A derived guidance class used by WsfMovers that follow WsfWaypoints. More...

#include <WsfWaypointPathGuidance.hpp>

Inheritance diagram for WsfWaypointPathGuidance:

Collaboration diagram for WsfWaypointPathGuidance:

Public Member Functions
	WsfWaypointPathGuidance ()
WsfPathGuidance *	Clone () const override
	Clone a path guidance object.
bool	ProcessInput (UtInput &aInput) override
double	GetAltitude () const override
double	GetSpeed () const override
double	CalcLateralAccelLimit (double aCurrentSpeed)
double	TurnRateLimit () const
double	MaxLinearAccel () const
double	MaxRadialAccel () const
void	SetRollRateLimit (double aRollRateLimit)
double	RollRateLimit () const
void	SetHeadingPursuitGain (double aHeadingPursuitGain)
double	HeadingPursuitGain () const
double	MaxClimbRate () const
double	MaxFlightPathAngle () const
double	DefaultRadialAccel () const
void	GetWPTargetInfo (double aVelNED[3], double &aPlatformHeading, double &aPlatformPitch, double &aPlatformRoll, double &aHeadingChangeMag, double &aHdgChgDirection, double &aGroundSpeed, double &aTotalSpeed, double &aGroundDistToTgt, double &aTotalDistToTgt)
	This method is written especially for WsfWaypointMover use.
double	GetRadialAccelAtPoint (const WsfWaypoint &aPoint) const override
Public Member Functions inherited from WsfPathGuidance
	WsfPathGuidance ()
	Construct a path guidance object.
virtual	~WsfPathGuidance ()
void	SetMover (WsfMover *aMoverPtr)
WsfMover *	GetMover () const
	Get the mover to whom guidance is being provided.
virtual bool	Initialize (double aSimTime)
virtual void	Update (double aSimTime)
void	TriggerExtrapolation ()
bool	IsChanged () const
bool	IsOnGround () const
bool	IsOnRoad () const
bool	IsExtrapolating () const
bool	IsStopping () const
bool	IsInitialized () const
bool	IsPaused () const
double	GetPauseTime () const
double	GetRawHeading () const
double	GetClimbRate () const
double	GetLatitude () const
double	GetLongitude () const
double	GetSegmentEndTime () const
double	GetSegmentEndDist () const
double	GetAxialAccel () const
double	GetRadialAccel () const
double	GetTurnRate () const
WsfPath::AltRef	GetAltRef () const
WsfPath::HdgRef	GetHdgRef () const
WsfPath::TurnDirection	GetTurnDir () const
WsfPath::Switch	GetSwitch () const
void	DecrementPauseTime (double aValue)
void	SetPauseTime (double aValue)
void	SetAltitude (double aAltitude, WsfPath::AltRef aAltRef)
void	SetAltitude (double aAltitude, WsfPath::AltRef aMoverDefault, WsfPath::AltRef aAltRefWP_Override)
void	SetLatLon (double aLatitude, double aLongitude)
void	SetHeading (double aHeading, WsfPath::HdgRef aHdgRef)
void	SetClimbRate (double aClimbRate)
void	SetLLA (double aLatitude, double aLongitude, double aAltitude, WsfPath::AltRef aMoverDefault, WsfPath::AltRef aAltRefOverride=WsfPath::cALT_REF_MSL)
void	SetSpeed (double aSpeed)
void	SetAxialAccel (double aAxialAccel)
void	SetRadialAccel (double aRadialAccel)
void	SetTurnRate (double aTurnRate)
void	SetSegmentEndTime (double aSegmentTime)
void	SetSegmentEndDist (double aSegmentDist)
void	SetHdgRef (WsfPath::HdgRef aHdgRef)
void	SetTurnDir (WsfPath::TurnDirection aTurnDir)
void	SetSwitch (WsfPath::Switch aMoverDefault, WsfPath::Switch aWP_SwitchOverride)
void	ClearValid (int aClearMask)
bool	IsSet (int aMask)
bool	SpeedIsSet () const
bool	AltIsSet () const
bool	LatLonIsSet () const
bool	HeadingIsSet () const
bool	AxialAccelIsSet () const
bool	ClimbRateIsSet () const
bool	TurnRateIsSet () const
bool	RadialAccelIsSet () const
bool	SegmentTimeIsSet () const
bool	SegmentDistIsSet () const
bool	LLA_IsSet () const
bool	HdgAndAltSet () const
bool	HdgAltAndSpeedSet () const
bool	TurnIsDetermined () const
double	ChosenHeading () const
WsfPath::TurnDirection	ChosenDirection () const
void	PrintValidityMap (double aSimTime) const
void	GetWPTargetInfo (double aVelNED[3], double &aPlatformHeading, double &aPlatformPitch, double &aPlatformRoll, double &aHeadingChangeMag, double &aHdgChgDirection, double &aGroundSpeed, double &aTotalSpeed, double &aGroundDistTo)

Additional Inherited Members
Public Types inherited from WsfPathGuidance
enum	{ cSPEED = 0x0001 , cAXIAL_ACCEL = 0x0002 , cCLIMB_RATE = 0x0004 , cALTITUDE = 0x0008 , cHEADING = 0x0010 , cTURN_RATE = 0x0020 , cRADIAL_ACCEL = 0x0040 , cLAT_LON = 0x0080 , cSEGMENT_TIME = 0x0100 , cSEGMENT_DIST = 0x0200 , cTURN_DETERMINED = 0x8000 }
Protected Member Functions inherited from WsfPathGuidance
virtual bool	BeginExtrapolation (double aSimTime)
virtual bool	SetNewGuidance (double aSimTime)
virtual bool	ReviseGuidance (double aSimTime)
virtual bool	DetermineTheTurn (double aSimTime)
void	ClearChosenDir ()
void	SetAltRef (WsfPath::AltRef aMoverDefault, WsfPath::AltRef aAltRefOverride=WsfPath::cALT_REF_MSL)
const double *	TgtWCS () const
void	PrivateSetTurnDir (WsfPath::TurnDirection aTurnDir)
std::string	PrintBool (int aMask) const
void	SetValid (int aSetMask)
Protected Attributes inherited from WsfPathGuidance
bool	mDebug
bool	mInitialized
bool	mIsChanged
bool	mIsOnGround
bool	mIsOnRoad
bool	mKeepLevel
double	mPauseTime

Detailed Description

A derived guidance class used by WsfMovers that follow WsfWaypoints.

Constructor & Destructor Documentation

◆ WsfWaypointPathGuidance()

WsfWaypointPathGuidance::WsfWaypointPathGuidance ( )

References WsfPathGuidance::WsfPathGuidance().

Referenced by Clone().

Member Function Documentation

◆ CalcLateralAccelLimit()

double WsfWaypointPathGuidance::CalcLateralAccelLimit ( double aCurrentSpeed )

References WsfPathGuidance::GetRadialAccel(), WsfPathGuidance::GetTurnRate(), WsfPathGuidance::RadialAccelIsSet(), and WsfPathGuidance::TurnRateIsSet().

◆ Clone()

WsfPathGuidance * WsfWaypointPathGuidance::Clone ( ) const

overridevirtual

Clone a path guidance object.

Reimplemented from WsfPathGuidance.

References WsfPathGuidance::WsfPathGuidance(), and WsfWaypointPathGuidance().

◆ DefaultRadialAccel()

double WsfWaypointPathGuidance::DefaultRadialAccel ( ) const

inline

References MaxRadialAccel().

◆ GetAltitude()

double WsfWaypointPathGuidance::GetAltitude ( ) const

overridevirtual

Reimplemented from WsfPathGuidance.

References WsfPathGuidance::GetAltitude().

Referenced by GetWPTargetInfo().

◆ GetRadialAccelAtPoint()

double WsfWaypointPathGuidance::GetRadialAccelAtPoint ( const WsfWaypoint & aPoint ) const

overridevirtual

Get the radial acceleration to be used for turning FROM the specified waypoint. This overrides the base class method to impose additional constraints that are provided by this class.

Reimplemented from WsfPathGuidance.

References WsfPath::cDOUBLE_NOT_SET, WsfPathGuidance::GetMover(), WsfPlatformPart::GetPlatform(), WsfWaypoint::GetRadialAccel(), and WsfWaypoint::GetSpeed().

◆ GetSpeed()

double WsfWaypointPathGuidance::GetSpeed ( ) const

overridevirtual

Reimplemented from WsfPathGuidance.

References WsfPathGuidance::GetSpeed(), and WsfPathGuidance::SpeedIsSet().

◆ GetWPTargetInfo()

void WsfWaypointPathGuidance::GetWPTargetInfo	(	double	aVelNED[3],
		double &	aPlatformHeading,
		double &	aPlatformPitch,
		double &	aPlatformRoll,
		double &	aHeadingChangeMag,
		double &	aHdgChgDirection,
		double &	aGroundSpeed,
		double &	aTotalSpeed,
		double &	aGroundDistToTgt,
		double &	aTotalDistToTgt )

This method is written especially for WsfWaypointMover use.

References WsfPathGuidance::AltIsSet(), WsfPath::cHEADING_FUZZ, WsfPathGuidance::ChosenDirection(), WsfPathGuidance::ChosenHeading(), WsfPathGuidance::ClearChosenDir(), WsfPath::cNEGLIGIBLE_SPEED, WsfPath::cTURN_DIR_LEFT, WsfPath::cTURN_DIR_RIGHT, GetAltitude(), WsfPathGuidance::GetLatitude(), WsfPathGuidance::GetLongitude(), WsfPathGuidance::GetMover(), WsfPlatformPart::GetPlatform(), WsfPathGuidance::HeadingIsSet(), WsfPathGuidance::LatLonIsSet(), and WsfPathGuidance::TurnIsDetermined().

◆ HeadingPursuitGain()

double WsfWaypointPathGuidance::HeadingPursuitGain ( ) const

inline

◆ MaxClimbRate()

double WsfWaypointPathGuidance::MaxClimbRate ( ) const

inline

◆ MaxFlightPathAngle()

double WsfWaypointPathGuidance::MaxFlightPathAngle ( ) const

inline

◆ MaxLinearAccel()

double WsfWaypointPathGuidance::MaxLinearAccel ( ) const

inline

◆ MaxRadialAccel()

double WsfWaypointPathGuidance::MaxRadialAccel ( ) const

inline

Referenced by DefaultRadialAccel().

◆ ProcessInput()

bool WsfWaypointPathGuidance::ProcessInput ( UtInput & aInput )

overridevirtual

Reimplemented from WsfPathGuidance.

References WsfPathGuidance::ProcessInput().

◆ RollRateLimit()

double WsfWaypointPathGuidance::RollRateLimit ( ) const

inline

◆ SetHeadingPursuitGain()

void WsfWaypointPathGuidance::SetHeadingPursuitGain ( double aHeadingPursuitGain )

inline

◆ SetRollRateLimit()

void WsfWaypointPathGuidance::SetRollRateLimit ( double aRollRateLimit )

inline

◆ TurnRateLimit()

double WsfWaypointPathGuidance::TurnRateLimit ( ) const

inline

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WsfWaypointPathGuidance()

Member Function Documentation

◆ CalcLateralAccelLimit()

◆ Clone()

◆ DefaultRadialAccel()

◆ GetAltitude()

◆ GetRadialAccelAtPoint()

◆ GetSpeed()

◆ GetWPTargetInfo()

◆ HeadingPursuitGain()

◆ MaxClimbRate()

◆ MaxFlightPathAngle()

◆ MaxLinearAccel()

◆ MaxRadialAccel()

◆ ProcessInput()

◆ RollRateLimit()

◆ SetHeadingPursuitGain()

◆ SetRollRateLimit()

◆ TurnRateLimit()