#include <KinematicsPosition.h>

Static Public Member Functions
static std::pair< Position, Velocity >	linear (std::pair< Position, Velocity > p, double t)

static std::pair< Position, Velocity >	linear (const Position &so, const Velocity &vo, double t)

static std::pair< Position, Velocity >	turn (const Position &so, const Velocity &vo, double t, double R, bool turnRight)

static std::pair< Position, Velocity >	turnOmega (const Position &so, const Velocity &vo, double t, double omega)

static std::pair< Position, Velocity >	turnOmega (std::pair< Position, Velocity > pp, double t, double omega)

static std::pair< Position, Velocity >	turnByDist2D (const Position &so, const Position &center, int dir, double d, double gsAt_d)

static Position	turnByDist2D (const Position &so, const Position &center, int dir, double d)

static Position	turnByAngle2D (const Position &so, const Position &center, double alpha)

static std::pair< Position, Velocity >	turnUntil (const Position &so, const Velocity &vo, double t, double goalTrack, double bankAngle)

static std::pair< Position, Velocity >	turnUntil (std::pair< Position, Velocity > sv, double t, double goalTrack, double bankAngle)

static std::pair< Position, Velocity >	turnUntilTimeOmega (const Position &so, const Velocity &vo, double t, double turnTime, double omega)

static std::pair< Position, Velocity >	turnUntilTimeOmega (std::pair< Position, Velocity > sv, double t, double turnTime, double omega)

static std::pair< Position, Velocity >	turnUntilTime (const Position &so, const Velocity &vo, double t, double turnTime, double R, bool turnRight)

static std::pair< Position, Velocity >	gsAccel (const Position &so, const Velocity &vo, double t, double a)

static std::pair< Position, Velocity >	gsAccelUntil (const Position &so, const Velocity &vo, double t, double goalGs, double a)

static std::pair< Position, Velocity >	vsAccel (const Position &so, const Velocity &vo, double t, double a)

static std::pair< double, double >	vsAccelZonly (const Position &so, double voz, double t, double a)

static std::pair< Position, Velocity >	vsAccelUntil (const Position &so, const Velocity &vo, double t, double goalVs, double a)

static std::pair< Position, Velocity >	vsLevelOut (std::pair< Position, Velocity > sv0, double t, double climbRate, double targetAlt, double accelUp, double accelDown, bool allowClimbRateChange)

static std::pair< Position, Velocity >	vsLevelOut (std::pair< Position, Velocity > sv0, double t, double climbRate, double targetAlt, double a, bool allowClimbRateChange)

static std::pair< Position, Velocity >	vsLevelOut (std::pair< Position, Velocity > sv0, double t, double climbRate, double targetAlt, double a)

static Position	centerFromRadius (const Position &bot, double signedRadius, double trkIn)

Detailed Description

This class contains versions of the Kinematics functions that have been lifted to deal with Position objects instead of Vect3 objects.

Member Function Documentation

◆ gsAccel()

std::pair< Position, Velocity > larcfm::KinematicsPosition::gsAccel	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	a
	)

static

Position and velocity after t time units accelerating vertically.

Parameters

so	starting position
vo	initial velocity
a	vertical speed acceleration (or deceleration) (signed)
t	time of turn [secs]

Returns: Position and Velocity after t time

◆ gsAccelUntil()

std::pair< Position, Velocity > larcfm::KinematicsPosition::gsAccelUntil	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	goalGs,
		double	a
	)

static

Position and velocity after t time units accelerating horizontally.

Parameters

so	starting position
vo	initial velocity
a	ground speed acceleration (or deceleration) (positive)
t	time of turn [secs]

Returns: Position and Velocity after t time

◆ turn()

std::pair< Position, Velocity > larcfm::KinematicsPosition::turn	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	R,
		bool	turnRight
	)

static

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
R	turn radius
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
R	turn radius
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

◆ turnByAngle2D()

Position larcfm::KinematicsPosition::turnByAngle2D	(	const Position &	so,
		const Position &	center,
		double	alpha
	)

static

Position/Velocity after turning (does not compute altitude!!)

Note: will be used in a context where altitude is computing subsequently

Parameters

so	starting position
center	center of turn
alpha	turn angle (signed: positive: turn right, negative: turn left);

Returns: Position after turning distance d

◆ turnByDist2D() [1/2]

Position larcfm::KinematicsPosition::turnByDist2D	(	const Position &	so,
		const Position &	center,
		int	dir,
		double	d
	)

static

Advance in turn starting at so by distance d

Parameters

so	starting position
center	center of turn
dir	direction of turn
d	distance to turn (can be negative)

Returns: position after turning distance d

◆ turnByDist2D() [2/2]

std::pair< Position, Velocity > larcfm::KinematicsPosition::turnByDist2D	(	const Position &	so,
		const Position &	center,
		int	dir,
		double	d,
		double	gsAt_d
	)

static

Advance in turn starting at "s0" by distance "d"

Parameters

so	starting position
center	center of turn
dir	direction of turn
d	distance to turn

Returns: position and velocity after turning distance "d"

◆ turnOmega() [1/2]

std::pair< Position, Velocity > larcfm::KinematicsPosition::turnOmega	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	omega
	)

static

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
R	turn radius
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

◆ turnOmega() [2/2]

std::pair< Position, Velocity > larcfm::KinematicsPosition::turnOmega	(	std::pair< Position, Velocity >	pp,
		double	t,
		double	omega
	)

static

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
R	turn radius
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

◆ turnUntil()

std::pair< Position, Velocity > larcfm::KinematicsPosition::turnUntil	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	goalTrack,
		double	bankAngle
	)

static

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
goalTrack	the target track angle
bankAngle	the aircraft's bank angle
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

◆ turnUntilTime()

std::pair< Position, Velocity > larcfm::KinematicsPosition::turnUntilTime	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	turnTime,
		double	R,
		bool	turnRight
	)

static

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
goalTrack	the target track angle
bankAngle	the aircraft's bank angle
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

◆ turnUntilTimeOmega()

std::pair< Position, Velocity > larcfm::KinematicsPosition::turnUntilTimeOmega	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	turnTime,
		double	omega
	)

static

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
goalTrack	the target track angle
bankAngle	the aircraft's bank angle
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

Position and velocity after t time units turning in direction "dir" with radius R.

Parameters

so	starting position
vo	initial velocity
goalTrack	the target track angle
bankAngle	the aircraft's bank angle
t	time of turn [secs]
turnRight	true iff only turn direction is to the right

Returns: Position and Velocity after t time

◆ vsAccel()

std::pair< Position, Velocity > larcfm::KinematicsPosition::vsAccel	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	a
	)

static

Position and velocity after t time units accelerating vertically.

Parameters

so	starting position
vo	initial velocity
a	vertical speed acceleration (or deceleration) (signed)
t	time of turn [secs]

Returns: Position and Velocity after t time

◆ vsAccelUntil()

std::pair< Position, Velocity > larcfm::KinematicsPosition::vsAccelUntil	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	goalVs,
		double	a
	)

static

Position and velocity after t time units accelerating vertically.

Parameters

so	starting position
vo	initial velocity
a	vertical speed acceleration (a positive value)
t	time of turn [secs]

Returns: Position and Velocity after t time

◆ vsAccelZonly()

std::pair< double, double > larcfm::KinematicsPosition::vsAccelZonly	(	const Position &	so,
		double	voz,
		double	t,
		double	a
	)

static

altitude and vertical speed after t time units accelerating vertically.

Parameters

so	starting position
vos	initial vertical speed
a	vertical speed acceleration (or deceleration) (signed)
t	time of turn [secs]

Returns: altitude and vs after time t

Position and velocity after t time units accelerating vertically.

Parameters

so	starting position
vo	initial velocity
a	vertical speed acceleration (or deceleration) (signed)
t	time of turn [secs]

Returns: Position and Velocity after t time

◆ vsLevelOut()

std::pair< Position, Velocity > larcfm::KinematicsPosition::vsLevelOut	(	std::pair< Position, Velocity >	sv0,
		double	t,
		double	climbRate,
		double	targetAlt,
		double	accelUp,
		double	accelDown,
		bool	allowClimbRateChange
	)

static

returns Pair that contains position and velocity at time t due to level out maneuver

Parameters

sv0	current position and velocity vectors
t	time point of interest
climbRate	climb rate
targetAlt	target altitude
accelUp	first acceleration
accelDown	second acceleration
allowClimbRateChange	allows climbRate to change to initial velocity if it can help.

Returns

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

Modules/ACCoRD/inc/KinematicsPosition.h
Modules/ACCoRD/src/KinematicsPosition.cpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ gsAccel()

◆ gsAccelUntil()

◆ turn()

◆ turnByAngle2D()

◆ turnByDist2D() [1/2]

◆ turnByDist2D() [2/2]

◆ turnOmega() [1/2]

◆ turnOmega() [2/2]

◆ turnUntil()

◆ turnUntilTime()

◆ turnUntilTimeOmega()

◆ vsAccel()

◆ vsAccelUntil()

◆ vsAccelZonly()

◆ vsLevelOut()