A specialized mover that will cause an object to be towed behind a platform, for example a decoy. More...

#include <WsfTowedMover.hpp>

Inheritance diagram for WsfTowedMover:

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Collaboration diagram for WsfTowedMover:

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Classes
struct	LeadState
	Stores the state of the lead platform with a timestamp. More...

Public Types
enum	DeploymentState { cSTOWED = 0 , cREELING_OUT = 1 , cDEPLOYED = 2 , cREELING_IN = 3 }
Public Types inherited from WsfOffsetMover
enum	AttachmentType { cAT_TETHER , cAT_RIGID }
	The type of attachment between the attached platforms. More...
enum	OrphanAction { cOA_STOP , cOA_EXTRAPOLATE , cOA_REMOVE }
	What to do if the reference platform is removed. More...
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.

Public Member Functions
	WsfTowedMover (WsfScenario &aScenario)
	WsfTowedMover (const WsfTowedMover &aSrc)=default
WsfTowedMover &	operator= (const WsfTowedMover &)=delete
	~WsfTowedMover () override=default
Public Member Functions inherited from WsfOffsetMover
	WsfOffsetMover ()=delete
	WsfOffsetMover (WsfScenario &aScenario)
WsfOffsetMover &	operator= (const WsfOffsetMover &)=delete
	~WsfOffsetMover () override
virtual void	SetReference (double aSimTime, const std::string &aReferenceName)
virtual void	SetOffsetFromReference (double aSimTime, const double aOffsetFromReferenceECS[3])
WsfSpatialDomain	GetSpatialDomain () const override
void	SetPlatform (WsfPlatform *aPlatformPtr) override
void	PlatformAdded (double aSimTime, WsfPlatform *aPlatformPtr) override
void	PlatformDeleted (WsfPlatform *aPlatformPtr) override
Public Member Functions inherited from WsfMover
	WsfMover ()=delete
	WsfMover (const WsfScenario &aScenario)
	WsfMover (const WsfMover &aSrc)
WsfMover &	operator= (const WsfMover &)=delete
	~WsfMover () override
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
WsfComponent *	CloneComponent () const override
int	GetComponentInitializationOrder () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
const char *	GetScriptClassName () const override
virtual void	SwapMoverInitiated (double aSimTime, WsfMover *aOldMoverPtr)
bool	Initialize2 (double aSimTime) override
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 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.
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 ()
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 ()
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 ()
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	Initialize2 (double aSimTime) override
WsfPlatform *	GetPlatform () const
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
Public Member Functions inherited from WsfSinglePlatformObserver
virtual	~WsfSinglePlatformObserver ()
virtual void	OnPlatformDeleting (double aSimTime, WsfPlatform *aPlatformPtr)
	Called before the platform is actually deleted.

Common framework methods
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
const char *	GetScriptClassName () const override
double	GetDistanceMeters ()
DeploymentState	GetState ()
void	SetReelInTime (double aStartReelInTime)
void	SetReelInTimeAfterDeployment (double aStartReelInTime)
double	GetReelInTimeAbsolute ()
	Retrieve the time a towed asset is to be reeled in, absolute simulation time.
double	GetReelInTimeAfterDeployment ()
	Retrieve the time after the towed asset is to be reeled in. Time is relative to time at initial deployment state.
void	SetReelInRate (double aRate)
void	SetReelOutRate (double aReelOutRate)
double	GetReelOutRate ()
	Retrieve the rate at which to reel out the towed asset.
double	GetReelInRate ()
	Retrieve the rate at which to reel in the towed asset.
void	SetTowLength (double aLength)
void	OnPlatformDeleted (double aSimTime, WsfPlatform *aPlatformPtr) override
	Called just before the platform is removed from the simulation.
void	GetLeadStateHistory (double aTime, LeadState &aState)
	Returns the lead platform's state at a time in the past.
void	CleanUpStowedAsset (double aSimTime)
void	ComputeTowDistance (double aSimTime)
void	UpdateVelocity ()
	Compute the towed asset velocity.

Overrides of WsfSinglePlatformObserver.
void	OnPlatformUpdated (double aSimTime, WsfPlatform *aPlatformPtr) override

Additional Inherited Members
Static Public Attributes inherited from WsfMover
static const char *	cTYPE_KIND = "mover"
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed
	WsfOffsetMover (const WsfOffsetMover &aSrc)
void	CopyStateFromReference (double aSimTime, WsfPlatform *aReferencePtr)
	Copy the kinematic state from leader.
void	ExtrapolateState (double aSimTime)
void	UpdateTetheredState (double aSimTime)
void	SetModeList (WsfModeList *aModeListPtr)
void	SetUpdateTimeTolerance (double aDt)
	Revise the internal time tolerance allowed for Update() sequencing logic.
	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)
WsfPlatform *	mReferencePtr
	Pointer to the reference platform.
WsfStringId	mReferenceNameId
	The name (ID) of the reference platform.
AttachmentType	mAttachmentType
	The means by which the platforms are attached to each other.
double	mReferenceAttachmentTime
double	mOffsetFromReferenceECS [3]
	The ECS offset from the reference platform.
double	mOffsetMagnitude
	The magnitude of the offset vector from the reference platform.
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

Detailed Description

A specialized mover that will cause an object to be towed behind a platform, for example a decoy.

Member Enumeration Documentation

◆ DeploymentState

enum WsfTowedMover::DeploymentState

Enumerator
cSTOWED
cREELING_OUT
cDEPLOYED
cREELING_IN

Constructor & Destructor Documentation

◆ WsfTowedMover() [1/2]

WsfTowedMover::WsfTowedMover ( WsfScenario & aScenario )

References WsfOffsetMover::cAT_RIGID, cSTOWED, WsfOffsetMover::mAttachmentType, WsfMover::SetUpdateInterval(), and WsfOffsetMover::WsfOffsetMover().

Referenced by Clone(), operator=(), and WsfTowedMover().

◆ WsfTowedMover() [2/2]

WsfTowedMover::WsfTowedMover ( const WsfTowedMover & aSrc )

default

References WsfTowedMover().

◆ ~WsfTowedMover()

WsfTowedMover::~WsfTowedMover ( )

overridedefault

References WsfMover::WsfMover().

Member Function Documentation

◆ CleanUpStowedAsset()

void WsfTowedMover::CleanUpStowedAsset ( double aSimTime )

protected

Once reeled back onto the lead platform, remove the towed asset from the simulation. Treated as an expendable at this time.

References WsfSimulation::DeletePlatform(), WsfWeaponEngagement::Find(), WsfWeapon::GetInitialStateQuantityRemaining(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfWeaponEngagement::GetWeaponSystem(), and WsfWeapon::SetQuantityRemaining().

Referenced by ComputeTowDistance().

◆ Clone()

WsfMover * WsfTowedMover::Clone ( ) const

overridevirtual

Clone this object.

Returns: a pointer to the new object.

Reimplemented from WsfOffsetMover.

References WsfMover::WsfMover(), and WsfTowedMover().

◆ ComputeTowDistance()

void WsfTowedMover::ComputeTowDistance ( double aSimTime )

protected

Purpose of this routine is to compute the distance between the lead platform and towed asset.

Parameters

aSimTime The current simulation time

References cDEPLOYED, CleanUpStowedAsset(), cREELING_IN, cREELING_OUT, cSTOWED, WsfPlatformPart::DebugEnabled(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), and WsfOffsetMover::mReferenceAttachmentTime.

Referenced by Update().

◆ GetDistanceMeters()

double WsfTowedMover::GetDistanceMeters ( )

inline

◆ GetLeadStateHistory()

void WsfTowedMover::GetLeadStateHistory	(	double	aTime,
		WsfTowedMover::LeadState &	aState )

protected

Returns the lead platform's state at a time in the past.

References WsfTowedMover::LeadState::mAccelerationWCS, WsfTowedMover::LeadState::mLocationWCS, WsfTowedMover::LeadState::mOrientationNED, and WsfTowedMover::LeadState::mVelocityWCS.

Referenced by Update().

◆ GetReelInRate()

double WsfTowedMover::GetReelInRate ( )

inline

Retrieve the rate at which to reel in the towed asset.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ GetReelInTimeAbsolute()

double WsfTowedMover::GetReelInTimeAbsolute ( )

inline

Retrieve the time a towed asset is to be reeled in, absolute simulation time.

Referenced by UT_DEFINE_SCRIPT_METHOD(), and UT_DEFINE_SCRIPT_METHOD().

◆ GetReelInTimeAfterDeployment()

double WsfTowedMover::GetReelInTimeAfterDeployment ( )

inline

Retrieve the time after the towed asset is to be reeled in. Time is relative to time at initial deployment state.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ GetReelOutRate()

double WsfTowedMover::GetReelOutRate ( )

inline

Retrieve the rate at which to reel out the towed asset.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ GetScriptClassName()

const char * WsfTowedMover::GetScriptClassName ( ) const

override

◆ GetState()

DeploymentState WsfTowedMover::GetState ( )

inline

◆ Initialize()

bool WsfTowedMover::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 WsfOffsetMover.

References cREELING_OUT, WsfWeaponEngagement::Find(), WsfWeaponEngagement::GetFiringPlatform(), WsfWeaponEngagement::GetFiringPlatformName(), WsfPlatformPart::GetPlatform(), WsfOffsetMover::Initialize(), WsfOffsetMover::mReferenceNameId, and ok.

◆ OnPlatformDeleted()

void WsfTowedMover::OnPlatformDeleted	(	double	aSimTime,
		WsfPlatform *	aPlatformPtr )

overrideprotectedvirtual

Called just before the platform is removed from the simulation.

Reimplemented from WsfSinglePlatformObserver.

References WsfSimulation::DeletePlatform(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), and WsfOffsetMover::mReferencePtr.

◆ OnPlatformUpdated()

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

overridevirtual

The method that is called by virtue of being an observer of the leader platform.

This method is called whenever the leader platform (the subject) updates itself. We simply update our kinematic state with that of the leader.

Reimplemented from WsfOffsetMover.

References WsfTowedMover::LeadState::LoadFromPlatform(), WsfOffsetMover::mReferencePtr, and WsfOffsetMover::OnPlatformUpdated().

◆ operator=()

WsfTowedMover & WsfTowedMover::operator= ( const WsfTowedMover & )

delete

References WsfTowedMover().

◆ ProcessInput()

bool WsfTowedMover::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 WsfOffsetMover.

References WsfMover::ProcessInput().

◆ SetReelInRate()

void WsfTowedMover::SetReelInRate ( double aRate )

inline

Set rate at which to reel in/out the towed asset. script method: param aReelInRate rate at which to reel in the towed asset void SetReelInRate(double aRate)

which calls the internal method:

Parameters

aRate Rate at which to reel in the towed asset.

◆ SetReelInTime()

void WsfTowedMover::SetReelInTime ( double aStartReelInTime )

inline

Set time to reel in/out the towed asset. script method: param aAbsoluteSimTimeToReelIn Units: seconds void SetReelInRate(double aAbsoluteSimTimeToReelIn) OR param aRelativeTimeFromNOWToReelIn Units: seconds void SetReelInTimeRelative(double aRelativeTimeFromNOWToReelIn)

which calls: param aTime Absolute simulation time to reel in the towed asset.

Parameters

aStartReelInTime Absolute time in seconds in the future at which the towed platform starts to be reeled in.

◆ SetReelInTimeAfterDeployment()

void WsfTowedMover::SetReelInTimeAfterDeployment ( double aStartReelInTime )

inline

Set time relative to the time the towed platform started to be reeled out. Time will be used to initiate when to reel in the asset.

Parameters

aStartReelInTime Relative time to time the asset was reeled out.

◆ SetReelOutRate()

void WsfTowedMover::SetReelOutRate ( double aReelOutRate )

inline

Set time to override reel out time if set initially

Parameters

aReelOutRate Rate at which to reel out the towed asset.

◆ SetTowLength()

void WsfTowedMover::SetTowLength ( double aLength )

inline

Set distance the towed asset will remain behind the parent platform once fully deployed.

Parameters

aLength Distance in meters behind the parent platform.

◆ Update()

void WsfTowedMover::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 WsfOffsetMover.

References cDEPLOYED, ComputeTowDistance(), cREELING_IN, cREELING_OUT, GetLeadStateHistory(), WsfPlatformPart::GetPlatform(), WsfTowedMover::LeadState::mAccelerationWCS, WsfMover::mLastUpdateTime, WsfTowedMover::LeadState::mLocationWCS, WsfOffsetMover::mOffsetFromReferenceECS, WsfOffsetMover::mOffsetMagnitude, WsfTowedMover::LeadState::mOrientationNED, WsfOffsetMover::mReferencePtr, WsfTowedMover::LeadState::mVelocityWCS, WsfOffsetMover::Update(), and UpdateVelocity().

◆ UpdateVelocity()

void WsfTowedMover::UpdateVelocity ( )

protected

Compute the towed asset velocity.

This method modifies the towed asset velocity in the case it is not fully deployed (reeling in or out). If the towed asset is fixed in lead platform's body coordinates (mFollowLeadTrajectory = false), then the velocity is modified by the deployment rate. If the towed asset is specified to follow the lead trajectory (mFollowLeadTrajectory = true), then this velocity is modified according to the following logic: If the lead platform position is L(t), then towed asset position is T(t) = L(t-u), where u is the time offset. If towed asset is reeling in/out, then u is not constant but a function of time. Towed asset velocity is time derivative of its position, given by T'(t) = d(T(t))/dt. Then T'(t) = d(L(t-u))/dt = d(L(t-u))/d(t-u) * d(t-u)/dt = L'(t-u) * (1 - du/dt) where L' is the lead velocity function, and du/dt is the derivative of the time offset of the towed asset, given by d(u(t))/dt = d(tether length/lead platform speed)/dt = deployment rate/lead platform speed

References cDEPLOYED, cREELING_OUT, WsfPlatformPart::GetPlatform(), and WsfOffsetMover::mReferencePtr.

Referenced by Update().

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

Classes

Public Types

Public Member Functions

Common framework methods

Overrides of WsfSinglePlatformObserver.

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ DeploymentState

Constructor & Destructor Documentation

◆ WsfTowedMover() [1/2]

◆ WsfTowedMover() [2/2]

◆ ~WsfTowedMover()

Member Function Documentation

◆ CleanUpStowedAsset()

◆ Clone()

◆ ComputeTowDistance()

◆ GetDistanceMeters()

◆ GetLeadStateHistory()

◆ GetReelInRate()

◆ GetReelInTimeAbsolute()

◆ GetReelInTimeAfterDeployment()

◆ GetReelOutRate()

◆ GetScriptClassName()

◆ GetState()

◆ Initialize()

◆ OnPlatformDeleted()

◆ OnPlatformUpdated()

◆ operator=()

◆ ProcessInput()

◆ SetReelInRate()

◆ SetReelInTime()

◆ SetReelInTimeAfterDeployment()

◆ SetReelOutRate()

◆ SetTowLength()

◆ Update()

◆ UpdateVelocity()