Pure mathematics-based 3-D Motion model. More...

#include <WsfMath3D_Mover.hpp>

Inheritance diagram for WsfMath3D_Mover:

[legend]

Collaboration diagram for WsfMath3D_Mover:

[legend]

Public Member Functions
	WsfMath3D_Mover ()=delete
	WsfMath3D_Mover (WsfScenario &aScenario)
	WsfMath3D_Mover (const WsfMath3D_Mover &aRhs)
WsfMath3D_Mover &	operator= (const WsfMath3D_Mover &)=delete
	~WsfMath3D_Mover () override
WsfMover *	Clone () const override
bool	Initialize (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
WsfSpatialDomain	GetSpatialDomain () const override
UtMath3D_Motion &	Motion ()
double	TurnRadius ()
double	TurnRadius (double aSpeed) override
void	SetGuidanceTo (const WsfWaypoint &aNextWaypoint) override
void	SetGuidanceFrom (const WsfWaypoint &aPreviousWaypoint) override
void	Pause (double aSimTime, double aUnpauseTime) override
	Sets the mover to a paused state.
bool	Unpause (double aSimTime, bool aInterrupt) override
void	ResetPosition (double aSimTime) override
	Informs the mover to use the current platform state.
void	AdvanceToNextWaypoint (double aSimTime, const WsfWaypoint &aTarget, const WsfWaypoint *aNextPointPtr) override
void	UpdatePosition (double aSimTime) override
bool	GoToAltitude (double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute) override
bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override
bool	TurnToRelativeHeading (double aSimTime, double aHeadingChange, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override
bool	TurnToHeading (double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override
Public Member Functions inherited from WsfRouteMover
	WsfRouteMover ()=delete
	WsfRouteMover (const WsfScenario &aScenario)
	WsfRouteMover (const WsfRouteMover &aSrc)
WsfRouteMover &	operator= (const WsfRouteMover &)=delete
	~WsfRouteMover () override
bool	Initialize (double aSimTime) override
bool	Initialize2 (double aSimTime) override
void	Update (double aSimTime) override
bool	ProcessInput (UtInput &aInput) override
void	TurnOff (double aSimTime) override
void	TurnOn (double aSimTime) override
const WsfRoute *	GetRoute () const override
const WsfRoute *	GetDefaultRoute () const override
int	RoutePointIndex () const override
bool	SetRoute (double aSimTime, const WsfRoute &aRoute) override
bool	GoToLabel (double aSimTime, WsfStringId aLabelId) override
bool	GoToWaypoint (double aSimTime, unsigned int aDestination) override
bool	GoToClosestPoint (double aSimTime) override
bool	FindAndSetPath (double aSimTime, WsfGeoPoint aStartPtr, WsfGeoPoint aEndPtr) override
bool	GoToLocation (double aSimTime, double aLatitude, double aLongitude, double aAltitude) override
bool	UpdateRoute (double aSimTime, const WsfRoute &aRoute) override
bool	UpdateDefaultRoute () override
virtual bool	SetRoutePoint (double aSimTime, const WsfRoute &aRoute, int aTargetPoint)
bool	ReturnToRoute (double aSimTime) override
bool	IsPaused () const override
	Returns true if the mover is paused.
WsfRouteComputer *	GetRouteComputer () const
void	SetRouteComputer (WsfRouteComputer *aRouteComputerPtr)
void	SetEndOfPath (WsfPath::EndPath aEndOfPathOption)
	Sets the default end-of-path option for the mover.
int	GetTargetIndex () const
	Return next waypoint index.
void	SetTargetIndex (int aIndex)
int	GetCurrentIndex () const
	Return current waypoint index.
bool	GoToSpeed (double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override
MissTurnOption	GetTurnFailOption () const
double	GetTurnFailThreshold () const
WsfPath::Switch	GetSwitch () const
virtual const WsfPathConstraints *	GetMoverConstraints () const
Public Member Functions inherited from WsfMover
	WsfMover ()=delete
	WsfMover (const WsfScenario &aScenario)
	WsfMover (const WsfMover &aSrc)
WsfMover &	operator= (const WsfMover &)=delete
	~WsfMover () override
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)
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	IsExtrapolating () const
virtual void	SetHeading (double aHeading)
virtual void	SetPitch (double aPitch)
virtual void	SetRoll (double aRoll)
virtual void	SetOrientationNED (double aHeading, double aPitch, double aRoll)
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 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	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
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

Protected Member Functions
void	SetExternalMotionState ()
Protected Member Functions inherited from WsfRouteMover
void	TriggerUnpause (double aSimTime)
	Called when the pause time has expired to resume movement.
void	SetAltRef (WsfPath::AltRef aAltRef)
WsfPath::AltRef	GetAltRef () const
virtual void	WaypointReached (double aSimTime)
	Called when waypoint is reached.
void	RouteChanged ()
	Called when the route is changed to reset processing of current point.
bool	IsSwitchingPoints ()
void	AddUnpauseEventFor (WsfRouteMover *aMoverPtr, double aUnpauseTime)
void	DisableAndClearUnpause ()
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)

Protected Attributes
double	mTurnRadius
double	mPrepauseVelocityNED [3]
UtMath3D_Motion	mMotion
WsfPathGuidance *	mGuidancePtr
double	mLocalUpdateTime
Protected Attributes inherited from WsfRouteMover
wsf::Terrain *	mTerrainPtr
bool	mForceUpdates
MissTurnOption	mTurnFailOption
	If true, the mover will ensure it passes each point.
double	mTurnFailureThreshold
	Threshold of turn failure as percentage of turn radius.
double	mUnpauseTime
	Simulation time at which the mover will unpause.
double	mAltitudeOffset
	Altitude offset of the parent platform's center of gravity / mass (CG).
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

Additional Inherited Members
Public Types inherited from WsfRouteMover
enum	MissTurnOption { cCLOSEST_POINT = 0 , cREVERSE_TURN = 1 , cSKIP_POINT = 2 }
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

Detailed Description

Pure mathematics-based 3-D Motion model.

This class was designed to present smooth three dimensional motion, with nearly zero knowledge of the underlying physics. No mass properties, no aerodynamics; the only imposed constraints are limits on lateral and longitudinal acceleration. The velocity vector is continuously accelerated to attain a target speed, and then "directed" by velocity pursuit and proportional navigation gains toward a target point in 3-D space. A singularity occurs when the 3-D target point is reached, so the containing application should ALWAYS set a new target point when within one turn radius of the old target point. After a turn to a new waypoint, the flight path to the destination will be a straight line, and will NOT consider any earth curvature, so all waypoints should be less than 10 nmi distance apart, or earth contact may be a problem.

Constructor & Destructor Documentation

◆ WsfMath3D_Mover() [1/3]

WsfMath3D_Mover::WsfMath3D_Mover ( )

delete

References WsfMath3D_Mover().

Referenced by Clone(), operator=(), WsfMath3D_Mover(), and WsfMath3D_Mover().

◆ WsfMath3D_Mover() [2/3]

WsfMath3D_Mover::WsfMath3D_Mover ( WsfScenario & aScenario )

References mGuidancePtr, mLocalUpdateTime, mMotion, mPrepauseVelocityNED, mTurnRadius, and WsfRouteMover::WsfRouteMover().

◆ WsfMath3D_Mover() [3/3]

WsfMath3D_Mover::WsfMath3D_Mover ( const WsfMath3D_Mover & aRhs )

References Clone(), mGuidancePtr, mLocalUpdateTime, mMotion, mPrepauseVelocityNED, mTurnRadius, WsfMath3D_Mover(), and WsfRouteMover::WsfRouteMover().

◆ ~WsfMath3D_Mover()

WsfMath3D_Mover::~WsfMath3D_Mover ( )

override

References mGuidancePtr.

Member Function Documentation

◆ AdvanceToNextWaypoint()

void WsfMath3D_Mover::AdvanceToNextWaypoint	(	double	aSimTime,
		const WsfWaypoint &	aTarget,
		const WsfWaypoint *	aNextPointPtr )

overridevirtual

Mover implementing this method should begin movement toward aTarget. WaypointReached() should be called when target waypoint is reached.

Parameters

aSimTime	The current simulation time.
aTarget	The new target waypoint
aNextPointPtr	The waypoint in the route after aTarget. May be null.

Implements WsfRouteMover.

References WsfWaypoint::cABSOLUTE_HEADING, WsfWaypoint::cDISTANCE, WsfPath::cDOUBLE_NOT_SET, WsfPath::cHDG_REF_NORTH, WsfPath::cHDG_REF_RELATIVE, WsfWaypoint::cHEADING_MASK, WsfWaypoint::cLATITUDE_AND_LONGITUDE, WsfPath::cSWITCH_ON_DISTANCE, WsfPath::cSWITCH_ON_TIME, WsfWaypoint::cTIME, WsfWaypoint::GetDistanceOrTime(), WsfWaypoint::GetHeading(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfWaypoint::GetPointType(), WsfRouteMover::GetSwitch(), WsfWaypoint::GetSwitch(), WsfWaypoint::GetTurnDirection(), and mGuidancePtr.

◆ Clone()

WsfMover * WsfMath3D_Mover::Clone ( ) const

overridevirtual

Clone this object.

Returns: a pointer to the new object.

Implements WsfMover.

References WsfMath3D_Mover(), and WsfMover::WsfMover().

Referenced by WsfMath3D_Mover().

◆ GetSpatialDomain()

WsfSpatialDomain WsfMath3D_Mover::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.

References WSF_SPATIAL_DOMAIN_AIR.

◆ GoToAltitude()

bool WsfMath3D_Mover::GoToAltitude	(	double	aSimTime,
		double	aAltitude,
		double	aClimbDiveRate,
		bool	aKeepRoute )

overridevirtual

Command the mover change its altitude.

Parameters

aSimTime	The current simulated time (seconds).
aAltitude	The desired altitude to attempt to achieve (in meters).
aClimbDiveRate	The desired climb/dive rate (meters/second). If zero then use the mover default.
aKeepRoute	'true' if the mover should maintain current route. 'false' to extrapolate.

Returns: true if successful.

Reimplemented from WsfMover.

References mMotion.

◆ GoToSpeed()

bool WsfMath3D_Mover::GoToSpeed	(	double	aSimTime,
		double	aSpeed,
		double	aLinearAccel,
		bool	aKeepRoute )

overridevirtual

Command the mover to change its speed.

Parameters

aSimTime	The current simulated clock time (seconds).
aSpeed	The desired speed (in meters/second).
aLinearAccel	The desired acceleration (meters/second^2). If zero then use the mover default.
aKeepRoute	'true' if the mover should maintain current route. 'false' to extrapolate.

Returns: true if successful.

Reimplemented from WsfMover.

References mMotion.

◆ Initialize()

bool WsfMath3D_Mover::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.

References WsfPlatformPart::GetPlatform(), WsfRouteMover::Initialize(), mLocalUpdateTime, mMotion, mTurnRadius, ok, and WsfMover::RegisterProperty().

◆ Motion()

UtMath3D_Motion & WsfMath3D_Mover::Motion ( )

inline

References mMotion.

◆ operator=()

WsfMath3D_Mover & WsfMath3D_Mover::operator= ( const WsfMath3D_Mover & )

delete

References WsfMath3D_Mover(), and WsfMover::WsfMover().

◆ Pause()

void WsfMath3D_Mover::Pause	(	double	aSimTime,
		double	aUnpauseTime )

overridevirtual

Sets the mover to a paused state.

Implements WsfRouteMover.

References WsfRouteMover::AddUnpauseEventFor(), WsfRouteMover::DisableAndClearUnpause(), WsfPlatformPart::GetPlatform(), mPrepauseVelocityNED, and WsfRouteMover::mUnpauseTime.

◆ ProcessInput()

bool WsfMath3D_Mover::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.

References mMotion, and WsfRouteMover::ProcessInput().

◆ ResetPosition()

void WsfMath3D_Mover::ResetPosition ( double aSimTime )

overridevirtual

Informs the mover to use the current platform state.

Reimplemented from WsfMover.

References WsfPlatformPart::GetPlatform(), and mMotion.

◆ SetExternalMotionState()

void WsfMath3D_Mover::SetExternalMotionState ( )

protected

References WsfPlatformPart::GetPlatform(), and mMotion.

Referenced by UpdatePosition().

◆ SetGuidanceFrom()

void WsfMath3D_Mover::SetGuidanceFrom ( const WsfWaypoint & aPreviousWaypoint )

overridevirtual

Mover implementing this method should adjust current constraints to comply with those in aPreviousWaypoint.

Implements WsfRouteMover.

References WsfPath::cALT_REF_MSL, WsfPath::cUSE_PREVIOUS, WsfWaypoint::GetAlt(), WsfWaypoint::GetLinearAccel(), WsfWaypoint::GetRadialAccel(), WsfWaypoint::GetSpeed(), mGuidancePtr, and mMotion.

◆ SetGuidanceTo()

void WsfMath3D_Mover::SetGuidanceTo ( const WsfWaypoint & aNextWaypoint )

overridevirtual

Mover implementing this method should adjust current constraints to comply with those in aNextWaypoint.

Implements WsfRouteMover.

References WsfPath::cUSE_PREVIOUS, WsfWaypoint::GetAlt(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), mGuidancePtr, and mMotion.

◆ TurnRadius() [1/2]

double WsfMath3D_Mover::TurnRadius ( )

References mMotion.

◆ TurnRadius() [2/2]

double WsfMath3D_Mover::TurnRadius ( double aSpeed )

overridevirtual

Reimplemented from WsfMover.

References WsfMover::TurnRadius().

◆ TurnToHeading()

bool WsfMath3D_Mover::TurnToHeading	(	double	aSimTime,
		double	aHeading,
		double	aRadialAccel,
		WsfPath::TurnDirection	aTurnDirection )

overridevirtual

Command the mover to change its heading.

Parameters

aSimTime	The current simulated clock time (seconds).
aHeading	The desired heading (in radians).
aRadialAccel	The desired radial acceleration (meters/second^2). If zero then use the mover default.
aTurnDirection	The direction in which to turn.

Returns: true if successful.

Reimplemented from WsfMover.

References mMotion.

◆ TurnToRelativeHeading()

bool WsfMath3D_Mover::TurnToRelativeHeading	(	double	aSimTime,
		double	aHeadingChange,
		double	aRadialAccel,
		WsfPath::TurnDirection	aTurnDirection )

overridevirtual

Command the mover to change its relative heading.

Parameters

aSimTime	The current simulated clock time (seconds).
aHeadingChange	The desired heading change with positive clockwise, negative counter-clockwise. (in radians).
aRadialAccel	The desired radial acceleration (meters/second^2). If zero then use the mover default.
aTurnDirection	The direction in which to turn.

Returns: true if successful.

Reimplemented from WsfMover.

References mMotion.

◆ Unpause()

bool WsfMath3D_Mover::Unpause	(	double	aSimTime,
		bool	aInterrupt )

overridevirtual

Resume movement

Parameters

aSimTime	The current simulation time
aInterrupt	'true' if the unpause was not scheduled

Reimplemented from WsfRouteMover.

References WsfPlatformPart::GetPlatform(), WsfRouteMover::IsPaused(), mPrepauseVelocityNED, and WsfRouteMover::mUnpauseTime.

◆ UpdatePosition()

void WsfMath3D_Mover::UpdatePosition ( double aSimTime )

overridevirtual

Implements WsfRouteMover.

References WsfRouteMover::IsPaused(), mLocalUpdateTime, mMotion, mTurnRadius, SetExternalMotionState(), WsfMover::SetLastUpdateTime(), and WsfRouteMover::WaypointReached().

Member Data Documentation

◆ mGuidancePtr

WsfPathGuidance* WsfMath3D_Mover::mGuidancePtr

protected

Referenced by AdvanceToNextWaypoint(), SetGuidanceFrom(), SetGuidanceTo(), WsfMath3D_Mover(), WsfMath3D_Mover(), and ~WsfMath3D_Mover().

◆ mLocalUpdateTime

double WsfMath3D_Mover::mLocalUpdateTime

protected

Referenced by Initialize(), UpdatePosition(), WsfMath3D_Mover(), and WsfMath3D_Mover().

◆ mMotion

UtMath3D_Motion WsfMath3D_Mover::mMotion

protected

Referenced by GoToAltitude(), GoToSpeed(), Initialize(), Motion(), ProcessInput(), ResetPosition(), SetExternalMotionState(), SetGuidanceFrom(), SetGuidanceTo(), TurnRadius(), TurnToHeading(), TurnToRelativeHeading(), UpdatePosition(), WsfMath3D_Mover(), and WsfMath3D_Mover().

◆ mPrepauseVelocityNED

double WsfMath3D_Mover::mPrepauseVelocityNED[3]

protected

Referenced by Pause(), Unpause(), WsfMath3D_Mover(), and WsfMath3D_Mover().

◆ mTurnRadius

double WsfMath3D_Mover::mTurnRadius

protected

Referenced by Initialize(), UpdatePosition(), WsfMath3D_Mover(), and WsfMath3D_Mover().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WsfMath3D_Mover() [1/3]

◆ WsfMath3D_Mover() [2/3]

◆ WsfMath3D_Mover() [3/3]

◆ ~WsfMath3D_Mover()

Member Function Documentation

◆ AdvanceToNextWaypoint()

◆ Clone()

◆ GetSpatialDomain()

◆ GoToAltitude()

◆ GoToSpeed()

◆ Initialize()

◆ Motion()

◆ operator=()

◆ Pause()

◆ ProcessInput()

◆ ResetPosition()

◆ SetExternalMotionState()

◆ SetGuidanceFrom()

◆ SetGuidanceTo()

◆ TurnRadius() [1/2]

◆ TurnRadius() [2/2]

◆ TurnToHeading()

◆ TurnToRelativeHeading()

◆ Unpause()

◆ UpdatePosition()

Member Data Documentation

◆ mGuidancePtr

◆ mLocalUpdateTime

◆ mMotion

◆ mPrepauseVelocityNED

◆ mTurnRadius