larcfm::GsPlan Class Reference

#include <GsPlan.h>

Public Member Functions
	GsPlan (double startTime)
	GsPlan (const std::string &s)
	GsPlan (const Plan &lpc, int start, int end)
	GsPlan (const Plan &lpc)
	GsPlan (const GsPlan &gsp)
	GsPlan (const Route &r, const std::string &name, double start, double gsAll)
int	size () const
std::string	getID () const
void	setID (const std::string &s)
void	setInfo (int i, const std::string &s)
double	gs (int i) const
Route	route () const
void	add (const Position &pos, const std::string &label, const std::string &info, double gsOut, double rad)
void	add (const Position &pos, const std::string &label, const std::string &info, double gsOut)
void	add (const Position &pos, const std::string &label, const std::string &info)
void	add (const GsPlan &p, int ix)
void	addAll (const GsPlan &p)
void	set (int ix, const Position &pos, const std::string &label, const std::string &info, double gsOut, double radius)
Position	position (int i) const
Position	last () const
std::string	name (int i) const
std::string	info (int i) const
double	radius (int i) const
void	setRadius (int i, double rad)
std::vector< double >	getGsInits () const
GsPlan	append (const GsPlan &p2)
void	remove (int i)
void	setGs (int i, double gsin)
double	startTime () const
void	setStartTime (double startTime)
int	findName (const std::string &nm) const
double	pathDistance (int i, int j, bool linear) const
double	ETA (bool linear) const
Plan	linearPlan () const
int	closestSegment (const Position &pos) const
Position	positionFromDistance (double dist, double defaultBank, bool linear) const
Velocity	velocityFromDistance (double dist, double defaultBank, bool linear) const
bool	equals (const GsPlan &fp) const
bool	almostEquals (const GsPlan &p) const
std::string	toString () const

Static Public Member Functions
static GsPlan	makeGsPlanConstant (const GsPlan &gsp, double gsNew)
static GsPlan	mkGsPlanBankAngle (const Plan &lpc, double bankAngle)

Private Attributes
Route	rt
std::vector< double >	gsOuts
std::string	id
double	starttime

Detailed Description

GsPlan – an alternate yet convenient way to store a linear plan. There are no times stored. Instead the ground speed at each point is specified.

Since there are no times in a GsPlan, only the order of the points is maintained. This often eliminates the need to continually recalculate times. After an appropriate GsPlan is constructed it can be converted to a linear plan using the "linearPlan" method

Constructor & Destructor Documentation

GsPlan() [1/3]

larcfm::GsPlan::GsPlan	(	const Plan &	lpc,
		int	start,
		int	end
	)

Converts a section of a linear plan into a GsPlan. The ground speeds correspond to the speeds in the "lcp" linear plan. However, no route radii values are set using this constructor

Parameters

lpc	linear plan
start	starting index of the section to be used
end	ending index of the section to be used

GsPlan() [2/3]

larcfm::GsPlan::GsPlan

(

const Plan &

lpc

)

Converts a full linear plan into a GsPlan. The ground speeds correspond to the speeds in the "lcp" linear plan. However, no route radii values are set using this constructor.

Parameters

lpc	linear plan

GsPlan() [3/3]

larcfm::GsPlan::GsPlan

(

const GsPlan &

gsp

)

Creates a copy of a GsPlan

Parameters

gsp	ground speed plan

Member Function Documentation

add() [1/3]

void larcfm::GsPlan::add	(	const GsPlan &	p,
		int	ix
	)

add point "ix" from GsPlan "p"

Parameters

p	ground speed plan
ix	index

add() [2/3]

void larcfm::GsPlan::add	(	const Position &	pos,
		const std::string &	label,
		const std::string &	info
	)

This method is primarily added to prevent accidental use of lower level Route method

It makes the ground speed the same as the last one, if there is a previous point, otherwise -1.0

Parameters

pos	position
label	label for this point
info	info string for this point

add() [3/3]

void larcfm::GsPlan::add	(	const Position &	pos,
		const std::string &	label,
		const std::string &	info,
		double	gsOut
	)

Add a position

Parameters

pos	position
label	label for point – if this equals GsPlan.virtualName, then this will become a virtual point when make into a linear plan
info	information for a point
gsOut	ground speed out

addAll()

void larcfm::GsPlan::addAll

(

const GsPlan &

p

)

Add all of the points of GsPlan "p" to this plan

Parameters

p	ground speed plan

append()

GsPlan larcfm::GsPlan::append

(

const GsPlan &

p2

)

Create a new GsPlan that is a copy of this one, then add all the elements from p2 to this new GsPlan

Parameters

p2

point

Returns

groundspeed

closestSegment()

int larcfm::GsPlan::closestSegment

(

const Position &

pos

)

const

Return the segment containing the point closest to the given position.

Parameters

pos

position

Returns

segment number

equals()

bool larcfm::GsPlan::equals

(

const GsPlan &

fp

)

const

test equality of GsPlans

ETA()

double larcfm::GsPlan::ETA

(

bool

linear

)

const

Calculate ETA for this GsPlan

Parameters

linear

false to include kinematic plans

Returns

estimated final time for this plan

findName()

int larcfm::GsPlan::findName

(

const std::string &

nm

)

const

Return the index of first point that has a label equal to the given string -1 if there are no matches.

Parameters

nm

name

Returns

index of name

gs()

double larcfm::GsPlan::gs

(

int

i

)

const

Get groundspeed

Parameters

i

index

Returns

ground speed

linearPlan()

Plan larcfm::GsPlan::linearPlan

(

)

const

Make linear plan from GsPlan. Note: in order to not generate invalid Plans, this ensures each segment has a positive groundspeed (currently ≥ 0.001 m/s)

Returns

plan

makeGsPlanConstant()

GsPlan larcfm::GsPlan::makeGsPlanConstant ( const GsPlan &  gsp, double  gsNew  )

static

Create a new GsPlan from "gsp" with every segment given a ground speed of "gsNew"

Parameters

gsp	The source GsPlan
gsNew	the ground speed used on every segment

Returns

a new GsPlan

mkGsPlanBankAngle()

GsPlan larcfm::GsPlan::mkGsPlanBankAngle ( const Plan &  lpc, double  bankAngle  )

static

Create a route from a linear plan and calculate radii using "bankAngle"

Parameters

lpc	linear plan
bankAngle	bank angle used for turn generation

Returns

a new GsPlan

positionFromDistance()

Position larcfm::GsPlan::positionFromDistance	(	double	dist,
		double	defaultBank,
		bool	linear
	)		const

Position at distance

Parameters

dist	distance to query
defaultBank	default bank angle for turns (overridden by radius)
linear	flag to generate turns

Returns

position at horizontal distance (does not incorporate vertical or ground speed accelerations)

route()

Route larcfm::GsPlan::route

(

)

const

Provide a copy of the route in this GsPlan

Returns

route

set()

void larcfm::GsPlan::set	(	int	ix,
		const Position &	pos,
		const std::string &	label,
		const std::string &	info,
		double	gsOut,
		double	radius
	)

Sets a point

Parameters

ix	index of the point
pos	position
label	label for point – if this equals GsPlan.virtualName, then this will become a virtual point when make into a linear plan
info	information for a point
gsOut	ground speed out of "ix"

setID()

void larcfm::GsPlan::setID

(

const std::string &

s

)

set aircraft id

Parameters

s	string name

setRadius()

void larcfm::GsPlan::setRadius	(	int	i,
		double	rad
	)

Set the radius at point "i" to be "rad"

Parameters

i	index
rad	radius to be stored

velocityFromDistance()

Velocity larcfm::GsPlan::velocityFromDistance	(	double	dist,
		double	defaultBank,
		bool	linear
	)		const

Velocity at distance

Parameters

dist	distance to query
defaultBank	default bank angle for turns (overridden by radius)
linear	flse to generate turns

Returns

velocity at horizontal distance (does not incorporate vertical or ground speed accelerations)

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

• Modules/ACCoRD/inc/GsPlan.h
• Modules/ACCoRD/src/GsPlan.cpp