WsfSixDOF_ManeuverConstraint¶
- WsfSixDOF_ManeuverConstraint
Overview¶
Maneuver constraints specify the conditions under which a maneuver will begin executing, and when a maneuver will be considered to be completed. A constraint can be executed multiple times during the lifetime of a maneuver. Each WsfSixDOF_Maneuver can support one entry and one exit constraint.
Creation Methods¶
- WsfSixDOF_ManeuverConstraint AT_TIME(double aTime)¶
Return a constraint that will become satisfied only once the given absolute time is reached.
- WsfSixDOF_ManeuverConstraint AT_RELATIVE_TIME(double aRelativeTime)¶
Return a constraint that will become satisfied the given time after the assignment time of the constraint. The assignment time of the constraint is the time at which the associated maneuver becomes pending (for an entry constraint) or completing (for an exit constraint).
- WsfSixDOF_ManeuverConstraint AT_ROLL_ANGLE(double aRollAngleDeg)¶
Return a constraint that will become satisfied when the platform to which the maneuver associated with this constraint is assigned reaches a certain roll angle in degrees.
The constraint is considered satisfied when the mover’s roll angle crosses over aRollAngleDeg or is observed within 0.01 radians of aRollAngleDeg.
- WsfSixDOF_ManeuverConstraint AT_PITCH_ANGLE(double aPitchAngleDeg)¶
Return a constraint that will become satisfied when the platform to which the maneuver associated with this constraint is assigned reaches a certain pitch angle in degrees.
The constraint is considered satisfied when the mover’s pitch angle crosses over aPitchAngleDeg or is observed within 0.01 radians of aPitchAngleDeg.
- WsfSixDOF_ManeuverConstraint AT_HEADING(double aHeadingDeg)¶
Return a constraint that will become satisfied when the platform to which the maneuver associated with this constraint is assigned reaches a certain heading in degrees.
The constraint is considered satisfied when the mover’s heading angle crosses over aHeadingDeg or is observed within 0.005 radians of aHeadingDeg.
- WsfSixDOF_ManeuverConstraint AT_ALTITUDE(double aAltitudeMeters)¶
Return a constraint that will become satisfied when the platform to which the maneuver associated with this constraint is assigned reaches a certain altitude in meters.
The constraint is considered satisfied when the mover’s altitude crosses over aAltitudeMeters or is observed within 50 meters of aAltitudeMeters.
- WsfSixDOF_ManeuverConstraint AT_FLIGHT_PATH_ANGLE(double aPathAngleDeg)¶
Return a constraint that will become satisfied when the platform to which the maneuver associated with this constraint is assigned reaches a certain flight path angle in degrees.
The constraint is considered satisfied when the mover’s flight path angle crosses over aPathAngleDeg or is observed within 0.01 radians of aPathAngleDeg.
- WsfSixDOF_ManeuverConstraint SCRIPT(string aSatisfied, string aNextEvaluation)¶
Return a constraint that will use the named user-supplied scripts in the global context to perform the work of the constraint. The first script will be executed to determine if the constraint is satisfied. If not, then the second script will be executed to determine the next time to perform the evaluation test. Both scripts need to take two arguments: the first, a double, is the assignment time of the constraint; the second, a WsfSixDOF_Mover is the mover to which the associated maneuver is assigned. The first script should return a boolean value indicating if the constraint is satisfied. The second script should return a double giving the time that the constraint should next be evaluated.
For example, to reproduce the behavior of the constraints returned by WsfSixDOF_ManeuverConstraint.AT_RELATIVE_TIME, one could use the following scripts:
script_variables double aRelativeTime = 3.0; end_script_variables script bool AtRelativeTimeEvaluator(double aAssignTime, WsfSixDOF_Mover aMover) return TIME_NOW >= aAssignTime + aRelativeTime; end_script script double AtRelativeTimeNextEvaluation(double aAssignTime, WsfSixDOF_Mover aMover) return aAssignTime + aRelativeTime; end_script ... WsfSixDOF_ManeuverConstraint constraint = WsfSixDOF_ManeuverConstraint.SCRIPT("AtRelativeTimeEvaluator", "AtRelativeTimeNextEvaluation"); ...
