WSF
Classes | Public Member Functions | Static Public Member Functions | List of all members
P6DofRoute Class Reference

#include <P6DofRoute.hpp>

Classes

struct  sRouteSegment

Public Member Functions

 P6DofRoute ()
P6DofRoute * Clone () const
 ~P6DofRoute ()
const P6DofWaypoint * GetFirstElement () const
const P6DofWaypoint * GetNextWaypoint (const P6DofWaypoint *aWaypoint) const
const P6DofWaypoint * GetWaypointAtIndex (size_t aIndex) const
size_t GetWaypointIndex (const P6DofWaypoint *aWaypoint) const
void AddWaypointToRouteEnd (P6DofWaypoint *aWaypoint)
void AddWaypointToRouteStart (P6DofWaypoint *aWaypoint)
size_t GetNumberOfWaypoints () const
std::vector< P6DofWaypoint * >::const_iterator Begin () const
std::vector< P6DofWaypoint * >::const_iterator End () const
void ComputeSegmentMap ()
void AddSegment (P6DofWaypoint *aWaypoint, sRouteSegment *aSegment)
sRouteSegment * GetRouteSegment (const P6DofWaypoint *aWaypoint) const

Static Public Member Functions

static void CalcAimHeadingAndBankAngle (const P6DofWaypoint *aPrevWpt, const P6DofWaypoint *aCurrWpt, const P6DofWaypoint *aNextWpt, const sRouteSegment *aCurrSegment, const sRouteSegment *aNextSegment, const UtLLAPos &aCurrentPos_lla, const UtVec2d &aCurrentVel_mps, P6DofCommonController::WaypointNavData &aNavData, double aTurnRollInMultiplier, double aRouteAllowableAngleError_rad, double aHeading_rad, double aSpeed_mps, double aMaxBankAngle_rad, double aMaxBankRate_rad_s, double aMaxG_g, double aDeltaT_sec, bool &aAchievedWaypoint)
static void CalcYawAimHeadingAngle (const P6DofWaypoint *aPrevWpt, const P6DofWaypoint *aCurrWpt, const P6DofWaypoint *aNextWpt, const sRouteSegment *aCurrSegment, const sRouteSegment *aNextSegment, const UtLLAPos &aCurrentPos_lla, const UtVec2d &aCurrentVel_mps, P6DofCommonController::WaypointNavData &aNavData, double aRouteAllowableAngleError_rad, double aHeading_rad, double aSpeed_mps, double aMaxG_g, double aDeltaT_sec, bool &aAchievedWaypoint)
static void CalcTaxiAimHeadingAngle (const P6DofWaypoint *aPrevWpt, const P6DofWaypoint *aCurrWpt, const P6DofWaypoint *aNextWpt, const sRouteSegment *aCurrSegment, const sRouteSegment *aNextSegment, const UtLLAPos &aCurrentPos_lla, const UtVec2d &aCurrentVel_mps, P6DofCommonController::WaypointNavData &aNavData, float aHeading_rad, double aTurnRadius_ft, double aDeltaT_sec, bool &aAchievedWaypoint)
static void CalcVerticalSpeed (P6DofCommonController::WaypointNavData &aNavData)
static double GetInitialHeading_rad (const UtLLAPos &aLLAStart, const UtLLAPos &aLLAEnd)
static double GetTurnRadius_m (double aSpeed_mps, double aBankAngle_rad)
static double GetTurnRadiusFromLateralG_m (double aSpeed_mps, double aLateralG_g)
static double GetTurnLeadDistance_m (double aTurnAngle_rad, double aTurnRadius_m)
static double GetDistanceBetweenWaypoints_m (const UtLLAPos &aStartLLA, const UtLLAPos &aEndLLA, double &aStartHdg_rad, double &aEndHdg_rad)
static sRouteSegment * CalcSegmentGeometry (const P6DofWaypoint *aPrevWpt, const P6DofWaypoint *aCurrWpt)
static bool PassedWaypoint (float aDT, const P6DofCommonController::WaypointNavData &aNavData)
static bool AchievedWaypoint (float aDT, const P6DofCommonController::WaypointNavData &aNavData, const P6DofWaypoint *aWaypoint, const P6DofWaypoint *aNextWaypoint)

Constructor & Destructor Documentation

◆ P6DofRoute()

P6DofRoute::P6DofRoute ( )

Referenced by Clone().

◆ ~P6DofRoute()

P6DofRoute::~P6DofRoute ( )

Member Function Documentation

◆ AchievedWaypoint()

bool P6DofRoute::AchievedWaypoint ( float aDT,
const P6DofCommonController::WaypointNavData & aNavData,
const P6DofWaypoint * aWaypoint,
const P6DofWaypoint * aNextWaypoint )
static

References PassedWaypoint(), P6DofCommonController::WaypointNavData::rangeRate_mps, P6DofCommonController::WaypointNavData::rangeTrack_m, P6DofCommonController::WaypointNavData::turnLeadDist_m, and P6DofWaypoint::WaypointOnPassing().

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

◆ AddSegment()

void P6DofRoute::AddSegment ( P6DofWaypoint * aWaypoint,
sRouteSegment * aSegment )

◆ AddWaypointToRouteEnd()

void P6DofRoute::AddWaypointToRouteEnd ( P6DofWaypoint * aWaypoint)

Referenced by WsfP6DOF_Mover::ConvertWsfRouteToP6DofRoute(), and P6DofPilotObject::FlyAtPoint().

◆ AddWaypointToRouteStart()

void P6DofRoute::AddWaypointToRouteStart ( P6DofWaypoint * aWaypoint)

Referenced by P6DofPilotObject::FlyTempWaypoints().

◆ Begin()

std::vector< P6DofWaypoint * >::const_iterator P6DofRoute::Begin ( ) const

◆ CalcAimHeadingAndBankAngle()

void P6DofRoute::CalcAimHeadingAndBankAngle ( const P6DofWaypoint * aPrevWpt,
const P6DofWaypoint * aCurrWpt,
const P6DofWaypoint * aNextWpt,
const sRouteSegment * aCurrSegment,
const sRouteSegment * aNextSegment,
const UtLLAPos & aCurrentPos_lla,
const UtVec2d & aCurrentVel_mps,
P6DofCommonController::WaypointNavData & aNavData,
double aTurnRollInMultiplier,
double aRouteAllowableAngleError_rad,
double aHeading_rad,
double aSpeed_mps,
double aMaxBankAngle_rad,
double aMaxBankRate_rad_s,
double aMaxG_g,
double aDeltaT_sec,
bool & aAchievedWaypoint )
static

References AchievedWaypoint(), P6DofCommonController::WaypointNavData::aimHeading_rad, P6DofCommonController::WaypointNavData::commandedBank_rad, P6DofRoute::sRouteSegment::currWptVector, P6DofCommonController::WaypointNavData::deltaAlt_m, P6DofRoute::sRouteSegment::earthNED, P6DofCommonController::WaypointNavData::executeTurn, GetDistanceBetweenWaypoints_m(), GetInitialHeading_rad(), P6DofWaypoint::GetLLA(), P6DofWaypoint::GetMaxTurnG(), GetTurnLeadDistance_m(), GetTurnRadius_m(), P6DofRoute::sRouteSegment::prevWptVector, P6DofCommonController::WaypointNavData::rangeRate_mps, P6DofCommonController::WaypointNavData::rangeTrack_m, P6DofRoute::sRouteSegment::trackDistance_m, P6DofRoute::sRouteSegment::trackEndHdg_rad, P6DofRoute::sRouteSegment::trackStartHdg_rad, P6DofRoute::sRouteSegment::trackVector, P6DofWaypoint::TURN_G_TYPE_LATERAL, P6DofWaypoint::TURN_G_TYPE_PILOT, P6DofCommonController::WaypointNavData::turnLeadDist_m, P6DofWaypoint::sTurnG::type, P6DofWaypoint::sTurnG::val, and P6DofWaypoint::WaypointOnPassing().

Referenced by P6DofCommonController::GetAimHeadingForWaypointNav_deg().

◆ CalcSegmentGeometry()

P6DofRoute::sRouteSegment * P6DofRoute::CalcSegmentGeometry ( const P6DofWaypoint * aPrevWpt,
const P6DofWaypoint * aCurrWpt )
static

References P6DofRoute::sRouteSegment::currWptVector, P6DofRoute::sRouteSegment::earthNED, GetDistanceBetweenWaypoints_m(), P6DofWaypoint::GetLLA(), P6DofRoute::sRouteSegment::prevWptVector, P6DofRoute::sRouteSegment::slantRange_m, P6DofRoute::sRouteSegment::slope_rad, P6DofRoute::sRouteSegment::trackDistance_m, P6DofRoute::sRouteSegment::trackEndHdg_rad, P6DofRoute::sRouteSegment::trackStartHdg_rad, and P6DofRoute::sRouteSegment::trackVector.

Referenced by ComputeSegmentMap(), P6DofPilotObject::ReturnToPlannedWaypoints(), P6DofPilotObject::SetPlannedWaypointIndex(), and P6DofPilotObject::SetTempWaypointIndex().

◆ CalcTaxiAimHeadingAngle()

void P6DofRoute::CalcTaxiAimHeadingAngle ( const P6DofWaypoint * aPrevWpt,
const P6DofWaypoint * aCurrWpt,
const P6DofWaypoint * aNextWpt,
const sRouteSegment * aCurrSegment,
const sRouteSegment * aNextSegment,
const UtLLAPos & aCurrentPos_lla,
const UtVec2d & aCurrentVel_mps,
P6DofCommonController::WaypointNavData & aNavData,
float aHeading_rad,
double aTurnRadius_ft,
double aDeltaT_sec,
bool & aAchievedWaypoint )
static

References AchievedWaypoint(), P6DofCommonController::WaypointNavData::aimHeading_rad, P6DofRoute::sRouteSegment::currWptVector, P6DofCommonController::WaypointNavData::deltaAlt_m, P6DofRoute::sRouteSegment::earthNED, P6DofCommonController::WaypointNavData::executeTurn, GetDistanceBetweenWaypoints_m(), GetInitialHeading_rad(), P6DofWaypoint::GetLLA(), GetTurnLeadDistance_m(), P6DOF_ROUTE_ALLOWABLE_ANGLE_ERROR_RAD, P6DofRoute::sRouteSegment::prevWptVector, P6DofCommonController::WaypointNavData::rangeRate_mps, P6DofCommonController::WaypointNavData::rangeTrack_m, P6DofRoute::sRouteSegment::trackDistance_m, P6DofRoute::sRouteSegment::trackEndHdg_rad, P6DofRoute::sRouteSegment::trackStartHdg_rad, P6DofRoute::sRouteSegment::trackVector, and P6DofCommonController::WaypointNavData::turnLeadDist_m.

Referenced by P6DofCommonController::GetAimHeadingAndTurnRateForTaxiWaypointNav_deg().

◆ CalcVerticalSpeed()

void P6DofRoute::CalcVerticalSpeed ( P6DofCommonController::WaypointNavData & aNavData)
static

References P6DofCommonController::WaypointNavData::deltaAlt_m, P6DofCommonController::WaypointNavData::rangeRate_mps, P6DofCommonController::WaypointNavData::rangeTrack_m, and P6DofCommonController::WaypointNavData::vertSpeed_mps.

Referenced by P6DofCommonController::ProcessVerticalNavMode_Waypoint().

◆ CalcYawAimHeadingAngle()

void P6DofRoute::CalcYawAimHeadingAngle ( const P6DofWaypoint * aPrevWpt,
const P6DofWaypoint * aCurrWpt,
const P6DofWaypoint * aNextWpt,
const sRouteSegment * aCurrSegment,
const sRouteSegment * aNextSegment,
const UtLLAPos & aCurrentPos_lla,
const UtVec2d & aCurrentVel_mps,
P6DofCommonController::WaypointNavData & aNavData,
double aRouteAllowableAngleError_rad,
double aHeading_rad,
double aSpeed_mps,
double aMaxG_g,
double aDeltaT_sec,
bool & aAchievedWaypoint )
static

References AchievedWaypoint(), P6DofCommonController::WaypointNavData::aimHeading_rad, P6DofRoute::sRouteSegment::currWptVector, P6DofCommonController::WaypointNavData::deltaAlt_m, P6DofRoute::sRouteSegment::earthNED, P6DofCommonController::WaypointNavData::executeTurn, GetDistanceBetweenWaypoints_m(), GetInitialHeading_rad(), P6DofWaypoint::GetLLA(), P6DofWaypoint::GetMaxTurnG(), GetTurnLeadDistance_m(), GetTurnRadiusFromLateralG_m(), P6DofRoute::sRouteSegment::prevWptVector, P6DofCommonController::WaypointNavData::rangeRate_mps, P6DofCommonController::WaypointNavData::rangeTrack_m, P6DofRoute::sRouteSegment::trackDistance_m, P6DofRoute::sRouteSegment::trackEndHdg_rad, P6DofRoute::sRouteSegment::trackStartHdg_rad, P6DofRoute::sRouteSegment::trackVector, P6DofWaypoint::TURN_G_TYPE_LATERAL, P6DofCommonController::WaypointNavData::turnLeadDist_m, P6DofWaypoint::sTurnG::type, and P6DofWaypoint::sTurnG::val.

Referenced by P6DofCommonController::GetAimHeadingForWaypointNav_deg().

◆ Clone()

P6DofRoute * P6DofRoute::Clone ( ) const

References P6DofRoute().

Referenced by P6DofPilotObject::P6DofPilotObject().

◆ ComputeSegmentMap()

void P6DofRoute::ComputeSegmentMap ( )

References CalcSegmentGeometry(), and GetNextWaypoint().

Referenced by WsfP6DOF_Mover::ConvertWsfRouteToP6DofRoute(), P6DofPilotObject::FlyAtPoint(), and P6DofPilotObject::FlyTempWaypoints().

◆ End()

std::vector< P6DofWaypoint * >::const_iterator P6DofRoute::End ( ) const

◆ GetDistanceBetweenWaypoints_m()

double P6DofRoute::GetDistanceBetweenWaypoints_m ( const UtLLAPos & aStartLLA,
const UtLLAPos & aEndLLA,
double & aStartHdg_rad,
double & aEndHdg_rad )
static

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

◆ GetFirstElement()

const P6DofWaypoint * P6DofRoute::GetFirstElement ( ) const

◆ GetInitialHeading_rad()

double P6DofRoute::GetInitialHeading_rad ( const UtLLAPos & aLLAStart,
const UtLLAPos & aLLAEnd )
static

Referenced by CalcAimHeadingAndBankAngle(), CalcTaxiAimHeadingAngle(), CalcYawAimHeadingAngle(), P6DofCommonController::GetAimHeadingAndTurnRateForTaxiWaypointNav_deg(), P6DofCommonController::GetAimHeadingForPoint_deg(), and P6DofCommonController::GetAimHeadingForWaypointNav_deg().

◆ GetNextWaypoint()

const P6DofWaypoint * P6DofRoute::GetNextWaypoint ( const P6DofWaypoint * aWaypoint) const

References P6DofWaypoint::GetGoTo().

Referenced by ComputeSegmentMap().

◆ GetNumberOfWaypoints()

size_t P6DofRoute::GetNumberOfWaypoints ( ) const

Referenced by P6DofPilotObject::FlyTempWaypoints(), and GetWaypointAtIndex().

◆ GetRouteSegment()

P6DofRoute::sRouteSegment * P6DofRoute::GetRouteSegment ( const P6DofWaypoint * aWaypoint) const

◆ GetTurnLeadDistance_m()

double P6DofRoute::GetTurnLeadDistance_m ( double aTurnAngle_rad,
double aTurnRadius_m )
static

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

◆ GetTurnRadius_m()

double P6DofRoute::GetTurnRadius_m ( double aSpeed_mps,
double aBankAngle_rad )
static

Referenced by CalcAimHeadingAndBankAngle().

◆ GetTurnRadiusFromLateralG_m()

double P6DofRoute::GetTurnRadiusFromLateralG_m ( double aSpeed_mps,
double aLateralG_g )
static

Referenced by CalcYawAimHeadingAngle().

◆ GetWaypointAtIndex()

const P6DofWaypoint * P6DofRoute::GetWaypointAtIndex ( size_t aIndex) const

References GetNumberOfWaypoints().

◆ GetWaypointIndex()

size_t P6DofRoute::GetWaypointIndex ( const P6DofWaypoint * aWaypoint) const

Referenced by P6DofPilotObject::P6DofPilotObject().

◆ PassedWaypoint()

bool P6DofRoute::PassedWaypoint ( float aDT,
const P6DofCommonController::WaypointNavData & aNavData )
static

References P6DofCommonController::WaypointNavData::rangeRate_mps, and P6DofCommonController::WaypointNavData::rangeTrack_m.

Referenced by AchievedWaypoint().

The documentation for this class was generated from the following files:
Copyrights Multiple, All Rights Reserved