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wsf::six_dof::Route Class Reference

#include <WsfSixDOF_Route.hpp>

Classes

struct  sRouteSegment

Public Member Functions

 Route ()=default
Route * Clone () const
 ~Route ()=default
const Waypoint * GetFirstElement () const
const Waypoint * GetNextWaypoint (const Waypoint *aWaypoint) const
const Waypoint * GetWaypointAtIndex (size_t aIndex) const
size_t GetWaypointIndex (const Waypoint *aWaypoint) const
void AddWaypointToRouteEnd (std::unique_ptr< Waypoint > &aWaypoint)
void AddWaypointToRouteStart (std::unique_ptr< Waypoint > &aWaypoint)
size_t GetNumberOfWaypoints () const
const std::vector< std::unique_ptr< Waypoint > > & GetRoute () const
void ComputeSegmentMap ()
void AddSegment (Waypoint *aWaypoint, std::unique_ptr< sRouteSegment > &aSegment)
sRouteSegment * GetRouteSegment (const Waypoint *aWaypoint) const

Static Public Member Functions

static void CalcAimHeadingAndBankAngle (const Waypoint *aPrevWpt, const Waypoint *aCurrWpt, const Waypoint *aNextWpt, const sRouteSegment *aCurrSegment, const sRouteSegment *aNextSegment, const UtLLAPos &aCurrentPos_lla, const UtVec2d &aCurrentVel_mps, CommonController::WaypointNavData &aNavData, double aTurnRollInMultiplier, double aRouteAllowableAngleError_rad, double aHeading_rad, double aSpeed_mps, double aMaxBankAngle_rad, double aMaxBankRate_rad_s, double aMaxG_g, double aDeltaT_sec, bool &aAchievedWaypoint)
static void CalcYawAimHeadingAngle (const Waypoint *aPrevWpt, const Waypoint *aCurrWpt, const Waypoint *aNextWpt, const sRouteSegment *aCurrSegment, const sRouteSegment *aNextSegment, const UtLLAPos &aCurrentPos_lla, const UtVec2d &aCurrentVel_mps, CommonController::WaypointNavData &aNavData, double aRouteAllowableAngleError_rad, double aHeading_rad, double aSpeed_mps, double aMaxG_g, double aDeltaT_sec, bool &aAchievedWaypoint)
static void CalcTaxiAimHeadingAngle (const Waypoint *aPrevWpt, const Waypoint *aCurrWpt, const Waypoint *aNextWpt, const sRouteSegment *aCurrSegment, const sRouteSegment *aNextSegment, const UtLLAPos &aCurrentPos_lla, const UtVec2d &aCurrentVel_mps, CommonController::WaypointNavData &aNavData, float aHeading_rad, double aTurnRadius_ft, double aDeltaT_sec, bool &aAchievedWaypoint)
static void CalcVerticalSpeed (CommonController::WaypointNavData &aNavData)
static double GetInitialHeading_rad (const UtLLAPos &aLLAStart, const UtLLAPos &aLLAEnd)
static double GetTurnRadius_m (double aSpeed_mps, double aBankAngle_rad)
static double GetTurnRadiusFromLateralG_m (double aSpeed_mps, double aLateralG_g)
static double GetTurnLeadDistance_m (double aTurnAngle_rad, double aTurnRadius_m)
static double GetDistanceBetweenWaypoints_m (const UtLLAPos &aStartLLA, const UtLLAPos &aEndLLA, double &aStartHdg_rad, double &aEndHdg_rad)
static std::unique_ptr< sRouteSegment > CalcSegmentGeometry (const Waypoint *aPrevWpt, const Waypoint *aCurrWpt)
static bool PassedWaypoint (float aDT, const CommonController::WaypointNavData &aNavData)
static bool AchievedWaypoint (float aDT, const CommonController::WaypointNavData &aNavData, const Waypoint *aWaypoint, const Waypoint *aNextWaypoint)

Constructor & Destructor Documentation

◆ Route()

wsf::six_dof::Route::Route ( )
default

References Clone(), and Route().

Referenced by Clone(), and Route().

◆ ~Route()

wsf::six_dof::Route::~Route ( )
default

Member Function Documentation

◆ AchievedWaypoint()

bool wsf::six_dof::Route::AchievedWaypoint ( float aDT,
const CommonController::WaypointNavData & aNavData,
const Waypoint * aWaypoint,
const Waypoint * aNextWaypoint )
static

References PassedWaypoint(), wsf::six_dof::CommonController::WaypointNavData::rangeRate_mps, wsf::six_dof::CommonController::WaypointNavData::rangeTrack_m, wsf::six_dof::CommonController::WaypointNavData::turnLeadDist_m, and wsf::six_dof::Waypoint::WaypointOnPassing().

Referenced by CalcAimHeadingAndBankAngle(), CalcTaxiAimHeadingAngle(), and CalcYawAimHeadingAngle().

◆ AddSegment()

void wsf::six_dof::Route::AddSegment ( Waypoint * aWaypoint,
std::unique_ptr< sRouteSegment > & aSegment )

◆ AddWaypointToRouteEnd()

void wsf::six_dof::Route::AddWaypointToRouteEnd ( std::unique_ptr< Waypoint > & aWaypoint)

Referenced by wsf::six_dof::Mover::ConvertWsfRouteToSixDOF_Route().

◆ AddWaypointToRouteStart()

void wsf::six_dof::Route::AddWaypointToRouteStart ( std::unique_ptr< Waypoint > & aWaypoint)

Referenced by wsf::six_dof::PilotObject::FlyTempWaypoints().

◆ CalcAimHeadingAndBankAngle()

void wsf::six_dof::Route::CalcAimHeadingAndBankAngle ( const Waypoint * aPrevWpt,
const Waypoint * aCurrWpt,
const Waypoint * aNextWpt,
const sRouteSegment * aCurrSegment,
const sRouteSegment * aNextSegment,
const UtLLAPos & aCurrentPos_lla,
const UtVec2d & aCurrentVel_mps,
CommonController::WaypointNavData & aNavData,
double aTurnRollInMultiplier,
double aRouteAllowableAngleError_rad,
double aHeading_rad,
double aSpeed_mps,
double aMaxBankAngle_rad,
double aMaxBankRate_rad_s,
double aMaxG_g,
double aDeltaT_sec,
bool & aAchievedWaypoint )
static

References AchievedWaypoint(), wsf::six_dof::CommonController::WaypointNavData::aimHeading_rad, wsf::six_dof::CommonController::WaypointNavData::commandedBank_rad, wsf::six_dof::Route::sRouteSegment::currWptVector, wsf::six_dof::CommonController::WaypointNavData::deltaAlt_m, wsf::six_dof::Route::sRouteSegment::earthNED, wsf::six_dof::CommonController::WaypointNavData::executeTurn, GetDistanceBetweenWaypoints_m(), GetInitialHeading_rad(), wsf::six_dof::Waypoint::GetLLA(), wsf::six_dof::Waypoint::GetMaxTurnG(), GetTurnLeadDistance_m(), GetTurnRadius_m(), wsf::six_dof::Route::sRouteSegment::prevWptVector, wsf::six_dof::CommonController::WaypointNavData::rangeRate_mps, wsf::six_dof::CommonController::WaypointNavData::rangeTrack_m, wsf::six_dof::Route::sRouteSegment::trackDistance_m, wsf::six_dof::Route::sRouteSegment::trackEndHdg_rad, wsf::six_dof::Route::sRouteSegment::trackStartHdg_rad, wsf::six_dof::Route::sRouteSegment::trackVector, wsf::six_dof::Waypoint::TURN_G_TYPE_LATERAL, wsf::six_dof::Waypoint::TURN_G_TYPE_PILOT, wsf::six_dof::CommonController::WaypointNavData::turnLeadDist_m, wsf::six_dof::Waypoint::sTurnG::type, wsf::six_dof::Waypoint::sTurnG::val, and wsf::six_dof::Waypoint::WaypointOnPassing().

Referenced by wsf::six_dof::CommonController::GetAimHeadingForWaypointNav_deg().

◆ CalcSegmentGeometry()

std::unique_ptr< wsf::six_dof::Route::sRouteSegment > wsf::six_dof::Route::CalcSegmentGeometry ( const Waypoint * aPrevWpt,
const Waypoint * aCurrWpt )
static

References GetDistanceBetweenWaypoints_m(), and wsf::six_dof::Waypoint::GetLLA().

Referenced by ComputeSegmentMap(), wsf::six_dof::PilotObject::ReturnToPlannedWaypoints(), wsf::six_dof::PilotObject::SetPlannedWaypointIndex(), and wsf::six_dof::PilotObject::SetTempWaypointIndex().

◆ CalcTaxiAimHeadingAngle()

void wsf::six_dof::Route::CalcTaxiAimHeadingAngle ( const Waypoint * aPrevWpt,
const Waypoint * aCurrWpt,
const Waypoint * aNextWpt,
const sRouteSegment * aCurrSegment,
const sRouteSegment * aNextSegment,
const UtLLAPos & aCurrentPos_lla,
const UtVec2d & aCurrentVel_mps,
CommonController::WaypointNavData & aNavData,
float aHeading_rad,
double aTurnRadius_ft,
double aDeltaT_sec,
bool & aAchievedWaypoint )
static

References AchievedWaypoint(), wsf::six_dof::CommonController::WaypointNavData::aimHeading_rad, CA_ROUTE_ALLOWABLE_ANGLE_ERROR_RAD, wsf::six_dof::Route::sRouteSegment::currWptVector, wsf::six_dof::CommonController::WaypointNavData::deltaAlt_m, wsf::six_dof::Route::sRouteSegment::earthNED, wsf::six_dof::CommonController::WaypointNavData::executeTurn, GetDistanceBetweenWaypoints_m(), GetInitialHeading_rad(), wsf::six_dof::Waypoint::GetLLA(), GetTurnLeadDistance_m(), wsf::six_dof::Route::sRouteSegment::prevWptVector, wsf::six_dof::CommonController::WaypointNavData::rangeRate_mps, wsf::six_dof::CommonController::WaypointNavData::rangeTrack_m, wsf::six_dof::Route::sRouteSegment::trackDistance_m, wsf::six_dof::Route::sRouteSegment::trackEndHdg_rad, wsf::six_dof::Route::sRouteSegment::trackStartHdg_rad, wsf::six_dof::Route::sRouteSegment::trackVector, and wsf::six_dof::CommonController::WaypointNavData::turnLeadDist_m.

Referenced by wsf::six_dof::RigidBodyCommonController::GetAimHeadingAndTurnRateForTaxiWaypointNav_deg().

◆ CalcVerticalSpeed()

void wsf::six_dof::Route::CalcVerticalSpeed ( CommonController::WaypointNavData & aNavData)
static

References wsf::six_dof::CommonController::WaypointNavData::deltaAlt_m, wsf::six_dof::CommonController::WaypointNavData::rangeRate_mps, wsf::six_dof::CommonController::WaypointNavData::rangeTrack_m, and wsf::six_dof::CommonController::WaypointNavData::vertSpeed_mps.

Referenced by wsf::six_dof::CommonController::ProcessVerticalNavMode_Waypoint().

◆ CalcYawAimHeadingAngle()

void wsf::six_dof::Route::CalcYawAimHeadingAngle ( const Waypoint * aPrevWpt,
const Waypoint * aCurrWpt,
const Waypoint * aNextWpt,
const sRouteSegment * aCurrSegment,
const sRouteSegment * aNextSegment,
const UtLLAPos & aCurrentPos_lla,
const UtVec2d & aCurrentVel_mps,
CommonController::WaypointNavData & aNavData,
double aRouteAllowableAngleError_rad,
double aHeading_rad,
double aSpeed_mps,
double aMaxG_g,
double aDeltaT_sec,
bool & aAchievedWaypoint )
static

References AchievedWaypoint(), wsf::six_dof::CommonController::WaypointNavData::aimHeading_rad, wsf::six_dof::Route::sRouteSegment::currWptVector, wsf::six_dof::CommonController::WaypointNavData::deltaAlt_m, wsf::six_dof::Route::sRouteSegment::earthNED, wsf::six_dof::CommonController::WaypointNavData::executeTurn, GetDistanceBetweenWaypoints_m(), GetInitialHeading_rad(), wsf::six_dof::Waypoint::GetLLA(), wsf::six_dof::Waypoint::GetMaxTurnG(), GetTurnLeadDistance_m(), GetTurnRadiusFromLateralG_m(), wsf::six_dof::Route::sRouteSegment::prevWptVector, wsf::six_dof::CommonController::WaypointNavData::rangeRate_mps, wsf::six_dof::CommonController::WaypointNavData::rangeTrack_m, wsf::six_dof::Route::sRouteSegment::trackDistance_m, wsf::six_dof::Route::sRouteSegment::trackEndHdg_rad, wsf::six_dof::Route::sRouteSegment::trackStartHdg_rad, wsf::six_dof::Route::sRouteSegment::trackVector, wsf::six_dof::Waypoint::TURN_G_TYPE_LATERAL, wsf::six_dof::CommonController::WaypointNavData::turnLeadDist_m, wsf::six_dof::Waypoint::sTurnG::type, and wsf::six_dof::Waypoint::sTurnG::val.

Referenced by wsf::six_dof::CommonController::GetAimHeadingForWaypointNav_deg().

◆ Clone()

wsf::six_dof::Route * wsf::six_dof::Route::Clone ( ) const

References Route().

Referenced by Route().

◆ ComputeSegmentMap()

void wsf::six_dof::Route::ComputeSegmentMap ( )

References CalcSegmentGeometry(), and GetNextWaypoint().

Referenced by wsf::six_dof::Mover::ConvertWsfRouteToSixDOF_Route(), and wsf::six_dof::PilotObject::FlyTempWaypoints().

◆ GetDistanceBetweenWaypoints_m()

double wsf::six_dof::Route::GetDistanceBetweenWaypoints_m ( const UtLLAPos & aStartLLA,
const UtLLAPos & aEndLLA,
double & aStartHdg_rad,
double & aEndHdg_rad )
static

Referenced by CalcAimHeadingAndBankAngle(), CalcSegmentGeometry(), CalcTaxiAimHeadingAngle(), and CalcYawAimHeadingAngle().

◆ GetFirstElement()

const wsf::six_dof::Waypoint * wsf::six_dof::Route::GetFirstElement ( ) const

◆ GetInitialHeading_rad()

double wsf::six_dof::Route::GetInitialHeading_rad ( const UtLLAPos & aLLAStart,
const UtLLAPos & aLLAEnd )
static

Referenced by CalcAimHeadingAndBankAngle(), CalcTaxiAimHeadingAngle(), CalcYawAimHeadingAngle(), wsf::six_dof::RigidBodyCommonController::GetAimHeadingAndTurnRateForTaxiWaypointNav_deg(), wsf::six_dof::CommonController::GetAimHeadingForPoint_deg(), and wsf::six_dof::CommonController::GetAimHeadingForWaypointNav_deg().

◆ GetNextWaypoint()

const wsf::six_dof::Waypoint * wsf::six_dof::Route::GetNextWaypoint ( const Waypoint * aWaypoint) const

References wsf::six_dof::Waypoint::GetGoTo().

Referenced by ComputeSegmentMap().

◆ GetNumberOfWaypoints()

size_t wsf::six_dof::Route::GetNumberOfWaypoints ( ) const

Referenced by wsf::six_dof::PilotObject::FlyTempWaypoints(), and GetWaypointAtIndex().

◆ GetRoute()

const std::vector< std::unique_ptr< Waypoint > > & wsf::six_dof::Route::GetRoute ( ) const
inline

◆ GetRouteSegment()

wsf::six_dof::Route::sRouteSegment * wsf::six_dof::Route::GetRouteSegment ( const Waypoint * aWaypoint) const

◆ GetTurnLeadDistance_m()

double wsf::six_dof::Route::GetTurnLeadDistance_m ( double aTurnAngle_rad,
double aTurnRadius_m )
static

Referenced by CalcAimHeadingAndBankAngle(), CalcTaxiAimHeadingAngle(), and CalcYawAimHeadingAngle().

◆ GetTurnRadius_m()

double wsf::six_dof::Route::GetTurnRadius_m ( double aSpeed_mps,
double aBankAngle_rad )
static

Referenced by CalcAimHeadingAndBankAngle().

◆ GetTurnRadiusFromLateralG_m()

double wsf::six_dof::Route::GetTurnRadiusFromLateralG_m ( double aSpeed_mps,
double aLateralG_g )
static

Referenced by CalcYawAimHeadingAngle().

◆ GetWaypointAtIndex()

const wsf::six_dof::Waypoint * wsf::six_dof::Route::GetWaypointAtIndex ( size_t aIndex) const

References GetNumberOfWaypoints().

◆ GetWaypointIndex()

size_t wsf::six_dof::Route::GetWaypointIndex ( const Waypoint * aWaypoint) const

◆ PassedWaypoint()

bool wsf::six_dof::Route::PassedWaypoint ( float aDT,
const CommonController::WaypointNavData & aNavData )
static

References wsf::six_dof::CommonController::WaypointNavData::rangeRate_mps, and wsf::six_dof::CommonController::WaypointNavData::rangeTrack_m.

Referenced by AchievedWaypoint().

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