#include <WsfRouteMover.hpp>

Inheritance diagram for WsfRouteMover:

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Collaboration diagram for WsfRouteMover:

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Classes
class	UnpauseEvent

Public Types
enum	MissTurnOption { cCLOSEST_POINT = 0 , cREVERSE_TURN = 1 , cSKIP_POINT = 2 }
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
	WsfRouteMover ()=delete
	WsfRouteMover (const WsfScenario &aScenario)
	WsfRouteMover (const WsfRouteMover &aSrc)
WsfRouteMover &	operator= (const WsfRouteMover &)=delete
	~WsfRouteMover () override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
void	Update (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
const WsfRoute *	GetRoute () const override
const WsfRoute *	GetDefaultRoute () const override
int	RoutePointIndex () const override
bool	SetRoute (double aSimTime, const WsfRoute &aRoute) override
bool	GoToLabel (double aSimTime, WsfStringId aLabelId) override
bool	GoToWaypoint (double aSimTime, unsigned int aDestination) override
bool	GoToClosestPoint (double aSimTime) override
bool	FindAndSetPath (double aSimTime, WsfGeoPoint aStartPtr, WsfGeoPoint aEndPtr) override
bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude) override
virtual void	Pause (double aSimTime, double aUnpauseTime)=0
	Sets the mover to a paused state.
virtual bool	Unpause (double aSimTime, bool aInterrupt)
bool	UpdateRoute (double aSimTime, const WsfRoute &aRoute) override
bool	UpdateDefaultRoute () override
virtual bool	SetRoutePoint (double aSimTime, const WsfRoute &aRoute, int aTargetPoint)
bool	ReturnToRoute (double aSimTime) override
bool	IsPaused () const override
	Returns true if the mover is paused.
WsfRouteComputer *	GetRouteComputer () const
void	SetRouteComputer (WsfRouteComputer *aRouteComputerPtr)
void	SetEndOfPath (WsfPath::EndPath aEndOfPathOption)
	Sets the default end-of-path option for the mover.
int	GetTargetIndex () const
	Return next waypoint index.
void	SetTargetIndex (int aIndex)
int	GetCurrentIndex () const
	Return current waypoint index.
bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override
MissTurnOption	GetTurnFailOption () const
double	GetTurnFailThreshold () const
WsfPath::Switch	GetSwitch () const
virtual const WsfPathConstraints *	GetMoverConstraints () const
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
WsfMover *	Clone () const override=0
const char *	GetScriptClassName () const override
virtual void	SwapMoverInitiated (double aSimTime, WsfMover *aOldMoverPtr)
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	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 bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, 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	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	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
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

Protected Member Functions
void	TriggerUnpause (double aSimTime)
	Called when the pause time has expired to resume movement.
void	SetAltRef (WsfPath::AltRef aAltRef)
WsfPath::AltRef	GetAltRef () const
virtual void	SetGuidanceFrom (const WsfWaypoint &aPreviousWaypoint)=0
virtual void	SetGuidanceTo (const WsfWaypoint &aNextWaypoint)=0
virtual void	AdvanceToNextWaypoint (double aSimTime, const WsfWaypoint &aTarget, const WsfWaypoint *aNextPointPtr)=0
virtual void	UpdatePosition (double aSimTime)=0
virtual void	WaypointReached (double aSimTime)
	Called when waypoint is reached.
void	RouteChanged ()
	Called when the route is changed to reset processing of current point.
bool	IsSwitchingPoints ()
void	AddUnpauseEventFor (WsfRouteMover *aMoverPtr, double aUnpauseTime)
void	DisableAndClearUnpause ()
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)

Protected Attributes
wsf::Terrain *	mTerrainPtr
bool	mForceUpdates
MissTurnOption	mTurnFailOption
	If true, the mover will ensure it passes each point.
double	mTurnFailureThreshold
	Threshold of turn failure as percentage of turn radius.
double	mUnpauseTime
	Simulation time at which the mover will unpause.
double	mAltitudeOffset
	Altitude offset of the parent platform's center of gravity / mass (CG).
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

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

Detailed Description

A derivation of WsfMover that may follow a WsfRoute path. This type is a base class for other WsfMovers that primarily follow a WsfRoute. The class handles reading in the desired route, setting, incrementing, and resetting the indices of the current and target waypoints, pause logic, etc. The mover may begin at a position and a specified velocity (even zero), then be given a WsfRoute to follow, and may be commanded to depart the route, to rejoin it later. Derived classes need to implement the pure virtual methods, as well as GoToAltitude, GoToSpeed, TurnToRelativeHeading, and TurnToHeading methods.

Member Enumeration Documentation

◆ MissTurnOption

enum WsfRouteMover::MissTurnOption

Enumerator
cCLOSEST_POINT
cREVERSE_TURN
cSKIP_POINT

Constructor & Destructor Documentation

◆ WsfRouteMover() [1/3]

WsfRouteMover::WsfRouteMover ( )

delete

References WsfRouteMover().

Referenced by AddUnpauseEventFor(), operator=(), WsfRouteMover::UnpauseEvent::UnpauseEvent(), WsfIterativeRouteMover::WsfIterativeRouteMover(), WsfIterativeRouteMover::WsfIterativeRouteMover(), WsfMath3D_Mover::WsfMath3D_Mover(), WsfMath3D_Mover::WsfMath3D_Mover(), WsfRouteMover(), WsfRouteMover(), WsfWaypointMover::WsfWaypointMover(), and WsfWaypointMover::WsfWaypointMover().

◆ WsfRouteMover() [2/3]

WsfRouteMover::WsfRouteMover ( const WsfScenario & aScenario )

References cCLOSEST_POINT, mAltitudeOffset, mForceUpdates, mTerrainPtr, mTurnFailOption, mTurnFailureThreshold, mUnpauseTime, and WsfMover::WsfMover().

◆ WsfRouteMover() [3/3]

WsfRouteMover::WsfRouteMover ( const WsfRouteMover & aSrc )

References mAltitudeOffset, mForceUpdates, mTerrainPtr, mTurnFailOption, mTurnFailureThreshold, mUnpauseTime, WsfMover::WsfMover(), and WsfRouteMover().

◆ ~WsfRouteMover()

WsfRouteMover::~WsfRouteMover ( )

override

References mTerrainPtr.

Member Function Documentation

◆ AddUnpauseEventFor()

void WsfRouteMover::AddUnpauseEventFor	(	WsfRouteMover *	aMoverPtr,
		double	aUnpauseTime )

protected

References WsfSimulation::AddEvent(), DisableAndClearUnpause(), WsfPlatformPart::GetSimulation(), and WsfRouteMover().

Referenced by WsfIterativeRouteMover::Pause(), WsfMath3D_Mover::Pause(), and WsfWaypointMover::Pause().

◆ AdvanceToNextWaypoint()

virtual void WsfRouteMover::AdvanceToNextWaypoint	(	double	aSimTime,
		const WsfWaypoint &	aTarget,
		const WsfWaypoint *	aNextPointPtr )

protectedpure virtual

Mover implementing this method should begin movement toward aTarget. WaypointReached() should be called when target waypoint is reached.

Parameters

aSimTime	The current simulation time.
aTarget	The new target waypoint
aNextPointPtr	The waypoint in the route after aTarget. May be null.

Implemented in WsfIterativeRouteMover, WsfMath3D_Mover, and WsfWaypointMover.

◆ DisableAndClearUnpause()

void WsfRouteMover::DisableAndClearUnpause ( )

protected

Referenced by AddUnpauseEventFor(), WsfMath3D_Mover::Pause(), and WsfWaypointMover::SetPlatform().

◆ FindAndSetPath()

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

overridevirtual

This method uses mRouteComputerPtr to build a route between aStartPtr and aEndPtr, and then sets the current mRoute to that route. Returns false if the current route is not changed.

Reimplemented from WsfMover.

References WsfRoute::Append(), WsfGeoPoint::GetLat(), WsfGeoPoint::GetLon(), GetRouteComputer(), WsfWaypoint::SetAlt(), WsfWaypoint::SetLat(), WsfWaypoint::SetLon(), WsfObject::SetName(), SetRoute(), WsfRoute::SetSpeed(), and WsfWaypoint::SetSpeed().

◆ GetAltRef()

WsfPath::AltRef WsfRouteMover::GetAltRef ( ) const

inlineprotected

Referenced by WsfIterativeRouteMover::GoToAltitude(), and WsfIterativeRouteMover::SetGuidanceTo().

◆ GetCurrentIndex()

int WsfRouteMover::GetCurrentIndex ( ) const

inline

Return current waypoint index.

Referenced by WsfWaypointMover::HitWaypoint(), WsfPathFinder::ReturnToRoute(), and Update().

◆ GetDefaultRoute()

const WsfRoute * WsfRouteMover::GetDefaultRoute ( ) const

inlineoverridevirtual

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 from WsfMover.

Referenced by Update().

◆ GetMoverConstraints()

const WsfPathConstraints * WsfRouteMover::GetMoverConstraints ( ) const

virtual

Reimplemented in WsfWaypointMover.

Referenced by SetRoutePoint().

◆ GetRoute()

const WsfRoute * WsfRouteMover::GetRoute ( ) const

inlineoverridevirtual

Return the pointer to the current route.

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

Reimplemented from WsfMover.

Referenced by WsfWaypointMover::GetFutureLocationWCS(), WsfRoadMover::Initialize(), WsfRoadMover::SetOrUpdateRoute(), and Update().

◆ GetRouteComputer()

WsfRouteComputer * WsfRouteMover::GetRouteComputer ( ) const

inline

Referenced by WsfRoadMover::CreateRoute(), FindAndSetPath(), GoToSpeed(), ReturnToRoute(), SetRoutePoint(), Update(), and UpdateRoute().

◆ GetSwitch()

WsfPath::Switch WsfRouteMover::GetSwitch ( ) const

inline

Referenced by WsfIterativeRouteMover::AdvanceToNextWaypoint(), WsfMath3D_Mover::AdvanceToNextWaypoint(), and WsfWaypointMover::Initialize().

◆ GetTargetIndex()

int WsfRouteMover::GetTargetIndex ( ) const

inline

Return next waypoint index.

Referenced by WsfWaypointMover::GetFutureLocationWCS(), WsfWaypointMover::HitWaypoint(), and Update().

◆ GetTurnFailOption()

MissTurnOption WsfRouteMover::GetTurnFailOption ( ) const

inline

References mTurnFailOption.

◆ GetTurnFailThreshold()

double WsfRouteMover::GetTurnFailThreshold ( ) const

inline

References mTurnFailureThreshold.

◆ GoToClosestPoint()

bool WsfRouteMover::GoToClosestPoint ( double aSimTime )

overridevirtual

Go to the closest point in the current route.

Parameters

aSimTime The current simulated clock time (seconds).

Returns: true if successful.

Reimplemented from WsfMover.

References WsfWaypoint::cLATITUDE_AND_LONGITUDE, WsfWaypoint::GetAlt(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfPlatformPart::GetPlatform(), WsfWaypoint::GetPointType(), and GoToWaypoint().

◆ GoToLabel()

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

overridevirtual

Attempt to find a WsfWaypoint label, and go there.

Parameters

aSimTime	The current simulated clock time (seconds).
aLabelId	The ID of the label to go to.

Returns: true if successful.

Reimplemented from WsfMover.

References GoToWaypoint().

◆ GoToLocation()

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

overridevirtual

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 from WsfMover.

References WsfRoute::Append(), WsfPlatformPart::DebugEnabled(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfWaypoint::SetAlt(), WsfWaypoint::SetLat(), WsfWaypoint::SetLon(), and UpdateRoute().

◆ GoToSpeed()

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

overridevirtual

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 from WsfMover.

Reimplemented in WsfWaypointMover.

References GetRouteComputer().

Referenced by WsfWaypointMover::GoToSpeed(), and Initialize().

◆ GoToWaypoint()

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

overridevirtual

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 from WsfMover.

References RouteChanged(), and SetGuidanceTo().

Referenced by GoToClosestPoint(), GoToLabel(), and ReturnToRoute().

◆ Initialize()

bool WsfRouteMover::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 WsfMover.

Reimplemented in WsfSubsurfaceMover, and WsfWaypointMover.

References WsfPath::cEP_EXTRAPOLATE, WsfPath::cEP_MOVER_DEFAULT, WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfMover::GoToAltitude(), GoToSpeed(), WsfMover::Initialize(), mForceUpdates, WsfMover::mLastUpdateTime, mTerrainPtr, mUnpauseTime, ok, Pause(), pauseTime, and SetRoutePoint().

Referenced by WsfIterativeRouteMover::Initialize(), WsfMath3D_Mover::Initialize(), and WsfWaypointMover::Initialize().

◆ Initialize2()

bool WsfRouteMover::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 WsfMover.

References WsfMover::Initialize2(), WsfPlatformPart::InitiallyTurnedOn(), and Pause().

Referenced by WsfRotorcraftMover::Initialize2().

◆ IsPaused()

bool WsfRouteMover::IsPaused ( ) const

overridevirtual

Returns true if the mover is paused.

Reimplemented from WsfMover.

References mUnpauseTime.

Referenced by WsfWaypointMover::Initialize(), TurnOff(), TurnOn(), WsfMath3D_Mover::Unpause(), WsfRotorcraftMover::Unpause(), WsfWaypointMover::Unpause(), WsfIterativeRouteMover::UpdatePosition(), WsfMath3D_Mover::UpdatePosition(), and WsfWaypointMover::UpdatePosition().

◆ IsSwitchingPoints()

bool WsfRouteMover::IsSwitchingPoints ( )

inlineprotected

Referenced by WsfWaypointMover::GoToAltitude(), WsfWaypointMover::GoToSpeed(), and TurnOn().

◆ operator=()

WsfRouteMover & WsfRouteMover::operator= ( const WsfRouteMover & )

delete

References WsfRouteMover().

◆ Pause()

virtual void WsfRouteMover::Pause	(	double	aSimTime,
		double	aUnpauseTime )

pure virtual

Sets the mover to a paused state.

Implemented in WsfIterativeRouteMover, WsfMath3D_Mover, and WsfWaypointMover.

References SetRoutePoint(), and Unpause().

Referenced by XWsfOSM_Traffic::AddScriptedConvoy(), Initialize(), Initialize2(), and TurnOff().

◆ ProcessInput()

bool WsfRouteMover::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 WsfMover.

Reimplemented in WsfSurfaceMover, and WsfWaypointMover.

References cCLOSEST_POINT, WsfPath::cEP_EXTRAPOLATE, WsfPath::cEP_REMOVE, WsfPath::cEP_STOP, cREVERSE_TURN, cSKIP_POINT, WsfPath::cSWITCH_ON_APPROACH, WsfPath::cSWITCH_ON_PASSING, WsfPathFinderList::Find(), WsfScenario::FromInput(), WsfRouteTypes::Get(), WsfScenario::GetPathFinderList(), mAltitudeOffset, mTurnFailOption, mTurnFailureThreshold, and WsfMover::ProcessInput().

Referenced by WsfIterativeRouteMover::ProcessInput(), WsfMath3D_Mover::ProcessInput(), and WsfWaypointMover::ProcessInput().

◆ ReturnToRoute()

bool WsfRouteMover::ReturnToRoute ( double aSimTime )

overridevirtual

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

Returns: true if successful.

Reimplemented from WsfMover.

References GetRouteComputer(), GoToWaypoint(), targetIndex(), and UpdateRoute().

◆ RouteChanged()

void WsfRouteMover::RouteChanged ( )

protected

Called when the route is changed to reset processing of current point.

Referenced by WsfWaypointMover::ExecutePath(), GoToWaypoint(), SetRoutePoint(), UpdatePosition(), and UpdateRoute().

◆ RoutePointIndex()

int WsfRouteMover::RoutePointIndex ( ) const

inlineoverridevirtual

Reimplemented from WsfMover.

◆ SetAltRef()

void WsfRouteMover::SetAltRef ( WsfPath::AltRef aAltRef )

inlineprotected

Referenced by WsfGroundMover::WsfGroundMover().

◆ SetEndOfPath()

void WsfRouteMover::SetEndOfPath ( WsfPath::EndPath aEndOfPathOption )

inline

Sets the default end-of-path option for the mover.

Referenced by WsfAirMover::Land(), WsfAirMover::TakeOff(), UT_DEFINE_SCRIPT_METHOD(), WsfAirMover::WsfAirMover(), WsfGroundMover::WsfGroundMover(), WsfSubsurfaceMover::WsfSubsurfaceMover(), and WsfSurfaceMover::WsfSurfaceMover().

◆ SetGuidanceFrom()

virtual void WsfRouteMover::SetGuidanceFrom ( const WsfWaypoint & aPreviousWaypoint )

protectedpure virtual

Mover implementing this method should adjust current constraints to comply with those in aPreviousWaypoint.

Implemented in WsfIterativeRouteMover, WsfMath3D_Mover, and WsfWaypointMover.

Referenced by UpdateRoute().

◆ SetGuidanceTo()

virtual void WsfRouteMover::SetGuidanceTo ( const WsfWaypoint & aNextWaypoint )

protectedpure virtual

Mover implementing this method should adjust current constraints to comply with those in aNextWaypoint.

Implemented in WsfIterativeRouteMover, WsfMath3D_Mover, and WsfWaypointMover.

Referenced by GoToWaypoint(), and UpdateRoute().

◆ SetRoute()

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

inlineoverridevirtual

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 from WsfMover.

References SetRoutePoint().

Referenced by FindAndSetPath(), WsfRoadMover::GoToLocation(), WsfRoadMover::GoToTrack(), WsfRoadMover::Initialize(), WsfRoadMover::SetOrUpdateRoute(), and Update().

◆ SetRouteComputer()

void WsfRouteMover::SetRouteComputer ( WsfRouteComputer * aRouteComputerPtr )

◆ SetRoutePoint()

bool WsfRouteMover::SetRoutePoint	(	double	aSimTime,
		const WsfRoute &	aRoute,
		int	aTargetPoint )

virtual

Resets the mover to move along a route, starting at an offset point.

Parameters

aSimTime	The current simulation time.
aRoute	The route to move along
aTargetPoint	The waypoint index at which to start moving

Note: This method is primarily for initialization, and will immediately move the platform to the position at the route start.

References WsfPath::cDOUBLE_NOT_SET, WsfWaypoint::cLATITUDE_AND_LONGITUDE, WsfWaypoint::cLOCATION_MASK, WsfWaypoint::GetAlt(), WsfWaypoint::GetHeading(), WsfWaypoint::GetLat(), WsfWaypoint::GetLocationLLA(), WsfWaypoint::GetLon(), GetMoverConstraints(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfWaypoint::GetPointType(), GetRouteComputer(), WsfPlatformPart::GetSimulation(), WsfRoute::GetSize(), WsfWaypoint::GetSpeed(), mAltitudeOffset, WsfPathConstraints::mMaxAltitude, WsfPathConstraints::mMaxSpeed, mTerrainPtr, WsfObserver::RouteChanged(), RouteChanged(), WsfWaypoint::SetAlt(), Unpause(), and WsfMover::Update().

Referenced by Initialize(), Pause(), and SetRoute().

◆ SetTargetIndex()

void WsfRouteMover::SetTargetIndex ( int aIndex )

inline

◆ TriggerUnpause()

void WsfRouteMover::TriggerUnpause ( double aSimTime )

protected

Called when the pause time has expired to resume movement.

References Unpause(), and Update().

◆ TurnOff()

void WsfRouteMover::TurnOff ( double aSimTime )

overridevirtual

Turn off the platform part (system).

Parameters

aSimTime The current simulation time.

Reimplemented from WsfMover.

References IsPaused(), Pause(), and WsfMover::TurnOff().

◆ TurnOn()

void WsfRouteMover::TurnOn ( double aSimTime )

overridevirtual

Turn on the platform part (system).

Parameters

aSimTime The current simulation time.

Reimplemented from WsfMover.

References WsfPlatformPart::GetPlatform(), IsPaused(), IsSwitchingPoints(), mUnpauseTime, WsfMover::TurnOn(), and Unpause().

◆ Unpause()

bool WsfRouteMover::Unpause	(	double	aSimTime,
		bool	aInterrupt )

virtual

Resume movement

Parameters

aSimTime	The current simulation time
aInterrupt	'true' if the unpause was not scheduled

Reimplemented in WsfMath3D_Mover, WsfRotorcraftMover, and WsfWaypointMover.

References mUnpauseTime, WsfMover::Update(), and UpdatePosition().

Referenced by Pause(), SetRoutePoint(), TriggerUnpause(), TurnOn(), WsfRotorcraftMover::Unpause(), and WsfWaypointMover::Unpause().

◆ Update()

void WsfRouteMover::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 WsfMover.

References GetCurrentIndex(), GetDefaultRoute(), WsfObject::GetNameId(), WsfNavigationMesh::GetNavMeshThinkTime(), WsfPlatformPart::GetPlatform(), WsfNavigationMesh::GetRefineUpdateTime(), GetRoute(), GetRouteComputer(), WsfRoute::GetSpeed(), GetTargetIndex(), mForceUpdates, WsfMover::mLastUpdateTime, mUnpauseTime, WsfMover::mUpdateTimeTolerance, WsfNavigationMesh::RefineFromCurrentPosition(), WsfNavigationMesh::SetRefineUpdateTime(), SetRoute(), WsfRoute::SetSpeed(), targetIndex(), WsfMover::Update(), and UpdatePosition().

Referenced by WsfWaypointMover::AdvanceToNextWaypoint(), WsfWaypointMover::Extrapolate(), WsfWaypointMover::GoToAltitude(), WsfWaypointMover::GoToSpeed(), WsfWaypointMover::HitWaypoint(), TriggerUnpause(), WsfWaypointMover::TurnToHeading(), WsfWaypointMover::TurnToRelativeHeading(), WsfIterativeRouteMover::UpdatePosition(), and UpdateRoute().

◆ UpdateDefaultRoute()

bool WsfRouteMover::UpdateDefaultRoute ( )

overridevirtual

Update the default route to the current route.

Returns: true if successful.

Reimplemented from WsfMover.

◆ UpdatePosition()

virtual void WsfRouteMover::UpdatePosition ( double aSimTime )

protectedpure virtual

Implemented in WsfIterativeRouteMover, WsfMath3D_Mover, and WsfWaypointMover.

References RouteChanged(), and WaypointReached().

Referenced by Unpause(), and Update().

◆ UpdateRoute()

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

overridevirtual

Update the route.

Parameters

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

Returns: true if successful.

Reimplemented from WsfMover.

References WsfPath::cTURN_DIR_SHORTEST, WsfPlatformPart::DebugEnabled(), WsfRoute::Empty(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), GetRouteComputer(), WsfPlatformPart::GetSimulation(), WsfRoute::GetSize(), mUnpauseTime, WsfObserver::RouteChanged(), RouteChanged(), SetGuidanceFrom(), SetGuidanceTo(), WsfWaypoint::SetTurnDirection(), and Update().

Referenced by WsfIterativeRouteMover::GoToLocation(), GoToLocation(), and ReturnToRoute().

◆ WaypointReached()

void WsfRouteMover::WaypointReached ( double aSimTime )

protectedvirtual

Called when waypoint is reached.

Referenced by WsfWaypointMover::HitWaypoint(), WsfIterativeRouteMover::UpdatePosition(), WsfMath3D_Mover::UpdatePosition(), and UpdatePosition().

Member Data Documentation

◆ mAltitudeOffset

double WsfRouteMover::mAltitudeOffset

protected

Altitude offset of the parent platform's center of gravity / mass (CG).

Referenced by WsfWaypointMover::GetFutureLocationWCS(), WsfWaypointMover::MoveToGround(), WsfAirMover::PostMoveUpdate(), ProcessInput(), SetRoutePoint(), WsfRouteMover(), and WsfRouteMover().

◆ mForceUpdates

bool WsfRouteMover::mForceUpdates

protected

'true' if the mover should update event if within update tolerance this is set to get finer accuracy on updates prior to switching waypoints

Referenced by WsfWaypointMover::HitWaypoint(), Initialize(), Update(), WsfWaypointMover::UpdatePosition(), WsfRouteMover(), and WsfRouteMover().

◆ mTerrainPtr

wsf::Terrain* WsfRouteMover::mTerrainPtr

protected

Referenced by WsfAirMover::AssessDamage(), WsfIterativeRouteMover::CalcAltitudesAndAttitude(), WsfWaypointMover::EnableTerrain(), WsfWaypointMover::GetFutureLocationWCS(), Initialize(), WsfWaypointMover::Initialize(), WsfWaypointMover::MoveToGround(), WsfIterativeRouteMover::SetGroundAttitude(), WsfWaypointMover::SetGroundAttitude(), SetRoutePoint(), WsfWaypointMover::UpdateHeightOfTerrain(), WsfRouteMover(), WsfRouteMover(), and ~WsfRouteMover().

◆ mTurnFailOption

MissTurnOption WsfRouteMover::mTurnFailOption

protected

If true, the mover will ensure it passes each point.

Referenced by GetTurnFailOption(), WsfWaypointMover::Initialize(), ProcessInput(), WsfRouteMover(), and WsfRouteMover().

◆ mTurnFailureThreshold

double WsfRouteMover::mTurnFailureThreshold

protected

Threshold of turn failure as percentage of turn radius.

Referenced by GetTurnFailThreshold(), WsfWaypointMover::Initialize(), ProcessInput(), WsfRouteMover(), and WsfRouteMover().

◆ mUnpauseTime

double WsfRouteMover::mUnpauseTime

mutableprotected

Simulation time at which the mover will unpause.

Referenced by Initialize(), IsPaused(), WsfIterativeRouteMover::Pause(), WsfMath3D_Mover::Pause(), WsfWaypointMover::Pause(), TurnOn(), WsfMath3D_Mover::Unpause(), Unpause(), Update(), UpdateRoute(), WsfRouteMover(), and WsfRouteMover().

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MissTurnOption

Constructor & Destructor Documentation

◆ WsfRouteMover() [1/3]

◆ WsfRouteMover() [2/3]

◆ WsfRouteMover() [3/3]

◆ ~WsfRouteMover()

Member Function Documentation

◆ AddUnpauseEventFor()

◆ AdvanceToNextWaypoint()

◆ DisableAndClearUnpause()

◆ FindAndSetPath()

◆ GetAltRef()

◆ GetCurrentIndex()

◆ GetDefaultRoute()

◆ GetMoverConstraints()

◆ GetRoute()

◆ GetRouteComputer()

◆ GetSwitch()

◆ GetTargetIndex()

◆ GetTurnFailOption()

◆ GetTurnFailThreshold()

◆ GoToClosestPoint()

◆ GoToLabel()

◆ GoToLocation()

◆ GoToSpeed()

◆ GoToWaypoint()

◆ Initialize()

◆ Initialize2()

◆ IsPaused()

◆ IsSwitchingPoints()

◆ operator=()

◆ Pause()

◆ ProcessInput()

◆ ReturnToRoute()

◆ RouteChanged()

◆ RoutePointIndex()

◆ SetAltRef()

◆ SetEndOfPath()

◆ SetGuidanceFrom()

◆ SetGuidanceTo()

◆ SetRoute()

◆ SetRouteComputer()

◆ SetRoutePoint()

◆ SetTargetIndex()

◆ TriggerUnpause()

◆ TurnOff()

◆ TurnOn()

◆ Unpause()

◆ Update()

◆ UpdateDefaultRoute()

◆ UpdatePosition()

◆ UpdateRoute()

◆ WaypointReached()

Member Data Documentation

◆ mAltitudeOffset

◆ mForceUpdates

◆ mTerrainPtr

◆ mTurnFailOption

◆ mTurnFailureThreshold

◆ mUnpauseTime