#include <WsfFollower.hpp>

Inheritance diagram for WsfFollower:

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Collaboration diagram for WsfFollower:

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Public Member Functions
	WsfFollower ()=delete
	WsfFollower (WsfScenario &aScenario)
	~WsfFollower () override=default
Public Member Functions inherited from WsfMover
	WsfMover ()=delete
	WsfMover (const WsfScenario &aScenario)
	WsfMover (const WsfMover &aSrc)
WsfMover &	operator= (const WsfMover &)=delete
	~WsfMover () override
virtual double	TurnRadius (double atSpeed)
WsfModeList *	GetModeList () const
virtual void	TriggerExtrapolation ()
virtual KinematicModel *	CreateKinematicModel (double aSimTime, WsfStringId aPlatformTypeId, const double aLocationWCS[3], const double aVelocityWCS[3], WsfMover aMoverPtr, WsfDraw aDrawPtr) const
WsfComponent *	CloneComponent () const override
int	GetComponentInitializationOrder () const override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
const char *	GetScriptClassName () const override
virtual void	SwapMoverInitiated (double aSimTime, WsfMover *aOldMoverPtr)
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
bool	Initialize2 (double aSimTime) 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
void	Restore (double aSimTime) override
virtual bool	IsStopped () const
	Return whether the mover (and its attached platform) is stopped.
virtual bool	IsPaused () const
virtual bool	IsExtrapolating () const
virtual void	SetPitch (double aPitch)
virtual void	SetRoll (double aRoll)
virtual void	SetOrientationNED (double aHeading, double aPitch, double aRoll)
virtual void	ResetPosition (double aSimTime)
	Informs the mover to use the current platform state.
double	GetLastUpdateTime () const
double	GetUpdateInterval () const override
double	GetUpdateTimeTolerance () const
void	SetUpdateInterval (double aUpdateInterval) override
void	SetLastUpdateTime (double aLastUpdateTime)
virtual bool	UpdateAllowed () const
bool	UpdateWhenBroken () const
void	SetUpdateWhenBroken ()
void	SetNoUpdateWhenBroken ()
virtual const WsfRoute *	GetRoute () const
virtual const WsfRoute *	GetDefaultRoute () const
virtual int	RoutePointIndex () const
virtual bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute)
virtual bool	ReturnToRoute (double aSimTime)
virtual bool	GoToClosestPoint (double aSimTime)
virtual bool	GoToLabel (double aSimTime, WsfStringId aLabelId)
virtual bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude)
virtual bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute)
virtual bool	TurnToHeading (double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection)
virtual bool	TurnToRelativeHeading (double aSimTime, double aHeadingChange, double aRadialAccel, WsfPath::TurnDirection aTurnDirection)
virtual bool	SetRoute (double aSimTime, const WsfRoute &aRoute)
virtual bool	UpdateRoute (double aSimTime, const WsfRoute &aRoute)
virtual bool	UpdateDefaultRoute ()
virtual bool	GoToWaypoint (double aSimTime, unsigned int aDestination)
virtual bool	FindAndSetPath (double aSimTime, WsfGeoPoint aStartPtr, WsfGeoPoint aEndPtr)
virtual bool	FlyRates (const UtVec3d &aAngularRates, const UtVec3d &aLongitudinalAccel)
virtual bool	FlyHeadingSpeedAltitude (double aHeading, double aSpeed, double aAltitude, double aMaxGees, double aMaxClimb)
virtual bool	TurnInPlaneWithSpeed (const UtVec3d &aPlane, double aGees, double aSpeed)
virtual bool	TurnInPlaneWithThrottle (const UtVec3d &aPlane, double aGees, double aThrottle)
virtual bool	FlyVectorWithSpeed (const UtVec3d &aVelocityVector, double aMaxGees, double aSpeed)
virtual bool	FlyVectorWithThrottle (const UtVec3d &aVelocityVector, double aMaxGees, double aThrottle)
virtual bool	ExecuteTriggers (double aSimTime, unsigned int aPointIndex)
virtual bool	GetFutureLocationWCS (double aSimTime, double aLocationWCS[3])
WsfStringId	GetModeId () const
virtual void	SetMode (WsfStringId aModeName)
bool	ThreadSafe () const
	Returns true if the mover update is thread safe.
void	SetThreadSafe ()
void	SetNotThreadSafe ()
virtual void	InitializeProperties ()
	Add any input properties and its default value common properties list.
virtual bool	PropertyExists (const std::string &aPropertyName)
	Return true if the given property exists in the set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const int &aProperty)
	Add an integer property to the common set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const double &aProperty)
	Add an floating point property to the common set of properties.
virtual void	RegisterProperty (const std::string &aPropertyName, const std::string &aProperty)
	Add an string property to the set of common properties.
virtual bool	GetPropertyInt (const std::string &aPropertyName, int &aProperty)
virtual bool	GetPropertyDouble (const std::string &aPropertyName, double &aProperty)
virtual bool	GetPropertyString (const std::string &aPropertyName, std::string &aProperty)
virtual double	GetThrottlePosition ()
Public Member Functions inherited from WsfPlatformPart
	WsfPlatformPart (const WsfScenario &aScenario, int aPartType)
WsfPlatformPart &	operator= (const WsfPlatformPart &aRhs)=delete
	~WsfPlatformPart () override
const int *	GetComponentRoles () const override
void *	QueryInterface (int aRole) override
bool	DebugEnabled () const
	Returns 'true' if debugging is enabled for this instance.
void	SetDebugEnabled (bool aDebugEnabled)
unsigned int	GetDebugMask ()
bool	IsExternallyControlled () const
virtual void	SetExternallyControlled (double aSimTime, bool aIsExternallyControlled)
int	GetPartType () const
const char *	GetScriptClassName () const override
WsfSimulation *	GetSimulation () const
const WsfScenario &	GetScenario () const
WsfStringId	GetComponentName () const override
void	ComponentParentChanged (WsfPlatform *aPlatformPtr) override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
WsfPlatform *	GetPlatform () const
virtual void	SetPlatform (WsfPlatform *aPlatformPtr)
virtual void	PlatformAdded (double aSimTime, WsfPlatform *aPlatformPtr)
virtual void	PlatformDeleted (WsfPlatform *aPlatformPtr)
double	GetLastStatusChangeTime () const
void	SetLastStatusChangeTime (double aSimTime)
	Allows a system to set the time at which the device was initialized.
bool	CanBeMadeOperational () const
	Returns an indication that this system can be made operational.
bool	CanBeMadeNonOperational () const
	Returns an indication that this system can be made non-operational.
bool	CanBeTurnedOn () const
	Returns an indication that this system can be turned on.
bool	CanBeTurnedOff () const
	Returns an indication that this system can be turned off.
bool	IsTurnedOn () const
bool	InitiallyTurnedOn () const
	Is the system to be turned 'on' when added to the simulation?
void	SetInitiallyTurnedOn (bool aInitiallyTurnedOn)
	Sets if the system is turned on when added to the simulation.
bool	IsOperational () const
bool	SetOperational (double aSimTime, bool aMakeOperational)
double	GetDamageFactor () const
bool	SetDamageFactor (double aSimTime, double aDamageFactor)
bool	IsCritical () const
void	SetCritical (bool aValue)
virtual void	OnPlatformBrokenEvent (double aSimTime)
	Owning platform has issued a broken event.
bool	IsBroken () const
WsfInternalLinks &	GetInternalLinks ()
	Return the internal links for this part.
virtual bool	HasInternalLinks () const
	Does this platform part have a communication link to other platform parts?
virtual bool	ProcessMessage (double aSimTime, const WsfMessage &aMessage)
virtual bool	ReceiveMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessage (double aSimTime, const WsfMessage &aMessage)
virtual void	SendMessageTo (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
void	SendMessageToProcessor (double aSimTime, const WsfMessage &aMessage, WsfStringId aRecipientId)
virtual void	SendQueuedMessages (double aSimTime)
const WsfCategoryList &	GetCategories () const
	Get the categories to which this part belongs.
void	AddCategory (WsfStringId aCategoryId)
	Adds the provided category to the platform part's category list.
bool	IsCategoryMember (WsfStringId aCategoryId) const
const WsfGroupList &	GetGroups () const
	Get the groups to which this platform part belongs.
void	JoinGroup (WsfGroup *aGroupPtr)
	Join the given group.
void	LeaveGroup (WsfGroup *aGroupPtr)
	Leave the given group.
bool	IsGroupMember (WsfStringId aGroupId)
unsigned int	GetUpdateEventEpoch () const
void	IncrementUpdateEventEpoch ()
bool	UpdateEventActive () const
	Is an 'Update' event active?
void	SetUpdateEventActive (bool aUpdateEventActive)
	Indicate if the 'Update' event is active.
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)
Public Member Functions inherited from WsfComponentT< WsfPlatform >
	WsfComponentT ()
	WsfComponentT (const WsfComponentT &) noexcept
WsfComponentT &	operator= (const WsfComponentT &) noexcept
	~WsfComponentT () override=default
ParentType *	GetComponentParent () const
void	SetComponentParent (ParentType *aParentPtr)
Public Member Functions inherited from WsfComponent
virtual	~WsfComponent ()=default
template<typename T>
bool	QueryInterfaceT (T *&aRolePtr)
bool	ComponentHasRole (int aRole)
	Returns true if the component has the specified role.
virtual bool	PreInitialize (double aSimTime)
virtual void	PreInput ()
Public Member Functions inherited from WsfUniqueId
	WsfUniqueId ()
	Construtor initializes the unique identifier to 0.
	WsfUniqueId (const WsfUniqueId &)
	Copy constructor initializes the unique identifier to 0.
WsfUniqueId &	operator= (const WsfUniqueId &)
unsigned int	GetUniqueId () const
	Get the unique identifier assigned to this object.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
Public Member Functions inherited from WsfAuxDataEnabled
	WsfAuxDataEnabled ()=default
	WsfAuxDataEnabled (const WsfAuxDataEnabled &aSrc)=default
WsfAuxDataEnabled &	operator= (const WsfAuxDataEnabled &aRhs)
	WsfAuxDataEnabled (WsfAuxDataEnabled &&)=default
WsfAuxDataEnabled &	operator= (WsfAuxDataEnabled &&)=default
virtual	~WsfAuxDataEnabled () noexcept
void	SetAuxData (const WsfAttributeContainer &aAuxData)
void	DeleteAuxData ()
	Delete the aux data container from the object.
void	MergeAuxData (const WsfAuxDataEnabled &aSrc)
	Merge the object's aux data with aux data from an existing object.
void	UpdateAuxData (const WsfAuxDataEnabled &aSrc)
	Update the object's aux data with aux data from an existing object.
bool	HasAuxData () const
	Returns true if this object has aux data.
bool	ProcessInput (UtInput &aInput)
template<typename T>
void	Serialize (T &aBuff)
	(De)serialization for XIO
WsfAttributeContainer &	GetAuxData ()
const WsfAttributeContainer &	GetAuxData () const noexcept
const WsfAttributeContainer &	GetAuxDataConst () const noexcept

Follower data methods
These methods are used to set follower information.
void	SetLocationLLA (double aLatitude, double aLongitude, double aAltitude)
void	SetSpeed (double aSpeed)
void	SetHeading (double aHeading) override
bool	GetTargetIsValid ()
	Returns true if the target information is valid.
	WsfFollower (const WsfFollower &aSrc)
WsfFollower &	operator= (const WsfFollower &)=delete
void	FollowThis (double aTimeStamp, double aLocationWCS[3], double aVelocityWCS[3])
void	DontFollowThis ()
void	AdvanceTime (double aSimTime)
void	UpdateFollowPosAndVel (double aSimTime)
	Extrapolates the follow information to the given time.
void	ImposeTurnLimits (double aHeadingChangeMag, double aHeadingChangeDir, double aHorizGroundSpeed, double &aDeltaT, double &aHeading, double &aRollAngle)
double	MinimumPositiveValue (double aValue1, double aValue2, double aValue3, double aValue4) const
void	OutputDiagnostic (double aSimTime, WsfPlatform *aPlatformPtr)
	Used to output data when debugging.
void	OutputVec3d (std::string &aLabel, double aVec[])

Common framework methods
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	Update (double aSimTime) override
WsfSpatialDomain	GetSpatialDomain () const override
bool	IsInitialized () const

Additional Inherited Members
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.
Static Public Attributes inherited from WsfMover
static const char *	cTYPE_KIND = "mover"
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed
void	SetModeList (WsfModeList *aModeListPtr)
void	SetUpdateTimeTolerance (double aDt)
	Revise the internal time tolerance allowed for Update() sequencing logic.
	WsfPlatformPart (const WsfPlatformPart &aSrc)
	Copy constructor (for Clone()).
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).
Protected Member Functions inherited from WsfUniqueId
void	AssignUniqueId (WsfSimulation *aSimulationPtr)
double	mLastUpdateTime
	The simulation time when Update was last called.
WsfVariable< double >	mUpdateTimeTolerance
bool	mThreadSafe
std::vector< WsfMoverMode * >	mMoverModeList
	The generic list of modes (not valid until Initialize is called).
WsfStringId	mModeId

Detailed Description

A specialized mover that will cause an aircraft to attempt spatial synchronization with a time-tagged velocity vector located in 3D space, subject to certain longitudinal and lateral speed and acceleration constraints. The vector location will be extrapolated forward in time as required. If for any reason the vector cannot be followed, then the platform's current heading and velocity will be maintained. This class is abstract, and derivations to this class will set the point and velocity to follow (for formation flight with another aircraft, or perhaps for following a specified track).

The guidance followed is pure velocity pursuit. If needed, proportional navigation may be added later.

Constructor & Destructor Documentation

◆ WsfFollower() [1/3]

WsfFollower::WsfFollower ( )

delete

References WsfFollower().

Referenced by Clone(), operator=(), WsfFollower(), WsfFollower(), WsfFormationFlyer::WsfFormationFlyer(), and WsfFormationFlyer::WsfFormationFlyer().

◆ WsfFollower() [2/3]

WsfFollower::WsfFollower ( WsfScenario & aScenario )

References WsfMover::WsfMover().

◆ ~WsfFollower()

WsfFollower::~WsfFollower ( )

overridedefault

References WsfMover::WsfMover().

◆ WsfFollower() [3/3]

WsfFollower::WsfFollower ( const WsfFollower & aSrc )

protected

References WsfFollower(), and WsfMover::WsfMover().

Member Function Documentation

◆ AdvanceTime()

void WsfFollower::AdvanceTime ( double aSimTime )

protected

References WsfPlatformPart::DebugEnabled(), deltaTime, DO_DIAG, WsfObject::GetName(), WsfPlatformPart::GetPlatform(), ImposeTurnLimits(), WsfMover::mLastUpdateTime, OutputDiagnostic(), and UpdateFollowPosAndVel().

Referenced by Update().

◆ Clone()

WsfMover * WsfFollower::Clone ( ) const

overridevirtual

Clone this object.

Returns: a pointer to the new object.

Implements WsfMover.

Reimplemented in WsfFormationFlyer.

References WsfFollower(), and WsfMover::WsfMover().

◆ DontFollowThis()

void WsfFollower::DontFollowThis ( )

inlineprotected

Referenced by WsfFormationFlyer::SetLeadAircraft(), and WsfFormationFlyer::UpdateLeadInfo().

◆ FollowThis()

void WsfFollower::FollowThis	(	double	aTimeStamp,
		double	aLocationWCS[3],
		double	aVelocityWCS[3] )

protected

References DO_DIAG.

Referenced by operator=(), and WsfFormationFlyer::UpdateLeadPosAndVel().

◆ GetSpatialDomain()

WsfSpatialDomain WsfFollower::GetSpatialDomain ( ) const

inlineoverridevirtual

Return the spatial domain in which the mover is operating.

The spatial domain is the domain in which the mover is operating (land, sea, space, etc.).

Returns: The spatial domain in which the platform is operating. WSF_SPATIAL_DOMAIN_LAND is returned if this method is not overridden by a derived class.

Reimplemented from WsfMover.

Reimplemented in WsfFormationFlyer.

References WSF_SPATIAL_DOMAIN_AIR.

◆ GetTargetIsValid()

bool WsfFollower::GetTargetIsValid ( )

inline

Returns true if the target information is valid.

◆ ImposeTurnLimits()

void WsfFollower::ImposeTurnLimits	(	double	aHeadingChangeMag,
		double	aHeadingChangeDir,
		double	aHorizGroundSpeed,
		double &	aDeltaT,
		double &	aHeading,
		double &	aRollAngle )

protected

Constrain current turn rate to specified limits. Assumes a steady-state level flight, and fully coordinated turn.

References WsfPath::cNEGLIGIBLE_SPEED, MinimumPositiveValue(), and WsfMover::mUpdateTimeTolerance.

Referenced by AdvanceTime().

◆ Initialize()

bool WsfFollower::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 WsfFormationFlyer.

References WsfPlatformPart::GetPlatform(), and WsfMover::Initialize().

Referenced by WsfFormationFlyer::Initialize().

◆ IsInitialized()

bool WsfFollower::IsInitialized ( ) const

inline

Referenced by WsfFormationFlyer::Update(), and WsfFormationFlyer::WsfFormationFlyer().

◆ MinimumPositiveValue()

double WsfFollower::MinimumPositiveValue	(	double	aValue1,
		double	aValue2,
		double	aValue3,
		double	aValue4 ) const

inlineprotected

Referenced by ImposeTurnLimits().

◆ operator=()

WsfFollower & WsfFollower::operator= ( const WsfFollower & )

protecteddelete

References FollowThis(), and WsfFollower().

◆ OutputDiagnostic()

void WsfFollower::OutputDiagnostic	(	double	aSimTime,
		WsfPlatform *	aPlatformPtr )

protected

Used to output data when debugging.

Referenced by AdvanceTime().

◆ OutputVec3d()

void WsfFollower::OutputVec3d	(	std::string &	aLabel,
		double	aVec[] )

protected

◆ ProcessInput()

bool WsfFollower::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 WsfFormationFlyer.

References WsfMover::ProcessInput().

Referenced by WsfFormationFlyer::ProcessInput().

◆ SetHeading()

void WsfFollower::SetHeading ( double aHeading )

inlineoverridevirtual

Request the platform mover to go to a desired NED heading angle (radians). This is merely a request, and the mover may not be able to comply.

Reimplemented from WsfMover.

Referenced by WsfFormationFlyer::Initialize().

◆ SetLocationLLA()

void WsfFollower::SetLocationLLA	(	double	aLatitude,
		double	aLongitude,
		double	aAltitude )

Referenced by WsfFormationFlyer::Initialize().

◆ SetSpeed()

void WsfFollower::SetSpeed ( double aSpeed )

inline

Referenced by WsfFormationFlyer::Initialize().

◆ Update()

void WsfFollower::Update ( double aSimTime )

overridevirtual

Update the state of an platform part. Updates the platform part to reflect the state at the specified simulation time.

Parameters

aSimTime The current simulation time.

Reimplemented from WsfPlatformPart.

Reimplemented in WsfFormationFlyer.

References AdvanceTime(), DO_DIAG, WsfObject::GetName(), WsfPlatformPart::GetPlatform(), WsfMover::mLastUpdateTime, WsfMover::mUpdateTimeTolerance, Update(), and WsfMover::Update().

Referenced by Update(), and WsfFormationFlyer::Update().

◆ UpdateFollowPosAndVel()

void WsfFollower::UpdateFollowPosAndVel ( double aSimTime )

protected

Extrapolates the follow information to the given time.

Referenced by AdvanceTime().

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

Public Member Functions

Follower data methods

Common framework methods

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WsfFollower() [1/3]

◆ WsfFollower() [2/3]

◆ ~WsfFollower()

◆ WsfFollower() [3/3]

Member Function Documentation

◆ AdvanceTime()

◆ Clone()

◆ DontFollowThis()

◆ FollowThis()

◆ GetSpatialDomain()

◆ GetTargetIsValid()

◆ ImposeTurnLimits()

◆ Initialize()

◆ IsInitialized()

◆ MinimumPositiveValue()

◆ operator=()

◆ OutputDiagnostic()

◆ OutputVec3d()

◆ ProcessInput()

◆ SetHeading()

◆ SetLocationLLA()

◆ SetSpeed()

◆ Update()

◆ UpdateFollowPosAndVel()