larcfm::ProjectedKinematics Class Reference

#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

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

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