#include <WsfGuidanceComputer.hpp>

Inheritance diagram for WsfGuidanceComputer:

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Collaboration diagram for WsfGuidanceComputer:

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Classes
class	Variable
class	PhaseChange
	A class that defines the conditions for performing a change in guidance phase. More...
class	Phase
	A class that defines the guidance parameters for a phase of flight. More...
class	State
class	Commands

Public Member Functions
	WsfGuidanceComputer (WsfScenario &aScenarioPtr)
	~WsfGuidanceComputer () override
WsfGuidanceComputer &	operator= (const WsfGuidanceComputer &)=delete
Public Member Functions inherited from WsfScriptProcessor
	WsfScriptProcessor (const WsfScenario &aScenario)
	WsfScriptProcessor (const WsfScenario &aScenario, WsfStringId aPartClass, const std::string &aPartVarName)
	~WsfScriptProcessor () override
WsfProcessor *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage) override
void	SendMessage (double aSimTime, const WsfMessage &aMessage) override
virtual void	ExecuteOnMessageCreate (double aSimTime, WsfMessage &aMessage)
virtual bool	ExecuteScript (double aSimTime, const std::string &aScriptName)
virtual bool	ExecuteScript (double aSimTime, WsfStringId aScriptName, UtScriptData &aScriptRetVal, const UtScriptDataList &aScriptArgs=UtScriptDataList())
void	ExecuteScriptAtTime (double aTime, WsfStringId aScriptName, const UtScriptDataList &aScriptArgs)
virtual void	SuppressMessage (bool aSuppressMessage)
WsfScriptMessageHandler *	GetMessageHandler ()
WsfScriptContext &	GetScriptContext ()
UtScriptContext *	GetScriptAccessibleContext () const override
void	SetPlatform (WsfPlatform *aPlatformPtr) override
const WsfBehaviorTree *	BehaviorTree () const
WsfAdvancedBehaviorTree *	AdvancedBehaviorTree () const
virtual const WsfScriptStateMachine *	GetStateMachine () const
wsf::ExternalLinks &	GetExternalLinks ()
std::string	State ()
std::string	StateAll ()
void	SetState (std::string &stateName)
void	SetStateAll (std::string &stateNameAll)
Public Member Functions inherited from WsfProcessor
	WsfProcessor (const WsfScenario &aScenario)
	~WsfProcessor () override=default
ComponentList &	GetComponents ()
const ComponentList &	GetComponents () const
virtual void	ProcessCallback (double aSimTime, const WsfCallback &aCallback)
WsfComponent *	CloneComponent () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
int	GetComponentInitializationOrder () const override
const char *	GetScriptClassName () const override
bool	PreInitialize (double aSimTime) override
void	PreInput () 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
double	GetUpdateInterval () const override
void	SetUpdateInterval (double aUpdateInterval) override
Public Member Functions inherited from WsfPlatformPart
	WsfPlatformPart (const WsfScenario &aScenario, int aPartType)
WsfPlatformPart &	operator= (const WsfPlatformPart &aRhs)=delete
	~WsfPlatformPart () 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	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.
virtual void	Restore (double aSimTime)
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	ReceiveMessage (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.
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 WsfMoverGuidance
	WsfMoverGuidance ()
virtual	~WsfMoverGuidance ()

Static Public Attributes
static const double	cUNDEFINED_DOUBLE = 1.0E+30
	A value that indicates a double precision value has not been defined.
static const double	cFROM_LAUNCH_COMPUTER = 1.0E+31
	Indicates 'flight_path_angle from_launch_computer'.
static const double	cFLIGHT_PATH_ANGLE_TOLERANCE = 0.0001 * UtMath::cRAD_PER_DEG
	The tolerance for performing a flight path angle phase change.
static const double	cLARGE_POSITIVE_DOUBLE = 1.0E+30
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed

Friends
class	WsfGuidanceProgram
class	WsfScriptGuidanceComputer

Simulation callbacks
enum	GuidanceTarget { cGT_DEFAULT , cGT_TRUTH , cGT_PERCEPTION , cGT_PREDICTED_INTERCEPT }
enum	OffsetDirection { cOD_LEFT , cOD_RIGHT , cOD_EITHER }
virtual void	SensorTrackInitiated (double aSimTime, WsfSensor aSensorPtr, const WsfTrack aTrackPtr)

Guidance programs.
using	ProgramList = std::list<WsfGuidanceProgram*>
WsfGuidanceProgram *	mLegacyProgramPtr
ProgramList	mDefinedPrograms
	The list of defined programs.
ProgramList	mActivePrograms
size_t	mProgramCompleteIndex
double	mTimeConstant
	The guidance time constant for intercept navigation by the legacy program.
bool	mGuideToTruth
	'true' if should guide to target truth.
bool	mShowStatus
	'true' if 'show_status' specified
bool	mShowDiagnostics
	'true' if 'show_diagnostics' specified
bool	mShowCommands
	'true' if 'show_commands' specified
bool	mShowEvaluations
	'true' if 'show_evaluations' specified.
bool	mShowGraphics
	'true' if 'show_graphics' is specified
WsfGuidedMoverBase *	mMoverPtr
UtAtmosphere	mAtmosphere
UtCallbackHolder	mCallbacks
wsf::Terrain *	mTerrainPtr
double	mLaunchTime
double	mLaunchLocWCS [3]
double	mLastUpdateTime
double	mPhaseStartTime
double	mGuidanceStartTime
double	mCommandedFlightPathAngle
State	mState
	The state of the weapon and target.

Called from guidance programs
std::vector< Phase >	mPhaseList
	The list of phases.
Phase	mPhaseTemplate
	The template used to construct a phase.
bool	mExplicitPhaseUsed
	'true' if a 'phase' command was used
bool	mImplicitPhaseUsed
	'true' if a phase was defined without using 'phase'
WsfStringId	mInitialPhaseName
	The name (ID) of the starting phase.
unsigned int	mPhaseIndex
	The index of the current phase.
bool	ShowStatus () const
bool	ShowDiagnostics () const
bool	ShowGraphics () const
Phase &	GetCurrentPhase ()
double	GetCommandedFlightPathAngle () const
double	GetLastFlightPathAngle () const
double	GetLaunchComputerFlightPathAngle () const
double	GetTimeConstant (const Phase &aPhase) const
	Return the guidance time constant for the legacy guidance program.
double	GetTimeSinceLaunch (double aSimTime)
double	GetTimeSincePhaseStart (double aSimTime)
double	GetLastUpdateTime () const
void	DrawPoint (double aRedValue, double aGreenValue, double aBlueValue, int aPointSize)
void	PrintStatusHeader (double aSimTime, double aCurTime, ut::log::MessageStream &aStream)
	WsfGuidanceComputer (const WsfGuidanceComputer &aSrc)
bool	BeginExternalCommand (WsfStringId aPhaseName, unsigned int &aPhaseIndex)
	Begin processing for an external command (i.e.: from a script or other external source).
void	BeginExternalCommandEcho (unsigned int aPhaseIndex, const char *aCommandPtr, ut::log::MessageStream &aStream)
virtual void	CheckForPhaseChange (double aSimTime, double aEndTime)
	Check for a change in the guidance phase.
virtual void	CheckForWaypointChange (double aSimTime, double aEndTime)
	Determine if a waypoint switch is required.
double	ComputeAzimuth (const double aRelLoc[3]) const
double	ComputeElevation (const double aRelLoc[3]) const
void	ComputeInterceptData (double aCurTime, double &aTimeToGo, double &aRangeToGo)
	A helper for CheckForPhaseChange to compute the time and range to intercept.
unsigned int	FindPhase (WsfStringId aPhaseName) const
WsfGuidanceProgram *	FindProgram (WsfStringId aProgramName) const
double	GetSimTime () const
virtual void	SelectPhase (double aSimTime, double aChangeTime, WsfStringId aPhaseName)
virtual void	SelectWaypoint (double aSimTime, double aChangeTime, unsigned int aNewIndex)
	Select the indicated waypoint as the current target waypoint.
void	StartProgram (double aSimTime, double aChangeTime, WsfStringId aProgramName)
void	StopProgram (double aSimTime, double aChangeTime, WsfStringId aProgramName)
virtual bool	UpdateAimpoint (double aCurTime, const Phase &aPhase)
void	UpdateRouteFollowing (const Phase &aPhase)
virtual void	UpdateTargetPerception (double aCurTime)
	Update the perception of the target.
void	UpdateTerrainFollowing (const Phase &aPhase)
virtual void	UpdateWeaponPerception (double aCurTime)
	Update the perception of the weapon.
bool	ValidateNextPhaseName (const Phase &aPhase, WsfStringId aNextPhaseName)

persistent data between iterations about the weapon and the target.
double	mLastFlightPathAngle
double	mLastTgtUpdateTime
double	mLastTgtLocWCS [3]
double	mLastTgtVelWCS [3]
bool	mTgtStateDefined

Predicted intercept data from the launch computer.
double	mInterceptLocWCS [3]
double	mLaunchComputerFlightPathAngle

Route following data.
unsigned int	mRouteIndex
bool	mFollowingRoute
bool	mWasClosing

Aimpoint offset data.
If lateral aimpoint offset is provided it is not calculated every pass.
double	mAimpointExpireTime
double	mAimpointLocWCS [3]
unsigned int	mAimpointDrawId
WsfDraw *	mDrawPtr
	For drawing graphics.
bool	mOnExitScriptActive
	The following is used to prevent recursion if a SelectPhase occurs in the user 'on_exit' block.

Framework methods
WsfProcessor *	Clone () const override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
const char *	GetScriptClassName () const override

Interface from WsfMoverGuidance
void	UpdateGuidance (double aSimTime, double aCurTime, double aEndTime) override

Calls from external sources, such as scripts.
bool	SelectPhase (WsfStringId aPhaseName)
bool	ClearCommandedAltitude (WsfStringId aPhaseName)
bool	ClearCommandedFlightPathAngle (WsfStringId aPhaseName)
bool	ClearCommandedSpeed (WsfStringId aPhaseName)
bool	ClearCommandedThrottle (WsfStringId aPhaseName)
bool	SetAllowRouteFollowing (WsfStringId aPhaseName, bool aValue)
bool	SetAimpointAltitudeOffset (WsfStringId aPhaseName, double aValue)
bool	SetAimpointAzimuthOffset (WsfStringId aPhaseName, double aValue, const std::string &aDirection)
bool	SetAimpointRangeOffset (WsfStringId aPhaseName, double aValue)
bool	SetAimpointEvaluationInterval (WsfStringId aPhaseName, double aValue)
bool	SetCommandedAltitude (WsfStringId aPhaseName, double aValue, bool aAltIsAGL)
bool	SetCommandedAzimuthOffset (WsfStringId aPhaseName, double aValue)
bool	SetCommandedFlightPathAngle (WsfStringId aPhaseName, double aValue)
bool	SetCommandedMach (WsfStringId aPhaseName, double aValue)
bool	SetCommandedSpeed (WsfStringId aPhaseName, double aValue)
bool	SetCommandedThrottle (WsfStringId aPhaseName, double aValue)
bool	SetGuidanceDelay (WsfStringId aPhaseName, double aValue)
bool	SetGuidanceTarget (WsfStringId aPhaseName, const std::string &aValue)
bool	SetProportionalNavigationGain (WsfStringId aPhaseName, double aValue)
bool	SetProportionalNavigationLimitAngle (WsfStringId aPhaseName, double aValue)
bool	SetProportionalNavigationMethod (WsfStringId aPhaseName, const std::string &aValue)
bool	SetVelocityPursuitGain (WsfStringId aPhaseName, double aValue)
bool	SetGeeBias (WsfStringId aPhaseName, double aValue)
virtual bool	SetLateralGeeBias (WsfStringId aPhaseName, double aValue)
bool	SetMaximumCommandedGees (WsfStringId aPhaseName, double aValue)
bool	SetMaximumPitchAngle (WsfStringId aPhaseName, double aValue)
bool	SetMaximumAscentRate (WsfStringId aPhaseName, double aValue)
bool	SetMaximumDescentRate (WsfStringId aPhaseName, double aValue)
bool	SetPitchChangeGain (WsfStringId aPhaseName, double aValue)
virtual bool	EjectStage (double aPreSeparationCoastTime, double aPreIgnitionCoastTime)
virtual bool	StopEngines ()
bool	StartProgram (WsfStringId aProgramName)
bool	StopProgram (WsfStringId aProgramName)

Callbacks from the mover when the route is updated or a staging transition occurs.
virtual void	RouteChanged (double aSimTime)
virtual void	StageIgnition (double aSimTime, double aEventTime)
virtual void	StageBurnout (double aSimTime, double aEventTime)
virtual void	StageSeparation (double aSimTime, double aEventTime)

Additional Inherited Members
using	ComponentList = WsfComponentListT<WsfProcessorComponent>
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.
Protected Member Functions inherited from WsfScriptProcessor
	WsfScriptProcessor (const WsfScriptProcessor &aSrc)
	WsfProcessor (const WsfProcessor &aSrc)
	Copy constructor (for Clone()).
WsfProcessor &	operator= (const WsfProcessor &aRhs)=delete
	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 inherited from WsfScriptProcessor
WsfScriptContext *	mContextPtr
	Pointer to the script context.
WsfScriptMessageHandler *	mMessageHandlerPtr
	Pointer to the 'on_message' handler.
UtScript *	mOnMessageCreateScriptPtr
	Pointer to the 'on_message_create' script.
UtScriptClass *	mMessageClassPtr
wsf::ExternalLinks	mExternalLinks
	The external recipients.
WsfBehaviorTree *	mBehaviorTreePtr
ut::CloneablePtr< WsfAdvancedBehaviorTree >	mAdvancedBehaviorTreePtr
std::unique_ptr< WsfScriptStateMachine >	mStateMachinePtr
int	mStateIndex
bool	mSuppressMessage

Detailed Description

A class representing a guidance computer for steering/influencing a Mover. The computer will follow proportional homing guidance to null Line-Of-Sight rates to intercept a Track. The track pointer will be "pushed" into this processor from some external source, extrapolated in time if required. The primary output of the class are constrained steering commands in pitch and yaw, which are pushed into the Mover to influence motion dynamics.

Member Typedef Documentation

◆ ProgramList

using WsfGuidanceComputer::ProgramList = std::list<WsfGuidanceProgram*>

protected

Member Enumeration Documentation

◆ GuidanceTarget

enum WsfGuidanceComputer::GuidanceTarget

Enumerator
cGT_DEFAULT
cGT_TRUTH
cGT_PERCEPTION
cGT_PREDICTED_INTERCEPT

◆ OffsetDirection

enum WsfGuidanceComputer::OffsetDirection

Enumerator
cOD_LEFT	Offset so target is on the left side of the weapon.
cOD_RIGHT	Offset so target is on the right side of the weapon.
cOD_EITHER	Offset so target on the side that causes least heading change of the weapon.

Constructor & Destructor Documentation

◆ WsfGuidanceComputer() [1/2]

WsfGuidanceComputer::WsfGuidanceComputer ( WsfScenario & aScenarioPtr )

References cLARGE_POSITIVE_DOUBLE, cUNDEFINED_DOUBLE, mActivePrograms, mAimpointDrawId, mAimpointExpireTime, mAimpointLocWCS, mAtmosphere, mCallbacks, mCommandedFlightPathAngle, mDefinedPrograms, mDrawPtr, mExplicitPhaseUsed, mFollowingRoute, mGuidanceStartTime, mGuideToTruth, mImplicitPhaseUsed, mInitialPhaseName, mInterceptLocWCS, mLastFlightPathAngle, mLastTgtLocWCS, mLastTgtUpdateTime, mLastTgtVelWCS, mLastUpdateTime, mLaunchComputerFlightPathAngle, mLaunchLocWCS, mLaunchTime, mLegacyProgramPtr, mMoverPtr, mOnExitScriptActive, mPhaseIndex, mPhaseList, mPhaseStartTime, mPhaseTemplate, mProgramCompleteIndex, mRouteIndex, mShowCommands, mShowDiagnostics, mShowEvaluations, mShowGraphics, mShowStatus, mState, mTerrainPtr, mTgtStateDefined, mTimeConstant, mWasClosing, WsfMoverGuidance::WsfMoverGuidance(), and WsfScriptProcessor::WsfScriptProcessor().

Referenced by Clone(), wsf::six_dof::GuidanceComputer::GuidanceComputer(), wsf::six_dof::GuidanceComputer::GuidanceComputer(), wsf::six_dof::GuidanceComputer::Initialize(), operator=(), WsfGuidanceComputer::Phase::ProcessInput(), WsfGuidanceComputer(), WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer(), and WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer().

◆ ~WsfGuidanceComputer()

WsfGuidanceComputer::~WsfGuidanceComputer ( )

override

References mDefinedPrograms, mDrawPtr, mLegacyProgramPtr, and mTerrainPtr.

◆ WsfGuidanceComputer() [2/2]

WsfGuidanceComputer::WsfGuidanceComputer ( const WsfGuidanceComputer & aSrc )

protected

References mActivePrograms, mAimpointDrawId, mAimpointExpireTime, mAimpointLocWCS, mAtmosphere, mCallbacks, mCommandedFlightPathAngle, mDefinedPrograms, mDrawPtr, mExplicitPhaseUsed, mFollowingRoute, mGuidanceStartTime, mGuideToTruth, mImplicitPhaseUsed, mInitialPhaseName, mInterceptLocWCS, mLastFlightPathAngle, mLastTgtLocWCS, mLastTgtUpdateTime, mLastTgtVelWCS, mLastUpdateTime, mLaunchComputerFlightPathAngle, mLaunchLocWCS, mLaunchTime, mLegacyProgramPtr, mMoverPtr, mOnExitScriptActive, mPhaseIndex, mPhaseList, mPhaseStartTime, mPhaseTemplate, mProgramCompleteIndex, mRouteIndex, mShowCommands, mShowDiagnostics, mShowEvaluations, mShowGraphics, mShowStatus, mState, mTerrainPtr, mTgtStateDefined, mTimeConstant, mWasClosing, WsfGuidanceComputer(), WsfMoverGuidance::WsfMoverGuidance(), and WsfScriptProcessor::WsfScriptProcessor().

Member Function Documentation

◆ BeginExternalCommand()

bool WsfGuidanceComputer::BeginExternalCommand	(	WsfStringId	aPhaseName,
		unsigned int &	aPhaseIndex )

protected

Begin processing for an external command (i.e.: from a script or other external source).

References FindPhase(), GetSimTime(), mPhaseIndex, mPhaseList, and ok.

Referenced by ClearCommandedAltitude(), ClearCommandedFlightPathAngle(), ClearCommandedSpeed(), ClearCommandedThrottle(), SelectPhase(), SetAimpointAltitudeOffset(), SetAimpointAzimuthOffset(), SetAimpointEvaluationInterval(), SetAimpointRangeOffset(), SetAllowRouteFollowing(), SetCommandedAltitude(), SetCommandedAzimuthOffset(), SetCommandedFlightPathAngle(), SetCommandedMach(), SetCommandedSpeed(), SetCommandedThrottle(), SetGeeBias(), SetGuidanceDelay(), SetGuidanceTarget(), SetLateralGeeBias(), SetMaximumAscentRate(), SetMaximumCommandedGees(), SetMaximumDescentRate(), SetMaximumPitchAngle(), SetPitchChangeGain(), SetProportionalNavigationGain(), SetProportionalNavigationLimitAngle(), SetProportionalNavigationMethod(), and SetVelocityPursuitGain().

◆ BeginExternalCommandEcho()

void WsfGuidanceComputer::BeginExternalCommandEcho	(	unsigned int	aPhaseIndex,
		const char *	aCommandPtr,
		ut::log::MessageStream &	aStream )

protected

If 'show_status' is true, begin the echoing of the external command.

Parameters

aPhaseIndex	The index of the phase to which the command applies.
aCommandPtr	The command being processed.
aStream	The stream being written to.

Returns: if the echoing process has started. The caller MUST write any other data to cout, along with an end-of-line.

References GetSimTime(), mPhaseList, PrintStatusHeader(), and simTime.

Referenced by ClearCommandedAltitude(), ClearCommandedFlightPathAngle(), ClearCommandedSpeed(), ClearCommandedThrottle(), SelectPhase(), SetAimpointAltitudeOffset(), SetAimpointAzimuthOffset(), SetAimpointEvaluationInterval(), SetAimpointRangeOffset(), SetAllowRouteFollowing(), SetCommandedAltitude(), SetCommandedAzimuthOffset(), SetCommandedFlightPathAngle(), SetCommandedMach(), SetCommandedSpeed(), SetCommandedThrottle(), SetGeeBias(), SetGuidanceDelay(), SetGuidanceTarget(), SetLateralGeeBias(), SetMaximumAscentRate(), SetMaximumCommandedGees(), SetMaximumDescentRate(), SetMaximumPitchAngle(), SetPitchChangeGain(), SetProportionalNavigationGain(), SetProportionalNavigationLimitAngle(), SetProportionalNavigationMethod(), and SetVelocityPursuitGain().

◆ CheckForPhaseChange()

void WsfGuidanceComputer::CheckForPhaseChange	(	double	aSimTime,
		double	aEndTime )

protectedvirtual

Check for a change in the guidance phase.

Reimplemented in WsfP6DOF_GuidanceComputer.

Referenced by wsf::six_dof::GuidanceComputer::UpdateGuidance(), and UpdateGuidance().

◆ CheckForWaypointChange()

void WsfGuidanceComputer::CheckForWaypointChange	(	double	aSimTime,
		double	aEndTime )

protectedvirtual

Determine if a waypoint switch is required.

Reimplemented in wsf::six_dof::GuidanceComputer.

References WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfRoute::GetWaypointAt(), mMoverPtr, mRouteIndex, mState, mWasClosing, and SelectWaypoint().

Referenced by UpdateGuidance().

◆ ClearCommandedAltitude()

bool WsfGuidanceComputer::ClearCommandedAltitude ( WsfStringId aPhaseName )

Called from script to clear 'commanded_altitude'.

Parameters

aPhaseName The phase name to be updated, or empty for the current phase.

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), cUNDEFINED_DOUBLE, mPhaseIndex, mPhaseList, mShowCommands, ok, and UpdateTerrainFollowing().

Referenced by operator=().

◆ ClearCommandedFlightPathAngle()

bool WsfGuidanceComputer::ClearCommandedFlightPathAngle ( WsfStringId aPhaseName )

Called from script to clear 'commanded_flight_path_angle'.

Parameters

aPhaseName The phase name to be updated, or empty for the current phase.

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), cUNDEFINED_DOUBLE, mCommandedFlightPathAngle, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ ClearCommandedSpeed()

bool WsfGuidanceComputer::ClearCommandedSpeed ( WsfStringId aPhaseName )

Called from script to clear 'commanded_speed'.

Parameters

aPhaseName The phase name to be updated, or empty for the current phase.

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), cUNDEFINED_DOUBLE, mMoverPtr, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ ClearCommandedThrottle()

bool WsfGuidanceComputer::ClearCommandedThrottle ( WsfStringId aPhaseName )

Called from script to clear 'commanded_throttle'.

Parameters

aPhaseName The phase name to be updated, or empty for the current phase.

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mMoverPtr, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ Clone()

WsfProcessor * WsfGuidanceComputer::Clone ( ) const

overridevirtual

Create a clone of this object.

Returns: A pointer to the new copy.

Implements WsfProcessor.

Reimplemented in WsfP6DOF_GuidanceComputer.

References WsfGuidanceComputer(), and WsfProcessor::WsfProcessor().

◆ ComputeAzimuth()

double WsfGuidanceComputer::ComputeAzimuth ( const double aRelLoc[3] ) const

protected

A helper for CheckForPhaseChange to compute the azimuth from a relative location vector. The incoming vector is assumed to be non-zero in length.

Referenced by CheckForPhaseChange(), and WsfP6DOF_GuidanceComputer::CheckForPhaseChange().

◆ ComputeElevation()

double WsfGuidanceComputer::ComputeElevation ( const double aRelLoc[3] ) const

protected

A helper for CheckForPhaseChange to compute the elevation from a relative location vector. The incoming vector is assumed to be non-zero in length.

Referenced by CheckForPhaseChange(), and WsfP6DOF_GuidanceComputer::CheckForPhaseChange().

◆ ComputeInterceptData()

void WsfGuidanceComputer::ComputeInterceptData	(	double	aCurTime,
		double &	aTimeToGo,
		double &	aRangeToGo )

protected

A helper for CheckForPhaseChange to compute the time and range to intercept.

References cLARGE_POSITIVE_DOUBLE, WsfPlatformPart::DebugEnabled(), WsfTrackManager::GetCurrentTarget(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfPlatform::GetTrackManager(), WsfIntercept::Intercept(), and mState.

Referenced by CheckForPhaseChange(), and WsfP6DOF_GuidanceComputer::CheckForPhaseChange().

◆ DrawPoint()

void WsfGuidanceComputer::DrawPoint	(	double	aRedValue,
		double	aGreenValue,
		double	aBlueValue,
		int	aPointSize )

References WsfDraw::cFOREVER, mDrawPtr, and mState.

Referenced by wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), wsf::six_dof::GuidanceComputer::StageBurnout(), StageBurnout(), WsfP6DOF_GuidanceComputer::StageBurnout(), wsf::six_dof::GuidanceComputer::StageIgnition(), StageIgnition(), WsfP6DOF_GuidanceComputer::StageIgnition(), wsf::six_dof::GuidanceComputer::StageSeparation(), StageSeparation(), and WsfP6DOF_GuidanceComputer::StageSeparation().

◆ EjectStage()

bool WsfGuidanceComputer::EjectStage	(	double	aPreSeparationCoastTime,
		double	aPreIgnitionCoastTime )

virtual

Called from script interface to command the mover to eject the current stage.

Parameters

aPreSeparationCoastTime	Allows the caller to override the pre_separation_coast_time for the current stage. If this value is less than zero then the value in the stage definition will be used.
aPreIgnitionCoastTime	Allows the caller to override the pre_ignition_coast_time for the current stage. If this value is less than zero then the value in the stage definition will be used.

Returns: true if successful, false if not.

References GetSimTime(), mMoverPtr, mShowCommands, ok, PrintStatusHeader(), and simTime.

Referenced by operator=().

◆ FindPhase()

unsigned int WsfGuidanceComputer::FindPhase ( WsfStringId aPhaseName ) const

protected

Return the index of the phase with the specified name.

Parameters

aPhaseName The name (ID) of the phase to be located.

Returns: The index of the specified phase. If it could not be found then it will be the size of the phase list.

References mPhaseList.

Referenced by BeginExternalCommand(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), and ValidateNextPhaseName().

◆ FindProgram()

WsfGuidanceProgram * WsfGuidanceComputer::FindProgram ( WsfStringId aProgramName ) const

protected

Return the pointer to the program in the defined program list with the specified name.

Parameters

aProgramName The name (ID) of the program to be located.

Returns: The pointer to the requested program or zero if it could not be found.

References mDefinedPrograms, and WsfGuidanceProgram.

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), and StartProgram().

◆ GetCommandedFlightPathAngle()

double WsfGuidanceComputer::GetCommandedFlightPathAngle ( ) const

inline

References mCommandedFlightPathAngle.

◆ GetCurrentPhase()

Phase & WsfGuidanceComputer::GetCurrentPhase ( )

inline

References mPhaseIndex, and mPhaseList.

Referenced by wsf::six_dof::GuidanceComputer::GetAllowRouteFollowing(), wsf::six_dof::GuidanceComputer::GetCommandedAltitude(), and wsf::six_dof::GuidanceComputer::GetCommandedSpeed().

◆ GetLastFlightPathAngle()

double WsfGuidanceComputer::GetLastFlightPathAngle ( ) const

inline

References mLastFlightPathAngle.

◆ GetLastUpdateTime()

double WsfGuidanceComputer::GetLastUpdateTime ( ) const

inline

References mLastUpdateTime.

◆ GetLaunchComputerFlightPathAngle()

double WsfGuidanceComputer::GetLaunchComputerFlightPathAngle ( ) const

inline

References mLaunchComputerFlightPathAngle.

◆ GetScriptClassName()

const char * WsfGuidanceComputer::GetScriptClassName ( ) const

override

◆ GetSimTime()

double WsfGuidanceComputer::GetSimTime ( ) const

protected

References WsfSimulation::GetSimTime(), and WsfPlatformPart::GetSimulation().

Referenced by BeginExternalCommand(), BeginExternalCommandEcho(), EjectStage(), SelectPhase(), StartProgram(), wsf::six_dof::GuidanceComputer::StopEngines(), StopEngines(), WsfP6DOF_GuidanceComputer::StopEngines(), and StopProgram().

◆ GetTimeConstant()

double WsfGuidanceComputer::GetTimeConstant ( const Phase & aPhase ) const

Return the guidance time constant for the legacy guidance program.

References mTimeConstant, and WsfGuidanceComputer::Phase::mTimeConstant.

◆ GetTimeSinceLaunch()

double WsfGuidanceComputer::GetTimeSinceLaunch ( double aSimTime )

inline

References mLaunchTime.

◆ GetTimeSincePhaseStart()

double WsfGuidanceComputer::GetTimeSincePhaseStart ( double aSimTime )

inline

References mPhaseStartTime.

◆ Initialize()

bool WsfGuidanceComputer::Initialize ( double aSimTime )

overridevirtual

Perform phase 1 initialization. This is called by WsfPlatform::Initialize() during phase 1 initialization of the platform. The component should complete validation of input data that could not be done by ProcessInput, as well as any other functions to prepare for simulation use (subject to the next paragraph).

The order in which components are initialized is defined by GetComponentInitializationOrder. In general a component implementation of this method should not be dependent on the state of another component, i.e.: it should not assume that the other components Initialize() method has been called. If such a dependency exists one should use Initialize2() if possible, or specify a value GetComponentInitializationOrder to force things to initialize in a particular order.

Parameters

aSimTime The current simulation time.

Returns: true if successful or false if unsuccessful (bad input data, etc.)

Note: This method should NOT add any other components to the platform. This MUST be done in PreInitialize().

Reimplemented from WsfComponent.

Reimplemented in WsfP6DOF_GuidanceComputer.

◆ Initialize2()

bool WsfGuidanceComputer::Initialize2 ( double aSimTime )

overridevirtual

Perform phase 2 initialization. This is called by WsfPlatform::Initialize() during phase 2 of platform initialization. This method is typically used when a component may have some dependency on another component having completed its phase 1 initialization. The component should be ready for use in the simulation upon completion of this method.

The order in which components are initialized is defined by GetComponentInitializationOrder.

Parameters

aSimTime The current simulation time.

Returns: true if successful or false if unsuccessful.

Note: This method MUST NOT add any other components to the platform. This MUST be done in PreInitialize().

Reimplemented from WsfComponent.

References WsfLaunchHandoffData::Find(), WsfTrackManager::GetCurrentTarget(), WsfLaunchComputer::GetInterceptPoint(), WsfLaunchHandoffData::GetInterceptPoint(), WsfGeoPoint::GetLocationWCS(), WsfLaunchComputer::GetLoftAngle(), WsfLaunchHandoffData::GetLoftAngle(), WsfPlatformPart::GetPlatform(), WsfPlatform::GetTrackManager(), WsfScriptProcessor::Initialize2(), WsfLaunchHandoffData::InterceptPointIsValid(), WsfLaunchHandoffData::LoftAngleIsValid(), mInterceptLocWCS, mLaunchComputerFlightPathAngle, ok, and trackPtr.

◆ operator=()

WsfGuidanceComputer & WsfGuidanceComputer::operator= ( const WsfGuidanceComputer & )

delete

References ClearCommandedAltitude(), ClearCommandedFlightPathAngle(), ClearCommandedSpeed(), ClearCommandedThrottle(), EjectStage(), RouteChanged(), SelectPhase(), SensorTrackInitiated(), SetAimpointAltitudeOffset(), SetAimpointAzimuthOffset(), SetAimpointEvaluationInterval(), SetAimpointRangeOffset(), SetAllowRouteFollowing(), SetCommandedAltitude(), SetCommandedAzimuthOffset(), SetCommandedFlightPathAngle(), SetCommandedMach(), SetCommandedSpeed(), SetCommandedThrottle(), SetGeeBias(), SetGuidanceDelay(), SetGuidanceTarget(), SetLateralGeeBias(), SetMaximumAscentRate(), SetMaximumCommandedGees(), SetMaximumDescentRate(), SetMaximumPitchAngle(), SetPitchChangeGain(), SetProportionalNavigationGain(), SetProportionalNavigationLimitAngle(), SetProportionalNavigationMethod(), SetVelocityPursuitGain(), StageBurnout(), StageIgnition(), StageSeparation(), StartProgram(), StopEngines(), StopProgram(), WsfGuidanceComputer(), and WsfProcessor::WsfProcessor().

◆ PrintStatusHeader()

void WsfGuidanceComputer::PrintStatusHeader	(	double	aSimTime,
		double	aCurTime,
		ut::log::MessageStream &	aStream )

References WsfObject::GetName(), WsfPlatformPart::GetPlatform(), and mLaunchTime.

Referenced by BeginExternalCommandEcho(), EjectStage(), wsf::six_dof::GuidanceComputer::RouteChanged(), RouteChanged(), WsfP6DOF_GuidanceComputer::RouteChanged(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), wsf::six_dof::GuidanceComputer::SelectWaypoint(), SelectWaypoint(), wsf::six_dof::GuidanceComputer::StageBurnout(), StageBurnout(), WsfP6DOF_GuidanceComputer::StageBurnout(), wsf::six_dof::GuidanceComputer::StageIgnition(), StageIgnition(), WsfP6DOF_GuidanceComputer::StageIgnition(), wsf::six_dof::GuidanceComputer::StageSeparation(), StageSeparation(), WsfP6DOF_GuidanceComputer::StageSeparation(), StartProgram(), wsf::six_dof::GuidanceComputer::StopEngines(), StopEngines(), WsfP6DOF_GuidanceComputer::StopEngines(), and StopProgram().

◆ ProcessInput()

bool WsfGuidanceComputer::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 WsfP6DOF_GuidanceComputer.

References FindPhase(), WsfGuidanceProgramTypes::Get(), WsfPlatformPart::GetScenario(), mAtmosphere, WsfScriptProcessor::mContextPtr, mDefinedPrograms, mExplicitPhaseUsed, mGuideToTruth, mImplicitPhaseUsed, mPhaseList, WsfGuidanceComputer::Phase::mPhaseName, mPhaseTemplate, mShowCommands, mShowDiagnostics, mShowEvaluations, mShowGraphics, mShowStatus, mTimeConstant, WsfGuidanceComputer::Phase::ProcessInput(), ProcessInput(), and WsfScriptProcessor::ProcessInput().

Referenced by ProcessInput().

◆ RouteChanged()

void WsfGuidanceComputer::RouteChanged ( double aSimTime )

virtual

A callback from the mover that indicates that the route has changed.

Parameters

aSimTime The current simulation time.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References WsfRoute::Empty(), mFollowingRoute, mMoverPtr, mShowStatus, mWasClosing, PrintStatusHeader(), and SelectWaypoint().

Referenced by Initialize(), and operator=().

◆ SelectPhase() [1/2]

void WsfGuidanceComputer::SelectPhase	(	double	aSimTime,
		double	aChangeTime,
		WsfStringId	aPhaseName )

protectedvirtual

Select the indicated phase as the current phase.

Parameters

aSimTime	The current simulation time.
aChangeTime	The time at which the phase change is actually occurring. This may be less than the current simulation time.
aPhaseName	The name (dictionary ID) of the phase that is to become the current phase.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References cFROM_LAUNCH_COMPUTER, cUNDEFINED_DOUBLE, DrawPoint(), WsfGuidanceComputer::Phase::ExecuteOnEntry(), WsfGuidanceComputer::Phase::ExecuteOnUpdate(), FindPhase(), FindProgram(), WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfPlatformPart::GetSimulation(), WsfObserver::GuidanceComputerPhaseChanged(), mActivePrograms, mAimpointExpireTime, mCommandedFlightPathAngle, WsfGuidanceComputer::Phase::mCommandedFlightPathAngle, WsfGuidanceComputer::Phase::mCommandedSpeed, WsfScriptProcessor::mContextPtr, WsfGuidanceComputer::Phase::mGuidanceDelay, mGuidanceStartTime, mLaunchComputerFlightPathAngle, mMoverPtr, mOnExitScriptActive, mPhaseIndex, mPhaseList, mPhaseStartTime, mProgramCompleteIndex, WsfGuidanceComputer::Phase::mProgramCompletePhaseName, WsfGuidanceComputer::Phase::mPrograms, mShowGraphics, mShowStatus, PrintStatusHeader(), WsfGuidanceProgram::Start(), UpdateRouteFollowing(), UpdateTerrainFollowing(), and WsfGuidanceProgram.

◆ SelectPhase() [2/2]

bool WsfGuidanceComputer::SelectPhase ( WsfStringId aPhaseName )

Called from the script interface select a new phase.

Parameters

aPhaseName The name (ID) of the phase to be selected

References BeginExternalCommand(), BeginExternalCommandEcho(), GetSimTime(), WsfPlatformPart::IsTurnedOn(), mInitialPhaseName, mPhaseIndex, mShowCommands, ok, SelectPhase(), and simTime.

Referenced by CheckForPhaseChange(), operator=(), SelectPhase(), SelectWaypoint(), SensorTrackInitiated(), StageBurnout(), StageIgnition(), StageSeparation(), and TurnOn().

◆ SelectWaypoint()

void WsfGuidanceComputer::SelectWaypoint	(	double	aSimTime,
		double	aChangeTime,
		unsigned int	aNewIndex )

protectedvirtual

Select the indicated waypoint as the current target waypoint.

Reimplemented in wsf::six_dof::GuidanceComputer.

References WsfRoute::Empty(), mFollowingRoute, mMoverPtr, mPhaseIndex, mPhaseList, mRouteIndex, mShowStatus, PrintStatusHeader(), and SelectPhase().

Referenced by CheckForWaypointChange(), RouteChanged(), and WsfP6DOF_GuidanceComputer::RouteChanged().

◆ SensorTrackInitiated()

void WsfGuidanceComputer::SensorTrackInitiated	(	double	aSimTime,
		WsfSensor *	aSensorPtr,
		const WsfTrack *	aTrackPtr )

virtual

Callback to indicate that a sensor track has begun.

Parameters

aSimTime	Simulation time.
aSensorPtr	the sensor producing the track.
aTrackPtr	the Track produced by the sensor.

Reimplemented in WsfP6DOF_GuidanceComputer.

References WsfPlatformPart::GetPlatform(), mPhaseIndex, mPhaseList, and SelectPhase().

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), and operator=().

◆ SetAimpointAltitudeOffset()

bool WsfGuidanceComputer::SetAimpointAltitudeOffset	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'aimpoint_altitude_offset'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'aimpoint_altitude_offset' (meters)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mAimpointExpireTime, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetAimpointAzimuthOffset()

bool WsfGuidanceComputer::SetAimpointAzimuthOffset	(	WsfStringId	aPhaseName,
		double	aValue,
		const std::string &	aDirection )

Called from script to set the value of 'aimpoint_azimuth_offset'

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'aimpoint_azimuth_offset' (radians).
aDirection	The direction of the offset ("left", "right", "either")

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), cOD_EITHER, cOD_LEFT, cOD_RIGHT, mAimpointExpireTime, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetAimpointEvaluationInterval()

bool WsfGuidanceComputer::SetAimpointEvaluationInterval	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'aimpoint_evaluation_interval'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'aimpoint_evaluation_interval' (meters)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetAimpointRangeOffset()

bool WsfGuidanceComputer::SetAimpointRangeOffset	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'aimpoint_range_offset'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'aimpoint_range_offset' (meters)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mAimpointExpireTime, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetAllowRouteFollowing()

bool WsfGuidanceComputer::SetAllowRouteFollowing	(	WsfStringId	aPhaseName,
		bool	aValue )

Called from script to set the value of 'allow_route_following'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'allow_route_following'

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseIndex, mPhaseList, mShowCommands, ok, and UpdateRouteFollowing().

Referenced by operator=().

◆ SetCommandedAltitude()

bool WsfGuidanceComputer::SetCommandedAltitude	(	WsfStringId	aPhaseName,
		double	aValue,
		bool	aAltIsAGL )

Called from script to set the value of 'commanded_altitude'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'commanded_altitude' (meters)
aAltIsAGL	true if the commanded_altitude in AGL.

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseIndex, mPhaseList, mShowCommands, ok, and UpdateTerrainFollowing().

Referenced by operator=().

◆ SetCommandedAzimuthOffset()

bool WsfGuidanceComputer::SetCommandedAzimuthOffset	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'commanded_azimuth_offset'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'commanded_azimuth_offset' (radians)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetCommandedFlightPathAngle()

bool WsfGuidanceComputer::SetCommandedFlightPathAngle	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'commanded_flight_path_angle'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'commanded_flight_path_angle' (radians)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mCommandedFlightPathAngle, mPhaseIndex, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetCommandedMach()

bool WsfGuidanceComputer::SetCommandedMach	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'commanded_mach'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'commanded_mach' (unitless)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetCommandedSpeed()

bool WsfGuidanceComputer::SetCommandedSpeed	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'commanded_speed'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'commanded_speed' (meters/second)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetCommandedThrottle()

bool WsfGuidanceComputer::SetCommandedThrottle	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'commanded_throttle'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'commanded_throttle' in the range [0..1]

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetGeeBias()

bool WsfGuidanceComputer::SetGeeBias	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set g_bias.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new g_bias (unitless)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetGuidanceDelay()

bool WsfGuidanceComputer::SetGuidanceDelay	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'guidance_delay'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'guidance_delay' (seconds)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mGuidanceStartTime, mPhaseIndex, mPhaseList, mPhaseStartTime, mShowCommands, and ok.

Referenced by operator=().

◆ SetGuidanceTarget()

bool WsfGuidanceComputer::SetGuidanceTarget	(	WsfStringId	aPhaseName,
		const std::string &	aValue )

Called from script to set the value of 'guidance_target'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'guidance_target' (seconds)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), cGT_DEFAULT, cGT_PERCEPTION, cGT_PREDICTED_INTERCEPT, cGT_TRUTH, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetLateralGeeBias()

bool WsfGuidanceComputer::SetLateralGeeBias	(	WsfStringId	aPhaseName,
		double	aValue )

virtual

Called from script interface to command the mover to begin/change a lateral bias trajectory.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The lateral bias requested (+right, -left).

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetMaximumAscentRate()

bool WsfGuidanceComputer::SetMaximumAscentRate	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'maximum_ascent_rate'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'maximum_ascent_rate' (meters/second)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetMaximumCommandedGees()

bool WsfGuidanceComputer::SetMaximumCommandedGees	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'maximum_commanded_g'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'maximum_commanded_g' (meters/seconds^2)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetMaximumDescentRate()

bool WsfGuidanceComputer::SetMaximumDescentRate	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the 'maximum_descent_rate'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'maximum_descent_rate' (meters/second)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetMaximumPitchAngle()

bool WsfGuidanceComputer::SetMaximumPitchAngle	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the 'maximum_pitch_angle'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'maximum_pitch_angle' (radians)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetPitchChangeGain()

bool WsfGuidanceComputer::SetPitchChangeGain	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'pitch_change_gain'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value for 'pitch_change_gain' (unitless)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetProportionalNavigationGain()

bool WsfGuidanceComputer::SetProportionalNavigationGain	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'proportional_navigation_gain'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value for 'proportional_navigation_gain' (unitless)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetProportionalNavigationLimitAngle()

bool WsfGuidanceComputer::SetProportionalNavigationLimitAngle	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value of 'proportional_navigation_limit_angle'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value for 'proportional_navigation_limit_angle' (radians)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetProportionalNavigationMethod()

bool WsfGuidanceComputer::SetProportionalNavigationMethod	(	WsfStringId	aPhaseName,
		const std::string &	aValue )

Called from script to set the value of 'proportional_navigation_method'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value for 'proportional_navigation_method' (unitless)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), WsfGuidanceComputer::Phase::cPN_AUGMENTED, WsfGuidanceComputer::Phase::cPN_PURE, mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ SetVelocityPursuitGain()

bool WsfGuidanceComputer::SetVelocityPursuitGain	(	WsfStringId	aPhaseName,
		double	aValue )

Called from script to set the value for 'velocity_pursuit_gain'.

Parameters

aPhaseName	The phase name to be updated, or empty for the current phase.
aValue	The new value of 'velocity_pursuit_gain' (unitless)

Returns: true if successful, false if not.

References BeginExternalCommand(), BeginExternalCommandEcho(), mPhaseList, mShowCommands, and ok.

Referenced by operator=().

◆ ShowDiagnostics()

bool WsfGuidanceComputer::ShowDiagnostics ( ) const

inline

References mShowDiagnostics.

◆ ShowGraphics()

bool WsfGuidanceComputer::ShowGraphics ( ) const

inline

References mShowGraphics.

◆ ShowStatus()

bool WsfGuidanceComputer::ShowStatus ( ) const

inline

References mShowStatus.

◆ StageBurnout()

void WsfGuidanceComputer::StageBurnout	(	double	aSimTime,
		double	aEventTime )

virtual

A callback from the mover that indicates the current stage has just burned-out.

Parameters

aSimTime	The current simulation time.
aEventTime	The actual time the stage burned-out. This may be less than the current simulation time.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References DrawPoint(), mMoverPtr, mPhaseIndex, mPhaseList, mShowGraphics, mShowStatus, PrintStatusHeader(), SelectPhase(), and UpdateWeaponPerception().

Referenced by Initialize(), and operator=().

◆ StageIgnition()

void WsfGuidanceComputer::StageIgnition	(	double	aSimTime,
		double	aEventTime )

virtual

A callback from the mover that indicates the current stage is igniting.

Parameters

aSimTime	The current simulation time.
aEventTime	The actual time the stage ignited. This may be less than the current simulation time.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References DrawPoint(), mMoverPtr, mPhaseIndex, mPhaseList, mShowGraphics, mShowStatus, PrintStatusHeader(), SelectPhase(), and UpdateWeaponPerception().

Referenced by Initialize(), and operator=().

◆ StageSeparation()

void WsfGuidanceComputer::StageSeparation	(	double	aSimTime,
		double	aEventTime )

virtual

A callback from the mover that indicates the current stage is separating.

Parameters

aSimTime	The current simulation time.
aEventTime	The actual time the stage separated. This may be less than the current simulation time.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References DrawPoint(), mMoverPtr, mPhaseIndex, mPhaseList, mShowGraphics, mShowStatus, PrintStatusHeader(), SelectPhase(), and UpdateWeaponPerception().

Referenced by Initialize(), and operator=().

◆ StartProgram() [1/2]

void WsfGuidanceComputer::StartProgram	(	double	aSimTime,
		double	aChangeTime,
		WsfStringId	aProgramName )

protected

References FindProgram(), mActivePrograms, WsfGuidanceProgram::Start(), and WsfGuidanceProgram.

◆ StartProgram() [2/2]

bool WsfGuidanceComputer::StartProgram ( WsfStringId aProgramName )

Called from script interface to start the specified guidance program.

Parameters

aProgramName The name (ID) of the program to be started.

Returns: true if successful, false if not.

References GetSimTime(), WsfPlatformPart::IsTurnedOn(), mShowCommands, ok, PrintStatusHeader(), simTime, and StartProgram().

Referenced by operator=(), and StartProgram().

◆ StopEngines()

bool WsfGuidanceComputer::StopEngines ( )

virtual

Called from script interface to command the mover to stop the engines.

Returns: true if successful, false if not.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References GetSimTime(), mMoverPtr, mShowCommands, ok, PrintStatusHeader(), and simTime.

Referenced by operator=().

◆ StopProgram() [1/2]

void WsfGuidanceComputer::StopProgram	(	double	aSimTime,
		double	aChangeTime,
		WsfStringId	aProgramName )

protected

References mActivePrograms.

◆ StopProgram() [2/2]

bool WsfGuidanceComputer::StopProgram ( WsfStringId aProgramName )

Called from script interface to stop the specified guidance program.

Parameters

aProgramName The name (ID) of the program to be stopped.

Returns: true if successful, false if not.

References GetSimTime(), WsfPlatformPart::IsTurnedOn(), mShowCommands, ok, PrintStatusHeader(), simTime, and StopProgram().

Referenced by operator=(), and StopProgram().

◆ TurnOff()

void WsfGuidanceComputer::TurnOff ( double aSimTime )

overridevirtual

Turn off the platform part (system).

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

Reimplemented in WsfP6DOF_GuidanceComputer.

References WsfPlatformPart::GetPlatform(), mMoverPtr, WsfProcessor::TurnOff(), and WsfMoverGuidance::WsfMoverGuidance().

◆ TurnOn()

void WsfGuidanceComputer::TurnOn ( double aSimTime )

overridevirtual

Turn on the platform part (system).

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

Reimplemented in WsfP6DOF_GuidanceComputer.

References mInitialPhaseName, mLastUpdateTime, mMoverPtr, mPhaseIndex, mPhaseList, SelectPhase(), WsfProcessor::TurnOn(), UpdateTargetPerception(), and UpdateWeaponPerception().

◆ UpdateAimpoint()

bool WsfGuidanceComputer::UpdateAimpoint	(	double	aCurTime,
		const Phase &	aPhase )

protectedvirtual

Update the aimpoint location to which we will guide.

Returns: true if the aimpoint is valid.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

Referenced by UpdateGuidance().

◆ UpdateGuidance()

void WsfGuidanceComputer::UpdateGuidance	(	double	aSimTime,
		double	aCurTime,
		double	aEndTime )

overridevirtual

Perform a guidance update. This is called from the mover when a guidance update is desired. It computes the desired values and pushes them back in to the mover.

Parameters

aSimTime	The current simulation time.
aCurTime	The current internal time within the mover. This can be less than aSimTime.
aEndTime	The internal time to which the mover is trying to advance. This is typically one mover integration step beyond aCurTime

Implements WsfMoverGuidance.

Reimplemented in WsfP6DOF_GuidanceComputer.

◆ UpdateRouteFollowing()

void WsfGuidanceComputer::UpdateRouteFollowing ( const Phase & aPhase )

protected

Determine if we are starting, continuing or stopping route following.

Parameters

aPhase The current phase.

References WsfRoute::Empty(), WsfGuidanceComputer::Phase::mAllowRouteFollowing, mFollowingRoute, mMoverPtr, and mRouteIndex.

Referenced by SelectPhase(), and SetAllowRouteFollowing().

◆ UpdateTargetPerception()

void WsfGuidanceComputer::UpdateTargetPerception ( double aCurTime )

protectedvirtual

Update the perception of the target.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References cGT_PERCEPTION, cGT_TRUTH, cLARGE_POSITIVE_DOUBLE, deltaTime, WsfTrackManager::GetCurrentTarget(), WsfPlatform::GetLastUpdateTime(), WsfPlatformPart::GetPlatform(), WsfSimulation::GetPlatformByIndex(), WsfPlatformPart::GetSimulation(), WsfPlatform::GetTrackManager(), WsfGuidanceComputer::Phase::mGuidanceTarget, mGuideToTruth, mLastTgtLocWCS, mLastTgtUpdateTime, mLastTgtVelWCS, mMoverPtr, mPhaseIndex, mPhaseList, mState, mTgtStateDefined, trackPtr, and WsfPlatform::Update().

Referenced by TurnOn(), and UpdateGuidance().

◆ UpdateTerrainFollowing()

void WsfGuidanceComputer::UpdateTerrainFollowing ( const Phase & aPhase )

protected

Update the terrain following status.

Parameters

aPhase The current phase.

References cUNDEFINED_DOUBLE, WsfGuidanceComputer::Phase::mCommandedAlt, WsfGuidanceComputer::Phase::mCommandedAltIsAGL, and mMoverPtr.

Referenced by ClearCommandedAltitude(), SelectPhase(), and SetCommandedAltitude().

◆ UpdateWeaponPerception()

void WsfGuidanceComputer::UpdateWeaponPerception ( double aCurTime )

protectedvirtual

Update the perception of the weapon.

Reimplemented in wsf::six_dof::GuidanceComputer, and WsfP6DOF_GuidanceComputer.

References WsfPlatform::GetLocationErrorWCS(), WsfPlatformPart::GetPlatform(), mLastFlightPathAngle, mMoverPtr, and mState.

Referenced by StageBurnout(), StageIgnition(), StageSeparation(), TurnOn(), and UpdateGuidance().

◆ ValidateNextPhaseName()

bool WsfGuidanceComputer::ValidateNextPhaseName	(	const Phase &	aPhase,
		WsfStringId	aNextPhaseName )

protected

References FindPhase(), mPhaseList, and WsfGuidanceComputer::Phase::mPhaseName.

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), and WsfP6DOF_GuidanceComputer::Initialize().

◆ WsfGuidanceProgram

friend class WsfGuidanceProgram

friend

References WsfGuidanceProgram.

Referenced by FindProgram(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), StartProgram(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), and WsfGuidanceProgram.

◆ WsfScriptGuidanceComputer

friend class WsfScriptGuidanceComputer

friend

References WsfScriptGuidanceComputer.

Referenced by WsfScriptGuidanceComputer.

Member Data Documentation

◆ cFLIGHT_PATH_ANGLE_TOLERANCE

const double WsfGuidanceComputer::cFLIGHT_PATH_ANGLE_TOLERANCE = 0.0001 * UtMath::cRAD_PER_DEG

static

The tolerance for performing a flight path angle phase change.

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), WsfGuidanceProgram::FlightPathAngleAchieved(), and WsfGuidanceProgram::FlightPathAngleGuidance().

◆ cFROM_LAUNCH_COMPUTER

const double WsfGuidanceComputer::cFROM_LAUNCH_COMPUTER = 1.0E+31

static

Indicates 'flight_path_angle from_launch_computer'.

Referenced by WsfGuidanceComputer::Phase::ProcessInput(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), and WsfP6DOF_GuidanceComputer::SelectPhase().

◆ cLARGE_POSITIVE_DOUBLE

const double WsfGuidanceComputer::cLARGE_POSITIVE_DOUBLE = 1.0E+30

static

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), ComputeInterceptData(), wsf::six_dof::GuidanceComputer::UpdateTargetPerception(), UpdateTargetPerception(), WsfP6DOF_GuidanceComputer::UpdateTargetPerception(), and WsfGuidanceComputer().

◆ cUNDEFINED_DOUBLE

const double WsfGuidanceComputer::cUNDEFINED_DOUBLE = 1.0E+30

static

A value that indicates a double precision value has not been defined.

Referenced by WsfGuidanceProgram::AngleOffsetGuidance(), CheckForPhaseChange(), ClearCommandedAltitude(), ClearCommandedFlightPathAngle(), ClearCommandedSpeed(), WsfGuidanceComputer::Phase::Phase(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), wsf::six_dof::Mover::Update(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), wsf::six_dof::GuidanceComputer::UpdateTerrainFollowing(), UpdateTerrainFollowing(), and WsfGuidanceComputer().

◆ mActivePrograms

ProgramList WsfGuidanceComputer::mActivePrograms

protected

The list of the currently active programs

Referenced by wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), StartProgram(), StopProgram(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mAimpointDrawId

unsigned int WsfGuidanceComputer::mAimpointDrawId

protected

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mAimpointExpireTime

double WsfGuidanceComputer::mAimpointExpireTime

protected

Referenced by wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), SetAimpointAltitudeOffset(), SetAimpointAzimuthOffset(), SetAimpointRangeOffset(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mAimpointLocWCS

double WsfGuidanceComputer::mAimpointLocWCS[3]

protected

Referenced by wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), WsfGuidanceComputer(), WsfGuidanceComputer(), and WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer().

◆ mAtmosphere

UtAtmosphere WsfGuidanceComputer::mAtmosphere

protected

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mCallbacks

UtCallbackHolder WsfGuidanceComputer::mCallbacks

protected

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mCommandedFlightPathAngle

double WsfGuidanceComputer::mCommandedFlightPathAngle

protected

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), ClearCommandedFlightPathAngle(), GetCommandedFlightPathAngle(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), SetCommandedFlightPathAngle(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mDefinedPrograms

ProgramList WsfGuidanceComputer::mDefinedPrograms

protected

The list of defined programs.

Referenced by FindProgram(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), WsfGuidanceComputer::Phase::ProcessInput(), ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), WsfGuidanceComputer(), WsfGuidanceComputer(), WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer(), and ~WsfGuidanceComputer().

◆ mDrawPtr

WsfDraw* WsfGuidanceComputer::mDrawPtr

protected

For drawing graphics.

Referenced by DrawPoint(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), WsfGuidanceComputer(), WsfGuidanceComputer(), and ~WsfGuidanceComputer().

◆ mExplicitPhaseUsed

bool WsfGuidanceComputer::mExplicitPhaseUsed

protected

'true' if a 'phase' command was used

Referenced by ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mFollowingRoute

bool WsfGuidanceComputer::mFollowingRoute

protected

Referenced by wsf::six_dof::GuidanceComputer::RouteChanged(), RouteChanged(), WsfP6DOF_GuidanceComputer::RouteChanged(), WsfP6DOF_GuidanceComputer::SelectPhase(), wsf::six_dof::GuidanceComputer::SelectWaypoint(), SelectWaypoint(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), wsf::six_dof::GuidanceComputer::UpdateRouteFollowing(), UpdateRouteFollowing(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mGuidanceStartTime

double WsfGuidanceComputer::mGuidanceStartTime

protected

Referenced by wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), SetGuidanceDelay(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mGuideToTruth

bool WsfGuidanceComputer::mGuideToTruth

protected

'true' if should guide to target truth.

Referenced by ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), wsf::six_dof::GuidanceComputer::UpdateTargetPerception(), UpdateTargetPerception(), WsfP6DOF_GuidanceComputer::UpdateTargetPerception(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mImplicitPhaseUsed

bool WsfGuidanceComputer::mImplicitPhaseUsed

protected

'true' if a phase was defined without using 'phase'

Referenced by ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mInitialPhaseName

WsfStringId WsfGuidanceComputer::mInitialPhaseName

protected

The name (ID) of the starting phase.

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), SelectPhase(), wsf::six_dof::GuidanceComputer::TurnOn(), TurnOn(), WsfP6DOF_GuidanceComputer::TurnOn(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mInterceptLocWCS

double WsfGuidanceComputer::mInterceptLocWCS[3]

protected

Referenced by Initialize2(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfGuidanceComputer(), WsfGuidanceComputer(), and WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer().

◆ mLastFlightPathAngle

double WsfGuidanceComputer::mLastFlightPathAngle

protected

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), GetLastFlightPathAngle(), wsf::six_dof::GuidanceComputer::UpdateWeaponPerception(), UpdateWeaponPerception(), WsfP6DOF_GuidanceComputer::UpdateWeaponPerception(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mLastTgtLocWCS

double WsfGuidanceComputer::mLastTgtLocWCS[3]

protected

Referenced by wsf::six_dof::GuidanceComputer::UpdateTargetPerception(), UpdateTargetPerception(), WsfP6DOF_GuidanceComputer::UpdateTargetPerception(), WsfGuidanceComputer(), WsfGuidanceComputer(), and WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer().

◆ mLastTgtUpdateTime

double WsfGuidanceComputer::mLastTgtUpdateTime

protected

Referenced by wsf::six_dof::GuidanceComputer::UpdateTargetPerception(), UpdateTargetPerception(), WsfP6DOF_GuidanceComputer::UpdateTargetPerception(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mLastTgtVelWCS

double WsfGuidanceComputer::mLastTgtVelWCS[3]

protected

Referenced by wsf::six_dof::GuidanceComputer::UpdateTargetPerception(), UpdateTargetPerception(), WsfP6DOF_GuidanceComputer::UpdateTargetPerception(), WsfGuidanceComputer(), WsfGuidanceComputer(), and WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer().

◆ mLastUpdateTime

double WsfGuidanceComputer::mLastUpdateTime

protected

Referenced by GetLastUpdateTime(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::TurnOn(), TurnOn(), WsfP6DOF_GuidanceComputer::TurnOn(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mLaunchComputerFlightPathAngle

double WsfGuidanceComputer::mLaunchComputerFlightPathAngle

protected

Referenced by GetLaunchComputerFlightPathAngle(), Initialize2(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mLaunchLocWCS

double WsfGuidanceComputer::mLaunchLocWCS[3]

protected

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), WsfGuidanceComputer(), WsfGuidanceComputer(), and WsfP6DOF_GuidanceComputer::WsfP6DOF_GuidanceComputer().

◆ mLaunchTime

double WsfGuidanceComputer::mLaunchTime

protected

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), GetTimeSinceLaunch(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), PrintStatusHeader(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mLegacyProgramPtr

WsfGuidanceProgram* WsfGuidanceComputer::mLegacyProgramPtr

protected

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), WsfGuidanceComputer(), WsfGuidanceComputer(), and ~WsfGuidanceComputer().

◆ mMoverPtr

WsfGuidedMoverBase* WsfGuidanceComputer::mMoverPtr

protected

◆ mOnExitScriptActive

bool WsfGuidanceComputer::mOnExitScriptActive

protected

The following is used to prevent recursion if a SelectPhase occurs in the user 'on_exit' block.

Referenced by wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mPhaseIndex

unsigned int WsfGuidanceComputer::mPhaseIndex

protected

The index of the current phase.

◆ mPhaseList

std::vector<Phase> WsfGuidanceComputer::mPhaseList

protected

The list of phases.

◆ mPhaseStartTime

double WsfGuidanceComputer::mPhaseStartTime

protected

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), GetTimeSincePhaseStart(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), WsfP6DOF_GuidanceComputer::SelectPhase(), SetGuidanceDelay(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mPhaseTemplate

Phase WsfGuidanceComputer::mPhaseTemplate

protected

The template used to construct a phase.

Referenced by ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mProgramCompleteIndex

size_t WsfGuidanceComputer::mProgramCompleteIndex

protected

This index is used to indicate which 'next_phase' command in the current phase was referenced when a guidance program signals completion. It is initialized to the size of the list by SelectPhase. This indicates that an active program with a corresponded next_phase has not yet completed.

Referenced by CheckForPhaseChange(), wsf::six_dof::GuidanceComputer::SelectPhase(), SelectPhase(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), UpdateGuidance(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mRouteIndex

unsigned int WsfGuidanceComputer::mRouteIndex

protected

Referenced by wsf::six_dof::GuidanceComputer::CheckForWaypointChange(), CheckForWaypointChange(), WsfP6DOF_GuidanceComputer::SelectPhase(), wsf::six_dof::GuidanceComputer::SelectWaypoint(), SelectWaypoint(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), wsf::six_dof::GuidanceComputer::UpdateRouteFollowing(), UpdateRouteFollowing(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mShowCommands

bool WsfGuidanceComputer::mShowCommands

protected

'true' if 'show_commands' specified

Referenced by ClearCommandedAltitude(), ClearCommandedFlightPathAngle(), ClearCommandedSpeed(), ClearCommandedThrottle(), EjectStage(), Initialize(), ProcessInput(), SelectPhase(), SetAimpointAltitudeOffset(), SetAimpointAzimuthOffset(), SetAimpointEvaluationInterval(), SetAimpointRangeOffset(), SetAllowRouteFollowing(), SetCommandedAltitude(), SetCommandedAzimuthOffset(), SetCommandedFlightPathAngle(), SetCommandedMach(), SetCommandedSpeed(), SetCommandedThrottle(), SetGeeBias(), SetGuidanceDelay(), SetGuidanceTarget(), SetLateralGeeBias(), SetMaximumAscentRate(), SetMaximumCommandedGees(), SetMaximumDescentRate(), SetMaximumPitchAngle(), SetPitchChangeGain(), SetProportionalNavigationGain(), SetProportionalNavigationLimitAngle(), SetProportionalNavigationMethod(), SetVelocityPursuitGain(), StartProgram(), StopEngines(), StopProgram(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mShowDiagnostics

bool WsfGuidanceComputer::mShowDiagnostics

protected

'true' if 'show_diagnostics' specified

Referenced by ProcessInput(), ShowDiagnostics(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mShowEvaluations

bool WsfGuidanceComputer::mShowEvaluations

protected

'true' if 'show_evaluations' specified.

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mShowGraphics

bool WsfGuidanceComputer::mShowGraphics

protected

◆ mShowStatus

bool WsfGuidanceComputer::mShowStatus

protected

'true' if 'show_status' specified

◆ mState

State WsfGuidanceComputer::mState

protected

◆ mTerrainPtr

wsf::Terrain* WsfGuidanceComputer::mTerrainPtr

protected

Referenced by wsf::six_dof::GuidanceComputer::Initialize(), Initialize(), WsfP6DOF_GuidanceComputer::Initialize(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), WsfGuidanceComputer(), WsfGuidanceComputer(), and ~WsfGuidanceComputer().

◆ mTgtStateDefined

bool WsfGuidanceComputer::mTgtStateDefined

protected

The following will be 'true' if the target state is 'defined'. The data may be old but it is still defined.

Referenced by CheckForPhaseChange(), WsfP6DOF_GuidanceComputer::CheckForPhaseChange(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), wsf::six_dof::GuidanceComputer::UpdateGuidance(), WsfP6DOF_GuidanceComputer::UpdateGuidance(), wsf::six_dof::GuidanceComputer::UpdateTargetPerception(), UpdateTargetPerception(), WsfP6DOF_GuidanceComputer::UpdateTargetPerception(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mTimeConstant

double WsfGuidanceComputer::mTimeConstant

protected

The guidance time constant for intercept navigation by the legacy program.

Referenced by GetTimeConstant(), ProcessInput(), WsfP6DOF_GuidanceComputer::ProcessInput(), WsfGuidanceComputer(), and WsfGuidanceComputer().

◆ mWasClosing

bool WsfGuidanceComputer::mWasClosing

protected

Referenced by wsf::six_dof::GuidanceComputer::CheckForWaypointChange(), CheckForWaypointChange(), RouteChanged(), WsfGuidanceComputer(), and WsfGuidanceComputer().

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

Classes

Public Member Functions

Static Public Attributes

Friends

Simulation callbacks

Guidance programs.

Called from guidance programs

persistent data between iterations about the weapon and the target.

Predicted intercept data from the launch computer.

Route following data.

Aimpoint offset data.

Framework methods

Interface from WsfMoverGuidance

Calls from external sources, such as scripts.

Callbacks from the mover when the route is updated or a staging transition occurs.

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ProgramList

Member Enumeration Documentation

◆ GuidanceTarget

◆ OffsetDirection

Constructor & Destructor Documentation

◆ WsfGuidanceComputer() [1/2]

◆ ~WsfGuidanceComputer()

◆ WsfGuidanceComputer() [2/2]

Member Function Documentation

◆ BeginExternalCommand()

◆ BeginExternalCommandEcho()

◆ CheckForPhaseChange()

◆ CheckForWaypointChange()

◆ ClearCommandedAltitude()

◆ ClearCommandedFlightPathAngle()

◆ ClearCommandedSpeed()

◆ ClearCommandedThrottle()

◆ Clone()

◆ ComputeAzimuth()

◆ ComputeElevation()

◆ ComputeInterceptData()

◆ DrawPoint()

◆ EjectStage()

◆ FindPhase()

◆ FindProgram()

◆ GetCommandedFlightPathAngle()

◆ GetCurrentPhase()

◆ GetLastFlightPathAngle()

◆ GetLastUpdateTime()

◆ GetLaunchComputerFlightPathAngle()

◆ GetScriptClassName()

◆ GetSimTime()

◆ GetTimeConstant()

◆ GetTimeSinceLaunch()

◆ GetTimeSincePhaseStart()

◆ Initialize()

◆ Initialize2()

◆ operator=()

◆ PrintStatusHeader()

◆ ProcessInput()

◆ RouteChanged()

◆ SelectPhase() [1/2]

◆ SelectPhase() [2/2]

◆ SelectWaypoint()

◆ SensorTrackInitiated()

◆ SetAimpointAltitudeOffset()

◆ SetAimpointAzimuthOffset()

◆ SetAimpointEvaluationInterval()

◆ SetAimpointRangeOffset()

◆ SetAllowRouteFollowing()

◆ SetCommandedAltitude()

◆ SetCommandedAzimuthOffset()

◆ SetCommandedFlightPathAngle()

◆ SetCommandedMach()

◆ SetCommandedSpeed()

◆ SetCommandedThrottle()

◆ SetGeeBias()

◆ SetGuidanceDelay()

◆ SetGuidanceTarget()

◆ SetLateralGeeBias()

◆ SetMaximumAscentRate()

◆ SetMaximumCommandedGees()