#include <ProjectedKinematics.h>

Static Public Member Functions
static double	turnAngle (Position s1, Position s2, double R)

static double	turnDistance (Position s1, Position s2, double R)

static bool	clockwise (Position s1, Velocity v1, Position s2)

static double	closestDistOnTurn (const Position &turnstart, const Velocity &v1, double R, int dir, const Position &x, double endDist)

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

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

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 accel)

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

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

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

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 >	linear (std::pair< Position, Velocity > p, double t)

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

static std::pair< Position, double >	intersection (const Position &so, const Velocity &vo, const Position &si, const Velocity &vi)

static double	timeOfintersection (const Position &so, const Velocity &vo, const Position &si, const Velocity &vi)

static Quad< Position, Velocity, double, int >	directToPoint (const Position &so, const Velocity &vo, const Position &wp, double R)

static Triple< Position, double, double >	genDirectToVertex (const Position &sop, const Velocity &vo, const Position &wpp, double bankAngle, double timeBeforeTurn)

static Triple< Position, Velocity, double >	vsLevelOutFinal (const Position &so, const Velocity &vo, double climbRate, double targetAlt, double a)

static double	vsLevelOutTime (const Position &so, const Velocity &vo, double climbRate, double targetAlt, double a)

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

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

◆ clockwise()

bool larcfm::ProjectedKinematics::clockwise	(	Position	s1,
		Velocity	v1,
		Position	s2
	)

static

Given two points on a turn and the velocity (direction) at the first point, determine the direction for the shortest turn going through the second point, returning true if that relative direction is to the right

Parameters

s1
v1
s2

Returns: true if clockwise turn

Given two points on a turn and the velocity (direction) at the first point, determine the direction for the shortest turn going through the second point, returning true if that relative direction is to the right

◆ closestDistOnTurn()

double larcfm::ProjectedKinematics::closestDistOnTurn	(	const Position &	turnstart,
		const Velocity &	v1,
		double	R,
		int	dir,
		const Position &	x,
		double	endDist
	)

static

Return distance along turn where x is closest to. This returns -1 if x is at the turn's center

Parameters

turnstart	starting position of turn
v1	velocity
R	turn radius
dir	+1 = turn right, -1 turn left
x	a position
endDist	end distance of turn

Returns: distance along turn

◆ directToPoint()

Quad< Position, Velocity, double, int > larcfm::ProjectedKinematics::directToPoint	(	const Position &	so,
		const Velocity &	vo,
		const Position &	wp,
		double	R
	)

static

Wrapper around Kinematic.turnTimeDirecTo() Returns a triple: end of turn point, velocity at that point, time at that point

◆ genDirectToVertex()

Triple< Position, double, double > larcfm::ProjectedKinematics::genDirectToVertex	(	const Position &	sop,
		const Velocity &	vo,
		const Position &	wpp,
		double	bankAngle,
		double	timeBeforeTurn
	)

static

Wrapper around Kinematic.genDirectToVertex Returns the vertex point (in a linear plan sense) between current point and directTo point.

Parameters

so	current position
vo	current velocity
wp	first point (in a flight plan) that you are trying to connect to
bankAngle	turn bank angle
timeBeforeTurn	time to continue in current direction before beginning turn

Returns: (so,t0,t1) vertex point and delta time to reach the vertex point and delta time (from so) to reach end of turn If no result is possible this will return an invalid position and negative times.

◆ turnAngle()

double larcfm::ProjectedKinematics::turnAngle	(	Position	s1,
		Position	s2,
		double	R
	)

static

Calculate the angle of a constant-radius turn from two points and the radius

Parameters

s1
s2
R

Returns: the turn angle

Calculate the angle of a constant-radius turn from two points and the radius

◆ turnDistance()

double larcfm::ProjectedKinematics::turnDistance	(	Position	s1,
		Position	s2,
		double	R
	)

static

Horizontal distance covered in a turn

Parameters

s1
s2
R

Returns: the turn distance

Horizontal distance covered in a turn

◆ turnOmega() [1/2]

std::pair< Position, Velocity > larcfm::ProjectedKinematics::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. This is a wrapper around turnPosition and turnVelocity for Position objects,and uses the projection defined in the static Projection class.

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::ProjectedKinematics::turnOmega	(	const Position &	so,
		const Velocity &	vo,
		double	t,
		double	omega,
		const EuclideanProjection &	proj
	)

static

Position and velocity after t time units turning in direction "dir" with radius R. This is a wrapper around turnPosition and turnVelocity for Position objects,and uses the projection defined in the static Projection class.

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::ProjectedKinematics::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. This is a wrapper around turnUntil and uses the projection defined in the static Projection class.

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

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

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

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ clockwise()

◆ closestDistOnTurn()

◆ directToPoint()

◆ genDirectToVertex()

◆ turnAngle()

◆ turnDistance()

◆ turnOmega() [1/2]

◆ turnOmega() [2/2]

◆ turnUntil()