#include <TurnGeneration.h>

Static Public Member Functions
static Tuple5< NavPoint, NavPoint, NavPoint, int, Position >	turnGenerator (const NavPoint &np1, const NavPoint &np2, const NavPoint &np3, double radius)

static Tuple6< Position, Position, Position, int, double, Position >	turnGenerator (const Position &np1, const Position &np2, const Position &np3, double radius)

static Tuple6< Vect2, Vect2, Vect2, int, double, Vect2 >	turnGeneratorEucl (const Vect2 &pt1, const Vect2 &pt2, const Vect2 &pt3, double radius)

static Tuple6< Vect3, Vect3, Vect3, int, double, Vect3 >	turnGeneratorEucl (const Vect3 &p1, const Vect3 &p2, const Vect3 &p3, double radius)

static Quad< NavPoint, NavPoint, NavPoint, int >	turnGeneratorProjected (const NavPoint &np1, const NavPoint &np2, const NavPoint &np3, double R)

static Tuple6< LatLonAlt, LatLonAlt, LatLonAlt, int, double, LatLonAlt >	turnGeneratorLLA_orig (const LatLonAlt &p1, const LatLonAlt &p2, const LatLonAlt &p3, double radius)

static Tuple5< LatLonAlt, LatLonAlt, LatLonAlt, int, LatLonAlt >	turnGeneratorLLA_Alt2 (const LatLonAlt &p1, const LatLonAlt &p2, const LatLonAlt &p3, double radius)

static Tuple6< LatLonAlt, LatLonAlt, LatLonAlt, int, double, LatLonAlt >	turnGeneratorLLA_Alt3 (const LatLonAlt &p1, const LatLonAlt &p2, const LatLonAlt &p3, double radius)

Static Private Member Functions
static double	arcLengthLLA (const LatLonAlt &bot, const LatLonAlt &intercept, double radius)

static double	Rprime (double TurnRad)

static Vect3	normalvect (const Vect3 &p, const Vect3 &q, const Vect3 &r)

static Vect3	point_on_line (double TurnRad, const Vect3 &p, const Vect3 &q, const Vect3 &r)

static Vect3	turnCenterxyz (double TurnRad, const Vect3 &p, const Vect3 &q, const Vect3 &r)

static Vect3	BOT (double TurnRad, const Vect3 &p, const Vect3 &q, const Vect3 &r)

static Vect3	EOT (double TurnRad, const Vect3 &p, const Vect3 &q, const Vect3 &r)

static int	turnDirection (const Vect3 &p, const Vect3 &q, const Vect3 &r)

Detailed Description

TurnGeneration provides methods to generate the beginning, middle, and end of turn (BOTs, MOTs, and EOTs). This class finds solutions that are based on spherical trigonometry without having to use projections (the original versions of these methods in TrajGen used Euclidean projections).

Member Function Documentation

◆ normalvect()

Vect3 larcfm::TurnGeneration::normalvect	(	const Vect3 &	p,
		const Vect3 &	q,
		const Vect3 &	r
	)

staticprivate

returns a unit normal vector to the plane containing p, q, and the origin, in the direction of r.

Parameters

p	Vect3
q	Vect3
r	Vect3

Returns: Vect3

◆ point_on_line()

Vect3 larcfm::TurnGeneration::point_on_line	(	double	TurnRad,
		const Vect3 &	p,
		const Vect3 &	q,
		const Vect3 &	r
	)

staticprivate

Plane1 is set of all points Rprime(TurnRad) distance from the plane containing p,q,0, in the direction of r Plane2 is set of all points Rprime(TurnRad) distance from the plane containing q,r,0, in the direction of p This function computes one point that is on the line of intersection between these two planes.

Parameters

TurnRad
p
q
r

Returns: Vect3 on the line

◆ Rprime()

double larcfm::TurnGeneration::Rprime ( double TurnRad )

staticprivate

Rprime takes the turnRadius (great circle distance) and returns another distance. Given a point c on the sphere (center of turn, for instance), and given another point p on the sphere that has radius TurnRad (great circle radius), this functions returns the distance (closest) between c and the line through the origin and p.

Parameters

TurnRad

Returns: new radius

◆ turnDirection()

int larcfm::TurnGeneration::turnDirection	(	const Vect3 &	p,
		const Vect3 &	q,
		const Vect3 &	r
	)

staticprivate

p,q,r are assumed to be on the surface of a sphere. This gives 1 for a right turn and -1 for a left turn.

Parameters

p	point
q	point
r	point

Returns: -1 or 1

◆ turnGeneratorEucl() [1/2]

Tuple6< Vect2, Vect2, Vect2, int, double, Vect2 > larcfm::TurnGeneration::turnGeneratorEucl	(	const Vect2 &	pt1,
		const Vect2 &	pt2,
		const Vect2 &	pt3,
		double	radius
	)

static

Return the BOT and EOT trajectory change points for a turn (Horizontal Components Only)

Parameters

np1	Start point of the leg before the turn
np2	Vertex of the turn
np3	End point of the leg after the turn
radius	Radius of the turn

Returns: BOT,MOT,EOT positions, and arclength from BOT to EOT
NOTE: The altitudes are not computed!! velocity in metadata is set correctly for BOT, with track values modified to match the MOT and EOT points

◆ turnGeneratorEucl() [2/2]

Tuple6< Vect3, Vect3, Vect3, int, double, Vect3 > larcfm::TurnGeneration::turnGeneratorEucl	(	const Vect3 &	p1,
		const Vect3 &	p2,
		const Vect3 &	p3,
		double	radius
	)

static

Return the BOT and EOT trajectory change points for a turn (Horizontal Components Only)

Parameters

np1	Start point of the leg before the turn
np2	Vertex of the turn
np3	End point of the leg after the turn
radius	Radius of the turn

Returns: BOT,EOT pair
NOTE: The altitudes are NOT computed velocity in metadata is set correctly for BOT, with track values modified to match the MOT and EOT points

◆ turnGeneratorLLA_Alt2()

Tuple5< LatLonAlt, LatLonAlt, LatLonAlt, int, LatLonAlt > larcfm::TurnGeneration::turnGeneratorLLA_Alt2	(	const LatLonAlt &	p1,
		const LatLonAlt &	p2,
		const LatLonAlt &	p3,
		double	radius
	)

static

Altitudes are not set.

Parameters

p1
p2
p3
radius	as a distance, not an angle

Returns

◆ turnGeneratorLLA_orig()

Tuple6< LatLonAlt, LatLonAlt, LatLonAlt, int, double, LatLonAlt > larcfm::TurnGeneration::turnGeneratorLLA_orig	(	const LatLonAlt &	p1,
		const LatLonAlt &	p2,
		const LatLonAlt &	p3,
		double	radius
	)

static

Altitudes are not set.

Parameters

p1
p2
p3
radius

Returns

◆ turnGeneratorProjected()

Quad< NavPoint, NavPoint, NavPoint, int > larcfm::TurnGeneration::turnGeneratorProjected	(	const NavPoint &	np1,
		const NavPoint &	np2,
		const NavPoint &	np3,
		double	R
	)

static

Return the BOT, MOT, and EOT TCPs for a turn.

Parameters

np1	Start point of the leg before the turn
np2	Vertex of the turn
np3	End point of the leg after the turn
R	Radius of the turn

Returns: BOT,MOT,EOT triple.
NOTE. MOT.alt = np.alt() velocity in metadata is set correctly for BOT, with track values modified to match the MOT and EOT points

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

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

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation

◆ normalvect()

◆ point_on_line()

◆ Rprime()

◆ turnDirection()

◆ turnGeneratorEucl() [1/2]

◆ turnGeneratorEucl() [2/2]

◆ turnGeneratorLLA_Alt2()

◆ turnGeneratorLLA_orig()

◆ turnGeneratorProjected()