const char * WsfMover::GetScriptClassName ( ) const

override

◆ GetSpatialDomain()

WsfSpatialDomain WsfMover::GetSpatialDomain ( ) const

virtual

Return the spatial domain in which the mover is operating.

The spatial domain is the domain in which the mover is operating (land, sea, space, etc.).

Returns: The spatial domain in which the platform is operating. WSF_SPATIAL_DOMAIN_LAND is returned if this method is not overridden by a derived class.

Reimplemented in Fires::FiresMover, wsf::six_dof::Mover, WsfAirMover, WsfARGO8_Mover, WsfBrawlerMover, WsfDisMover, WsfFollower, WsfFormationFlyer, WsfGroundMover, WsfGuidedMoverBase, WsfHybridMover, WsfMath3D_Mover, WsfOffsetMover, WsfP6DOF_Mover, WsfParabolicMover, WsfRoadMover, WsfRotorcraftMover, WsfSpaceMoverBase, WsfStraightLineMover, WsfSubsurfaceMover, WsfSurfaceMover, WsfTBM_Mover, and WsfTSPI_Mover.

References WSF_SPATIAL_DOMAIN_LAND.

Referenced by Clone(), WsfOffsetMover::GetSpatialDomain(), WsfPlatformAvailability::PlatformIsAvailable(), and WsfWaypointMover::UpdatePosition().

◆ GetThrottlePosition()

virtual double WsfMover::GetThrottlePosition ( )

inlinevirtual

Get the throttle position that the mover is commanding A throttle position x such that 1.0 <= x < 2.0 indicates military power A throttle position x such that x == 2.0 indicates max power A throttle position x such that 2.0 < x <= 3.0 indicates afterburner

Reimplemented in WsfAirMover, and WsfBrawlerMover.

◆ GetUpdateInterval()

double WsfMover::GetUpdateInterval ( ) const

inlineoverridevirtual

Get the event driven update interval.

Returns: The update interval (in seconds).

Implements WsfPlatformPart.

Referenced by wsf::six_dof::Mover::CommonSubobjectJettisonTasks(), WsfP6DOF_Mover::CommonSubobjectJettisonTasks(), WsfGuidedMover::GetLevelFlightThrust(), WsfRotorcraftMover::Initialize(), WsfWaypointMover::Initialize(), wsf::six_dof::PointMassMover::InitializeDetails(), wsf::six_dof::RigidBodyMover::InitializeDetails(), and WsfExplicitWeapon::ProcessDeferredLaunchEvent().

◆ GetUpdateTimeTolerance()

double WsfMover::GetUpdateTimeTolerance ( ) const

inline

Get the update time tolerance. The mover will not perform an update if the time since the last update is less than this value. Some processors need this so they do not schedule updates that will not do anything.

Returns: The update time tolerance (in seconds).

Note: This value can be zero.

References mUpdateTimeTolerance.

◆ GoToAltitude()

bool WsfMover::GoToAltitude	(	double	aSimTime,
		double	aAltitude,
		double	aClimbDiveRate,
		bool	aKeepRoute )

virtual

Command the mover change its altitude.

Parameters

aSimTime	The current simulated time (seconds).
aAltitude	The desired altitude to attempt to achieve (in meters).
aClimbDiveRate	The desired climb/dive rate (meters/second). If zero then use the mover default.
aKeepRoute	'true' if the mover should maintain current route. 'false' to extrapolate.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfHybridMover, WsfIterativeRouteMover, WsfMath3D_Mover, WsfP6DOF_Mover, WsfRotorcraftMover, and WsfWaypointMover.

Referenced by WsfRouteMover::Initialize().

◆ GoToClosestPoint()

bool WsfMover::GoToClosestPoint ( double aSimTime )

virtual

Go to the closest point in the current route.

Parameters

aSimTime The current simulated clock time (seconds).

Returns: true if successful.

Reimplemented in WsfBrawlerMover, WsfHybridMover, and WsfRouteMover.

◆ GoToLabel()

bool WsfMover::GoToLabel	(	double	aSimTime,
		WsfStringId	aLabelId )

virtual

Go to the point with the specified label in the current route.

Parameters

aSimTime	The current simulated clock time (seconds).
aLabelId	The name (string id) of the point.

Returns: true if successful.

Reimplemented in WsfBrawlerMover, WsfHybridMover, and WsfRouteMover.

◆ GoToLocation()

bool WsfMover::GoToLocation	(	double	aSimTime,
		double	aLatitude,
		double	aLongitude,
		double	aAltitude )

virtual

Command the mover to move towards a specified location.

Parameters

aSimTime	The current simulated clock time (seconds).
aLatitude	The desired latitude.
aLongitude	The desired longitude.
aAltitude	The desired altitude. If -1 is used for aAltitude the current altitude is used.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfHybridMover, WsfIterativeRouteMover, WsfP6DOF_Mover, WsfRoadMover, WsfRotorcraftMover, and WsfRouteMover.

Referenced by XWsfOSM_Traffic::ScriptGoOffroad().

◆ GoToSpeed()

bool WsfMover::GoToSpeed	(	double	aSimTime,
		double	aSpeed,
		double	aLinearAccel,
		bool	aKeepRoute )

virtual

Command the mover to change its speed.

Parameters

aSimTime	The current simulated clock time (seconds).
aSpeed	The desired speed (in meters/second).
aLinearAccel	The desired acceleration (meters/second^2). If zero then use the mover default.
aKeepRoute	'true' if the mover should maintain current route. 'false' to extrapolate.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfHybridMover, WsfIterativeRouteMover, WsfMath3D_Mover, WsfP6DOF_Mover, WsfRotorcraftMover, WsfRouteMover, and WsfWaypointMover.

◆ GoToWaypoint()

bool WsfMover::GoToWaypoint	(	double	aSimTime,
		unsigned int	aDestination )

virtual

Attempt to find a WsfWaypoint index, and go there.

Parameters

aSimTime	The current simulated clock time (seconds).
aDestination	Waypoint index to find.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfP6DOF_Mover, and WsfRouteMover.

◆ Initialize()

bool WsfMover::Initialize ( double aSimTime )

overridevirtual

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

Parameters

aSimTime The current simulation time.

Returns: True if successful.

Reimplemented from WsfComponent.

Reimplemented in WsfNORAD_SpaceMover, WsfOffsetMover, WsfP6DOF_Mover, WsfParabolicMover, WsfRoadMover, WsfRotorcraftMover, WsfRouteMover, WsfShadowMover, WsfSpaceMover, WsfSpaceMoverBase, WsfStraightLineMover, WsfSubsurfaceMover, WsfTBM_Mover, WsfTowedMover, WsfTSPI_Mover, and WsfWaypointMover.

References WsfPlatformPart::GetPlatform(), WsfPlatform::GetScriptContext(), WsfSimulation::GetScriptContext(), WsfPlatformPart::GetSimulation(), WsfPlatformPart::Initialize(), InitializeProperties(), mLastUpdateTime, mMoverModeList, mUpdateTimeTolerance, and ok.

◆ Initialize2()

bool WsfPlatformPart::Initialize2 ( double aSimTime )

overridevirtual

Perform phase 2 initialization of the part. This is invoked by WsfPlatform::Initialize() during phase 2 initialization of the platform. During phase 2, platform components may assume that the platform location has been defined, initial tracks have been loaded and that all components have completed phase 1 initialization.

Parameters

aSimTime The current simulation time.

Returns: 'true' if successful or 'false' if some sort of error occurred.

Reimplemented from WsfComponent.

Reimplemented in WsfRotorcraftMover, WsfRouteMover, WsfSpaceMoverBase, and WsfTBM_Mover.

References WsfPlatform::GetIndex(), and WsfPlatformPart::GetPlatform().

Referenced by Fires::FiresMover::Initialize2(), WsfGuidedMoverBase::Initialize2(), WsfRouteMover::Initialize2(), WsfTBM_Mover::Initialize2(), and WsfPlatform::SwapMover().

◆ InitializeProperties()

virtual void WsfMover::InitializeProperties ( )

inlinevirtual

Add any input properties and its default value common properties list.

Referenced by Initialize().

◆ IsExtrapolating()

bool WsfMover::IsExtrapolating ( ) const

virtual

Return whether the mover is "extrapolating". 'Extrapolating' has a slightly different meaning depending on the mover, but it fundamentally means it is moving without any form of external guidance. In the case of a simple waypoint- following mover this means it has reached its final waypoint and has either stopped there or is continuing on at a specified direction, speed, and altitude. For movers that do not follow waypoints it is a little murkier, but it typically means that the motion is occuring without any propulsion. In this latter case it basically means that with a little knowledge an external observer could take the position at any time and use Newton's Laws to estimate future positions.

Reimplemented in WsfGuidedMoverBase, WsfSpaceMoverBase, WsfTBM_Mover, WsfTSPI_Mover, and WsfWaypointMover.

Referenced by Clone().

◆ IsPaused()

bool WsfMover::IsPaused ( ) const

virtual

Indicates that the platform is currently in "pause" mode, and is not moving, but may begin moving at some future time. Note that a "paused" platform may supply a non-zero velocity and/or acceleration, but still not move through space with advancing time.

Reimplemented in WsfGuidedMoverBase, WsfRouteMover, and WsfTSPI_Mover.

Referenced by Clone().

◆ IsStopped()

bool WsfMover::IsStopped ( ) const

virtual

Return whether the mover (and its attached platform) is stopped.

Reimplemented in WsfGuidedMoverBase, and WsfTSPI_Mover.

Referenced by Clone(), and WsfIterativeRouteMover::UpdatePosition().

◆ operator=()

WsfMover & WsfMover::operator= ( const WsfMover & )

delete

References WsfMover().

◆ PartBroken()

void WsfMover::PartBroken ( double aSimTime )

overridevirtual

Set the status to Broken.

Parameters

aSimTime The current simulation time.

Note: This method should not be invoked directly by application code.

Reimplemented from WsfPlatformPart.

References WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfObserver::MoverBroken(), WsfPlatformPart::PartBroken(), and WsfPlatform::SetAppearance().

Referenced by WsfGuidedMoverBase::PartBroken().

◆ ProcessInput()

bool WsfMover::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a generic source.

Examine the current input command. If it is NOT one of the commands recognized by this class then it simply returns 'false'. If it is one of the commands recognized by this class then it processes the command and returns 'true'.

Parameters

aInput a reference to a UtInput object.

Returns: 'true' if the command was one recognized by the class or 'false' if not.

Exceptions

UtInput::ExceptionBase (or an object derived from it) if the command was recognized but contains some sort of error.

Note: If a derived class does not recognize the command (i.e.: the return value is false) then it should call the base class ProcessInput method. This chain should continue until either the command is recognized or the top-level base class is encountered.

Reimplemented from WsfObject.

Reimplemented in WsfNORAD_SpaceMover, WsfOffsetMover, WsfP6DOF_Mover, WsfParabolicMover, WsfRoadMover, WsfRotorcraftMover, WsfRouteMover, WsfShadowMover, WsfSpaceMover, WsfSpaceMoverBase, WsfStraightLineMover, WsfSurfaceMover, WsfTBM_Mover, WsfTowedMover, WsfTSPI_Mover, and WsfWaypointMover.

References mUpdateTimeTolerance, and WsfPlatformPart::ProcessInput().

◆ PropertyExists()

bool WsfMover::PropertyExists ( const std::string & aPropertyName )

virtual

Return true if the given property exists in the set of properties.

Referenced by GetPropertyDouble(), GetPropertyInt(), and GetPropertyString().

◆ QueryInterface()

void * WsfMover::QueryInterface ( int aRole )

overridevirtual

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.

Reimplemented in WsfSpaceMoverBase.

References cWSF_COMPONENT_MOVER, and WsfPlatformPart::QueryInterface().

Referenced by WsfSpaceMoverBase::QueryInterface().

◆ RegisterProperty() [1/3]

void WsfMover::RegisterProperty	(	const std::string &	aPropertyName,
		const double &	aProperty )

virtual

Add an floating point property to the common set of properties.

◆ RegisterProperty() [2/3]

void WsfMover::RegisterProperty	(	const std::string &	aPropertyName,
		const int &	aProperty )

virtual

Add an integer property to the common set of properties.

Referenced by WsfMath3D_Mover::Initialize().

◆ RegisterProperty() [3/3]

void WsfMover::RegisterProperty	(	const std::string &	aPropertyName,
		const std::string &	aProperty )

virtual

Add an string property to the set of common properties.

◆ ResetPosition()

virtual void WsfMover::ResetPosition ( double aSimTime )

inlinevirtual

Informs the mover to use the current platform state.

Reimplemented in wsf::six_dof::Mover, WsfMath3D_Mover, WsfP6DOF_Mover, and WsfWaypointMover.

◆ Restore()

void WsfMover::Restore ( double aSimTime )

overridevirtual

Perform process of Restoring a part (return to Operational from non-Operational). This virtual function will usually be a response to a time-queued event. If the Damage Factor of the part is totally damaged, it will be set to "slightly" less than totally damaged, to permit the part to become Operational again.

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

References WsfPlatformPart::GetDamageFactor(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::Restore(), and WsfPlatform::SetAppearance().

◆ ReturnToRoute()

bool WsfMover::ReturnToRoute ( double aSimTime )

virtual

After going elsewhere, rejoin the route, reverting to the previous waypoint.

Parameters

aSimTime The current simulated time (seconds).

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfP6DOF_Mover, and WsfRouteMover.

◆ RoutePointIndex()

virtual int WsfMover::RoutePointIndex ( ) const

inlinevirtual

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfP6DOF_Mover, and WsfRouteMover.

Referenced by WsfSA_Processor::UpdateNavData().

◆ SetHeading()

void WsfMover::SetHeading ( double aHeading )

virtual

Request the platform mover to go to a desired NED heading angle (radians). This is merely a request, and the mover may not be able to comply.

Reimplemented in wsf::six_dof::Mover, WsfFollower, WsfP6DOF_Mover, and WsfRotorcraftMover.

References WsfPlatformPart::GetPlatform().

Referenced by Clone().

◆ SetLastUpdateTime()

void WsfMover::SetLastUpdateTime ( double aLastUpdateTime )

inline

Externally set the Sim Time when the WsfMover was last updated. This method is not for general use, but was required for the WsfHybridMover.

Parameters

aLastUpdateTime The new update time (in seconds).

References mLastUpdateTime.

Referenced by WsfPlatform::SwapMover(), WsfMath3D_Mover::UpdatePosition(), and WsfWaypointMover::UpdatePosition().

◆ SetMode()

void WsfMover::SetMode ( WsfStringId aModeName )

virtual

Set the current mode ID of the WsfMover. This value is implementation defined, and may be used to indicate "Stopped", "Idle", "Taxi", "Climb", or any other state or mode of interest. Derived WsfMover implementations may modify their behavior based upon this value.

Reimplemented in WsfRotorcraftMover.

References mModeId.

Referenced by WsfRotorcraftMover::SetMode().

◆ SetModeList()

void WsfMover::SetModeList ( WsfModeList * aModeListPtr )

protected

Referenced by WsfRotorcraftMover::WsfRotorcraftMover().

◆ SetNonOperational()

void WsfMover::SetNonOperational ( double aSimTime )

overridevirtual

Set the system status as Non-Operational.

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

References WsfPlatformPart::GetSimulation(), WsfObserver::MoverNonOperational(), and WsfPlatformPart::SetNonOperational().

◆ SetNotThreadSafe()

void WsfMover::SetNotThreadSafe ( )

inline

References mThreadSafe.

◆ SetNoUpdateWhenBroken()

void WsfMover::SetNoUpdateWhenBroken ( )

inline

◆ SetOperational()

void WsfMover::SetOperational ( double aSimTime )

overridevirtual

Set the system status as Operational.

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

References WsfPlatformPart::GetSimulation(), WsfObserver::MoverOperational(), and WsfPlatformPart::SetOperational().

◆ SetOrientationNED()

void WsfMover::SetOrientationNED	(	double	aHeading,
		double	aPitch,
		double	aRoll )

virtual

Request the platform mover to go to a desired NED orientation (radians). This is merely a request, and the mover may not be able to comply fully.

Reimplemented in wsf::six_dof::Mover, WsfP6DOF_Mover, and WsfRotorcraftMover.

References WsfPlatformPart::GetPlatform().

Referenced by Clone().

◆ SetPitch()

void WsfMover::SetPitch ( double aPitch )

virtual

Request the platform mover to go to a desired NED pitch angle (radians). This is merely a request, and the mover may not be able to comply.

Reimplemented in wsf::six_dof::Mover, and WsfP6DOF_Mover.

References WsfPlatformPart::GetPlatform().

Referenced by Clone().

◆ SetRoll()

void WsfMover::SetRoll ( double aRoll )

virtual

Request the platform mover to go to a desired NED roll (bank) angle (radians). This is merely a request, and the mover may not be able to comply.

Reimplemented in wsf::six_dof::Mover, and WsfP6DOF_Mover.

References WsfPlatformPart::GetPlatform().

Referenced by Clone().

◆ SetRoute()

bool WsfMover::SetRoute	(	double	aSimTime,
		const WsfRoute &	aRoute )

virtual

Set the route. Replaces any that might have already been set.

Parameters

aSimTime	The current simulated clock time (seconds).
aRoute	The new route.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfGuidedMoverBase, WsfP6DOF_Mover, and WsfRouteMover.

Referenced by XWsfOSM_Traffic::AddScriptedVehicle().

◆ SetThreadSafe()

void WsfMover::SetThreadSafe ( )

inline

References mThreadSafe.

◆ SetUpdateInterval()

void WsfMover::SetUpdateInterval ( double aUpdateInterval )

inlineoverridevirtual

Set the event driven update interval.

Parameters

aUpdateInterval The new update interval (in seconds).

Implements WsfPlatformPart.

Referenced by WsfP6DOF_Mover::CommonSubobjectJettisonTasks(), WsfARGO8_Mover::Initialize(), WsfTSPI_Mover::Initialize(), WsfWaypointMover::Initialize(), WsfExplicitWeapon::ProcessDeferredLaunchEvent(), WsfTSPI_Mover::Update(), and WsfTowedMover::WsfTowedMover().

◆ SetUpdateTimeTolerance()

void WsfMover::SetUpdateTimeTolerance ( double aDt )

inlineprotected

Revise the internal time tolerance allowed for Update() sequencing logic.

References mUpdateTimeTolerance.

Referenced by wsf::six_dof::Mover::Initialize(), and WsfP6DOF_Mover::Initialize().

◆ SetUpdateWhenBroken()

void WsfMover::SetUpdateWhenBroken ( )

inline

Referenced by WsfGuidedMover::WsfGuidedMover().

◆ SwapMoverInitiated()

void WsfMover::SwapMoverInitiated	(	double	aSimTime,
		WsfMover *	aOldMoverPtr )

virtual

A mover swap has been initiated (i.e.: a call to WsfPlatform::SwapMover). This is called during the execution of WsfPlatform::SwapMover while the old mover is still the active mover. After this is called the new mover is initialized (Initialize and Initialize2 are called) and then made the active mover. The new mover typically uses this call to establish an environment to be used during subsequent Update calls to blend the old state data with the new state data for some small period of time.

Parameters

aSimTime	The current simulation time.
aOldMoverPtr	Pointer to the old mover.

Note: This method is not called if there is no old mover. virtual

Reimplemented in WsfBrawlerMover.

References WsfMover().

Referenced by Clone(), and WsfPlatform::SwapMover().

◆ ThreadSafe()

bool WsfMover::ThreadSafe ( ) const

inline

Returns true if the mover update is thread safe.

References mThreadSafe.

Referenced by WsfMultiThreadManager::AddPlatform().

◆ TriggerExtrapolation()

void WsfMover::TriggerExtrapolation ( )

virtual

Way to artificially inject an extrapolation event into the simulation. (Primarily for script-driven TSPI Movers, to inform of a burnout event.)

Reimplemented in WsfTSPI_Mover.

◆ TurnInPlaneWithSpeed()

virtual bool WsfMover::TurnInPlaneWithSpeed	(	const UtVec3d &	aPlane,
		double	aGees,
		double	aSpeed )

inlinevirtual

Reimplemented in wsf::six_dof::Mover, and WsfBrawlerMover.

◆ TurnInPlaneWithThrottle()

virtual bool WsfMover::TurnInPlaneWithThrottle	(	const UtVec3d &	aPlane,
		double	aGees,
		double	aThrottle )

inlinevirtual

Reimplemented in wsf::six_dof::Mover, and WsfBrawlerMover.

◆ TurnOff()

void WsfMover::TurnOff ( double aSimTime )

overridevirtual

Turn off the platform part (system).

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

Reimplemented in WsfRouteMover.

References WsfPlatformPart::GetSimulation(), WsfObserver::MoverTurnedOff(), and WsfPlatformPart::TurnOff().

Referenced by WsfRouteMover::TurnOff().

◆ TurnOn()

void WsfMover::TurnOn ( double aSimTime )

overridevirtual

Turn on the platform part (system).

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

Reimplemented in WsfRouteMover.

References WsfPlatformPart::GetSimulation(), WsfObserver::MoverTurnedOn(), and WsfPlatformPart::TurnOn().

Referenced by WsfBrawlerMover::TurnOn(), and WsfRouteMover::TurnOn().

◆ TurnRadius()

virtual double WsfMover::TurnRadius ( double atSpeed )

inlinevirtual

Reimplemented in WsfMath3D_Mover, and WsfWaypointMover.

Referenced by WsfMath3D_Mover::TurnRadius().

◆ TurnToHeading()

bool WsfMover::TurnToHeading	(	double	aSimTime,
		double	aHeading,
		double	aRadialAccel,
		WsfPath::TurnDirection	aTurnDirection )

virtual

Command the mover to change its heading.

Parameters

aSimTime	The current simulated clock time (seconds).
aHeading	The desired heading (in radians).
aRadialAccel	The desired radial acceleration (meters/second^2). If zero then use the mover default.
aTurnDirection	The direction in which to turn.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfHybridMover, WsfIterativeRouteMover, WsfMath3D_Mover, WsfP6DOF_Mover, WsfRotorcraftMover, and WsfWaypointMover.

◆ TurnToRelativeHeading()

bool WsfMover::TurnToRelativeHeading	(	double	aSimTime,
		double	aHeadingChange,
		double	aRadialAccel,
		WsfPath::TurnDirection	aTurnDirection )

virtual

Command the mover to change its relative heading.

Parameters

aSimTime	The current simulated clock time (seconds).
aHeadingChange	The desired heading change with positive clockwise, negative counter-clockwise. (in radians).
aRadialAccel	The desired radial acceleration (meters/second^2). If zero then use the mover default.
aTurnDirection	The direction in which to turn.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfHybridMover, WsfIterativeRouteMover, WsfMath3D_Mover, WsfP6DOF_Mover, and WsfWaypointMover.

◆ Update()

void WsfMover::Update ( double aSimTime )

overridevirtual

Update the kinematic state of the associated platform. Update the location, orientation, speed and acceleration of the attached platform to what it should be at the supplied time.

Parameters

aSimTime The current simulation time.

Note: The derived class MUST update the protected variable mLastUpdateTime to be the current simulation time.

Reimplemented from WsfPlatformPart.

Reimplemented in WsfOffsetMover, WsfP6DOF_Mover, WsfParabolicMover, WsfRouteMover, WsfShadowMover, WsfSpaceMoverBase, WsfStraightLineMover, WsfTBM_Mover, WsfTowedMover, and WsfTSPI_Mover.

References mLastUpdateTime.

Referenced by WsfRotorcraftMover::LocalUpdate(), WsfRouteMover::SetRoutePoint(), WsfRouteMover::Unpause(), Fires::FiresMover::Update(), TargetMover::Update(), WsfARGO8_Mover::Update(), WsfBrawlerMover::Update(), WsfChaffMover::Update(), WsfFollower::Update(), and WsfRouteMover::Update().

◆ UpdateAllowed()

bool WsfMover::UpdateAllowed ( ) const

virtual

Should the mover update calls by WsfPlatform be allowed? WsfPlatform::Update will invoke this to determine if the mover should be updated as part of the call. Normally a mover will update as long as it is turned on. If the mover at sometime gets marked as 'broken' it gets turned off and by default future mover updates will be suppressed. But some movers still should get updated even if broken (for example, to fall from the sky). If the mover desires, they can suppress this action and let it get called even when broken by calling SetUpdateWhenBroken() in its constructor.

A derived class may also override this method to provide custom behavior.

Returns: true if calls to the Update method should be allowed.

References WsfPlatformPart::GetDamageFactor(), and WsfPlatformPart::IsTurnedOn().

◆ UpdateDefaultRoute()

bool WsfMover::UpdateDefaultRoute ( )

virtual

Update the default route to the current route.

Returns: true if successful.

Reimplemented in WsfRouteMover.

◆ UpdateRoute()

bool WsfMover::UpdateRoute	(	double	aSimTime,
		const WsfRoute &	aRoute )

virtual

Update the route.

Parameters

aSimTime	The current simulated clock time (seconds).
aRoute	The new route.

Returns: true if successful.

Reimplemented in wsf::six_dof::Mover, WsfBrawlerMover, WsfGuidedMoverBase, WsfHybridMover, WsfP6DOF_Mover, WsfRoadMover, and WsfRouteMover.

Referenced by WsfRoadMover::UpdateRoute().

◆ UpdateWhenBroken()

bool WsfMover::UpdateWhenBroken ( ) const

inline

Member Data Documentation

◆ cTYPE_KIND

const char * WsfMover::cTYPE_KIND = "mover"

static

◆ mLastUpdateTime

double WsfMover::mLastUpdateTime

protected

The simulation time when Update was last called.

Referenced by WsfFollower::AdvanceTime(), WsfIterativeRouteMover::AdvanceTime(), WsfP6DOF_Mover::CommonSubobjectJettisonTasks(), WsfOffsetMover::CopyStateFromReference(), WsfStraightLineMover::CurrentTimeOfFlight(), WsfOffsetMover::ExtrapolateState(), WsfSpaceMoverBase::GetFutureLocationWCS(), GetLastUpdateTime(), wsf::six_dof::Mover::GetStateData(), WsfP6DOF_Mover::GetStateData(), WsfTBM_Mover::GetTBMLastUpdateTime(), WsfIterativeRouteMover::Initialize(), Initialize(), WsfOffsetMover::Initialize(), WsfRouteMover::Initialize(), WsfTBM_Mover::Initialize2(), WsfGuidedMover::PostUpdate(), SetLastUpdateTime(), WsfTBM_Mover::SetTBMLastUpdateTime(), TargetMover::Update(), wsf::six_dof::Mover::Update(), WsfDisMover::Update(), WsfFollower::Update(), WsfGuidedMoverBase::Update(), Update(), WsfOffsetMover::Update(), WsfP6DOF_Mover::Update(), WsfRouteMover::Update(), WsfSpaceMoverBase::Update(), WsfStraightLineMover::Update(), WsfTBM_Mover::Update(), WsfTowedMover::Update(), WsfTSPI_Mover::Update(), WsfTSPI_Mover::UpdateMover(), WsfIterativeRouteMover::UpdatePosition(), WsfOffsetMover::UpdateTetheredState(), WsfMover(), WsfMover(), and WsfGuidedMoverBase::~WsfGuidedMoverBase().

◆ mModeId

WsfStringId WsfMover::mModeId

protected

Referenced by GetModeId(), SetMode(), WsfMover(), and WsfMover().

◆ mMoverModeList

std::vector<WsfMoverMode*> WsfMover::mMoverModeList

protected

The generic list of modes (not valid until Initialize is called).

Referenced by Initialize(), WsfMover(), and WsfMover().

◆ mThreadSafe

bool WsfMover::mThreadSafe

protected

Identifies the mover as thread safe; mover updates can be multi-threaded. Certain types of derived movers may have dependencies that may not make them thread-safe, i.e. formation flyer, hybrid mover

Referenced by SetNotThreadSafe(), SetThreadSafe(), ThreadSafe(), WsfFormationFlyer::WsfFormationFlyer(), WsfHybridMover::WsfHybridMover(), WsfMover(), WsfMover(), WsfOffsetMover::WsfOffsetMover(), and WsfShadowMover::WsfShadowMover().

◆ mUpdateTimeTolerance

WsfVariable<double> WsfMover::mUpdateTimeTolerance

protected

If the time since the last update is less than or equal to this value then the update does not need to be performed.

Referenced by GetUpdateTimeTolerance(), WsfFollower::ImposeTurnLimits(), WsfGuidedMoverBase::Initialize(), Initialize(), ProcessInput(), SetUpdateTimeTolerance(), WsfBrawlerMover::Update(), WsfFollower::Update(), WsfGuidedMoverBase::Update(), WsfRouteMover::Update(), WsfSpaceMoverBase::Update(), WsfStraightLineMover::Update(), WsfTBM_Mover::Update(), WsfIterativeRouteMover::UpdatePosition(), WsfMover(), WsfMover(), WsfSpaceMover::WsfSpaceMover(), WsfSpaceMoverBase::WsfSpaceMoverBase(), and WsfSurfaceMover::WsfSurfaceMover().

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

Classes

Public Member Functions

Static Public Attributes

Deprecated methods

Component infrastructure methods not provided by WsfPlatformPart.

Common infrastructure methods.

Status methods.

Mover update control

Navigation methods.

Property Methods

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WsfMover() [1/3]

◆ WsfMover() [2/3]

◆ WsfMover() [3/3]

◆ ~WsfMover()

Member Function Documentation

◆ Clone()

◆ CloneComponent()

◆ CreateKinematicModel()

◆ ExecuteTriggers()

◆ FindAndSetPath()

◆ FlyHeadingSpeedAltitude()

◆ FlyRates()

◆ FlyVectorWithSpeed()

◆ FlyVectorWithThrottle()

◆ GetComponentInitializationOrder()

◆ GetComponentRoles()

◆ GetDefaultRoute()

◆ GetFutureLocationWCS()

◆ GetLastUpdateTime()

◆ GetModeId()

◆ GetModeList()

◆ GetPropertyDouble()

◆ GetPropertyInt()

◆ GetPropertyString()

◆ GetRoute()

◆ GetScriptClassName()

◆ GetSpatialDomain()

◆ GetThrottlePosition()

◆ GetUpdateInterval()

◆ GetUpdateTimeTolerance()

◆ GoToAltitude()

◆ GoToClosestPoint()

◆ GoToLabel()

◆ GoToLocation()

◆ GoToSpeed()

◆ GoToWaypoint()

◆ Initialize()

◆ Initialize2()

◆ InitializeProperties()

◆ IsExtrapolating()

◆ IsPaused()

◆ IsStopped()

◆ operator=()

◆ PartBroken()

◆ ProcessInput()

◆ PropertyExists()

◆ QueryInterface()

◆ RegisterProperty() [1/3]

◆ RegisterProperty() [2/3]

◆ RegisterProperty() [3/3]

◆ ResetPosition()

◆ Restore()

◆ ReturnToRoute()

◆ RoutePointIndex()

◆ SetHeading()

◆ SetLastUpdateTime()

◆ SetMode()

◆ SetModeList()

◆ SetNonOperational()

◆ SetNotThreadSafe()

◆ SetNoUpdateWhenBroken()

◆ SetOperational()

◆ SetOrientationNED()

◆ SetPitch()

◆ SetRoll()

◆ SetRoute()

◆ SetThreadSafe()