WsfFollower.hpp

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// ****************************************************************************
// CUI
//
// The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
//
// Copyright 2003-2015 The Boeing Company. All rights reserved.
//
// The use, dissemination or disclosure of data in this file is subject to
// limitation or restriction. See accompanying README and LICENSE for details.
// ****************************************************************************
// ****************************************************************************
// Updated by Infoscitex, a DCS Company.
// ****************************************************************************
 
#ifndef WSFFOLLOWER_HPP
#define WSFFOLLOWER_HPP
 
#include "wsf_export.h"
 
#include "WsfMover.hpp"

 
class WSF_EXPORT WsfFollower : public WsfMover
{
public:
   WsfFollower() = delete;
   WsfFollower(WsfScenario& aScenario);
   ~WsfFollower() override = default;


   WsfMover* Clone() const override;
   bool      Initialize(double aSimTime) override;
   bool      ProcessInput(UtInput& aInput) override;
   void      Update(double aSimTime) override;
 
   WsfSpatialDomain GetSpatialDomain() const override { return WSF_SPATIAL_DOMAIN_AIR; }
 
   bool IsInitialized() const { return mHasBeenInitialized; }


   void SetLocationLLA(double aLatitude, double aLongitude, double aAltitude);
   void SetSpeed(double aSpeed) { mInitSpeed = aSpeed; }
   void SetHeading(double aHeading) override { mInitHeading = aHeading; }

   bool GetTargetIsValid() { return mTargetIsValid; };
 
protected:
   // Declare default copy constructor (for Clone())
   WsfFollower(const WsfFollower& aSrc);
   WsfFollower& operator=(const WsfFollower&) = delete;
 
   // Sets the information on the follower
   void FollowThis(double aTimeStamp, double aLocationWCS[3], double aVelocityWCS[3]);
   void DontFollowThis() { mTargetIsValid = false; }
 
   // Called during update
   void AdvanceTime(double aSimTime);

   void UpdateFollowPosAndVel(double aSimTime);
 
   // Imposes turn limits on the follower
   void ImposeTurnLimits(double  aHeadingChangeMag,
                         double  aHeadingChangeDir,
                         double  aHorizGroundSpeed,
                         double& aDeltaT,
                         double& aHeading,
                         double& aRollAngle);
 
   // Used in the turn limit calculation
   inline double MinimumPositiveValue(double aValue1, double aValue2, double aValue3, double aValue4) const;

   void OutputDiagnostic(double aSimTime, WsfPlatform* aPlatformPtr);
   void OutputVec3d(std::string& aLabel, double aVec[]);
 
private:
   bool mHasBeenInitialized;

   double mInitLatitudeDeg;
   double mInitLongitudeDeg;
   double mInitAltitude;
   double mInitSpeed;
   double mInitHeading;

   bool mTargetIsValid;

   double mTargetTimeStamp;
   double mTargetLocWCS[3];
   double mTargetVelWCS[3];

   double mLastTargetTimeStamp;
   double mLastTargetLocWCS[3];

   double mTargetExtrapTimeStamp;
   double mTargetExtrapLocWCS[3];
   double mTargetExtrapUnitLOSNED[3];
   double mTargetExtrapAlt;
 
   double mTargetForward;
   double mTargetFwdRate;
   double mTargetSpeed;

   double mMaxAxialAccel; // m/s^2
   double mMaxClimbRate;  // m/s
   double mMaxSpeed;      // m/s
   double mMinSpeed;      // m/s

   double mMaxRadialAccel;   // m/s^2
   double mMaxTurnRate;      // radians/s
   double mMaxBankAngle;     // radians
   double mMaxVertBodyAccel; // m/s^2
   double mMaxRollRate;      // radians/s
 
   double mVelPursuitGain;
};
 
#endif