DUNE::Simulation::UAVSimulation Class Reference

Classes
class	Error

Public Member Functions
	UAVSimulation (void)
	UAVSimulation (const UAVSimulation &simul)
	UAVSimulation (const double &alt_time_cst)
	UAVSimulation (const double &bank_time_cst, const double &speed_time_cst)
	UAVSimulation (const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &vel)
	UAVSimulation (const DUNE::Math::Matrix &vel, const double &alt_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &airspeed_cmd, const double &bank_cmd)
	UAVSimulation (const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel)
	UAVSimulation (const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &alt_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst)
	UAVSimulation (const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &airspeed_cmd, const double &bank_cmd)
	UAVSimulation (const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst, const double &airspeed_cmd, const double &bank_cmd, const double &altitude_cmd)
void	resetModel (void)
UAVSimulation	update (const double &timestep)
UAVSimulation	update (const double &timestep, const double &bank_cmd)
UAVSimulation	update (const double &timestep, const double &bank_cmd, const double &airspeed_cmd)
UAVSimulation	update (const double &timestep, const double &bank_cmd, const double &airspeed_cmd, const double &altitude_cmd)
void	setCtrl (const double &bank_time_cst, const double &speed_time_cst)
void	setCtrl (const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst)
void	setBankRateLim (const double &bank_rate_lim)
void	setAccelLim (const double &lon_accel_lim)
void	setVertSlopeLim (const double &vert_slope_lim)
DUNE::Math::Matrix	getPosition (void)
DUNE::Math::Matrix	getVelocity (void)
double	getAirspeed (void)
void	setPosition (const DUNE::Math::Matrix &pos)
void	setVelocity (const DUNE::Math::Matrix &vel)
void	command (const double &bank_cmd)
void	command (const double &bank_cmd, const double &airspeed_cmd)
void	command (const double &bank_cmd, const double &airspeed_cmd, const double &altitude_cmd)

Public Attributes
std::string	m_sim_type
double	m_bank_cmd
double	m_airspeed_cmd
double	m_altitude_cmd
DUNE::Math::Matrix	m_wind
double	m_g

Constructor & Destructor Documentation

DUNE::Simulation::UAVSimulation::UAVSimulation

(

void

)

Constructor.

Create a simulation model with null initial state. 3 DOF simulation.

References resetModel().

DUNE::Simulation::UAVSimulation::UAVSimulation

(

const UAVSimulation &

simul

)

Constructor.

Create a simulation model as a copy of another

Parameters

[in]

simul

- simulation model to be replicated

References m_airspeed_cmd, m_altitude_cmd, m_bank_cmd, m_g, m_sim_type, and m_wind.

DUNE::Simulation::UAVSimulation::UAVSimulation

(

const double &

alt_time_cst

)

Constructor.

Create a simulation model with null initial state and the vehicle model parameters. 4 DOF simulation with altitude dynamics.

Parameters

[in]

alt_time_cst

- altitude time constant

References resetModel().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const double &	bank_time_cst,
		const double &	speed_time_cst
	)

Constructor.

Create a simulation model with null initial state and the vehicle model parameters. 4 DOF simulation with bank and speed dynamics.

Parameters

[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant

References resetModel().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	alt_time_cst
	)

Constructor.

Create a simulation model with null initial state and the vehicle model parameters. 5 DOF simulation with bank, speed, and altitude dynamics.

Parameters

[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	alt_time_cst	- altitude time constant

References resetModel().

DUNE::Simulation::UAVSimulation::UAVSimulation

(

const DUNE::Math::Matrix &

vel

)

Constructor.

Create a simulation model based on the initial velocity state. 3 DOF simulation.

Parameters

[in]

vel

- initial velocity vector

References resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	vel,
		const double &	alt_time_cst
	)

Constructor.

Create a simulation model based on the initial velocity state and the vehicle model parameters. 4 DOF simulation with altitude dynamics.

Parameters

[in]	vel	- initial velocity vector
[in]	alt_time_cst	- altitude time constant

References resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst
	)

Constructor.

Create a simulation model based on the initial velocity state and the vehicle model parameters. 4 DOF simulation with bank and speed dynamics.

Parameters

[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant

References resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	alt_time_cst
	)

Constructor.

Create a simulation model based on the initial velocity state and the vehicle model parameters. 5 DOF simulation with bank, speed, and altitude dynamics.

Parameters

[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	alt_time_cst	- altitude time constant

References resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	airspeed_cmd,
		const double &	bank_cmd
	)

Constructor.

Create a simulation model based on the initial velocity state, the vehicle model parameters, and initial commands. 4 DOF simulation with bank and speed dynamics.

Parameters

[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	airspeed_cmd	- applied airspeed command
[in]	bank_cmd	- applied bank command

References m_airspeed_cmd, m_bank_cmd, resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	pos,
		const DUNE::Math::Matrix &	vel
	)

Constructor.

Create a simulation model based on the initial state. 3 DOF simulation.

Parameters

[in]	pos	- initial position vector
[in]	vel	- initial velocity vector

References resetModel(), setPosition(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	pos,
		const DUNE::Math::Matrix &	vel,
		const double &	alt_time_cst
	)

Constructor.

Create a simulation model based on the initial state and the vehicle model parameters. 4 DOF simulation with altitude dynamics.

Parameters

[in]	pos	- initial position vector
[in]	vel	- initial velocity vector
[in]	alt_time_cst	- altitude time constant

References resetModel(), setPosition(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	pos,
		const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst
	)

Constructor.

Create a simulation model based on the initial state and the vehicle model parameters. 4 DOF simulation with bank and speed dynamics.

Parameters

[in]	pos	- initial position vector
[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant

References resetModel(), setPosition(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	pos,
		const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	alt_time_cst
	)

Constructor.

Create a simulation model based on the initial state and the vehicle model parameters. 5 DOF simulation with bank, speed, and altitude dynamics.

Parameters

[in]	pos	- initial position vector
[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	alt_time_cst	- altitude time constant

References resetModel(), setPosition(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	pos,
		const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	airspeed_cmd,
		const double &	bank_cmd
	)

Constructor.

Create a simulation model based on the initial state, the vehicle model parameters, and initial commands. 4 DOF simulation with bank and speed dynamics.

Parameters

[in]	pos	- initial position vector
[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	airspeed_cmd	- applied airspeed command
[in]	bank_cmd	- applied bank command

References m_airspeed_cmd, m_bank_cmd, resetModel(), setPosition(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	const DUNE::Math::Matrix &	pos,
		const DUNE::Math::Matrix &	vel,
		const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	alt_time_cst,
		const double &	airspeed_cmd,
		const double &	bank_cmd,
		const double &	altitude_cmd
	)

Constructor.

Create a simulation model based on the initial state, the vehicle model parameters, and initial commands. 5 DOF simulation with bank, speed, and altitude dynamics.

Parameters

[in]	pos	- initial position vector
[in]	vel	- initial velocity vector
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	alt_time_cst	- altitude time constant
[in]	airspeed_cmd	- applied airspeed command
[in]	bank_cmd	- applied bank command
[in]	altitude_cmd	- applied altitude command

References m_airspeed_cmd, m_altitude_cmd, m_bank_cmd, resetModel(), setPosition(), and setVelocity().

Member Function Documentation

void DUNE::Simulation::UAVSimulation::command

(

const double &

bank_cmd

)

This method sets the vehicle control commands.

Parameters

[in]

bank_cmd

- applied bank command

References m_bank_cmd.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), Simulators::UAV::Task::onResourceAcquisition(), Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition(), and Maneuver::VehicleFormation::FormCollAvoid::Task::teamPeriodicUpdate().

void DUNE::Simulation::UAVSimulation::command	(	const double &	bank_cmd,
		const double &	airspeed_cmd
	)

This method sets the vehicle control commands.

Parameters

[in]	bank_cmd	- applied bank command
[in]	airspeed_cmd	- applied airspeed command

References m_airspeed_cmd, and m_bank_cmd.

void DUNE::Simulation::UAVSimulation::command	(	const double &	bank_cmd,
		const double &	airspeed_cmd,
		const double &	altitude_cmd
	)

This method sets the vehicle control commands.

Parameters

[in]	bank_cmd	- applied bank command
[in]	airspeed_cmd	- applied airspeed command
[in]	altitude_cmd	- applied altitude command

References m_airspeed_cmd, m_altitude_cmd, m_bank_cmd, and m_sim_type.

double DUNE::Simulation::UAVSimulation::getAirspeed

(

void

)

This method gets the vehicle state.

Returns

airspeed - current aircraft total airspeed

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::task().

DUNE::Math::Matrix DUNE::Simulation::UAVSimulation::getPosition

(

void

)

This method gets the vehicle state.

Returns

pos - current position vector

Referenced by Simulators::UAV::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState(), Simulators::UAV::Task::task(), Maneuver::VehicleFormation::FormCollAvoid::Task::task(), and Maneuver::VehicleFormation::FormCollAvoid::Task::teamUnevenUpdate().

DUNE::Math::Matrix DUNE::Simulation::UAVSimulation::getVelocity

(

void

)

This method gets the vehicle state.

Returns

vel - current velocity vector

Referenced by Simulators::UAV::Task::task(), Maneuver::VehicleFormation::FormCollAvoid::Task::task(), and Maneuver::VehicleFormation::FormCollAvoid::Task::teamUnevenUpdate().

void DUNE::Simulation::UAVSimulation::resetModel

(

void

)

This method resets all the vehicle model variables.

References m_airspeed_cmd, m_altitude_cmd, m_bank_cmd, m_g, m_wind, and DUNE::Math::Matrix.

Referenced by UAVSimulation().

void DUNE::Simulation::UAVSimulation::setAccelLim

(

const double &

lon_accel_lim

)

This method sets the vehicle model longitudinal acceleration operation constraint.

Parameters

[in]

lon_accel_lim

- longitudinal acceleration limit

Referenced by Simulators::UAV::Task::onResourceAcquisition(), and Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition().

void DUNE::Simulation::UAVSimulation::setBankRateLim

(

const double &

bank_rate_lim

)

This method sets the vehicle model bank rate operation constraint.

Parameters

[in]

bank_rate_lim

- bank rate limit

Referenced by Simulators::UAV::Task::onResourceAcquisition(), and Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition().

void DUNE::Simulation::UAVSimulation::setCtrl	(	const double &	bank_time_cst,
		const double &	speed_time_cst
	)

This method sets the vehicle model control parameters.

Parameters

[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant

void DUNE::Simulation::UAVSimulation::setCtrl	(	const double &	bank_time_cst,
		const double &	speed_time_cst,
		const double &	alt_time_cst
	)

This method sets the vehicle model control parameters.

Parameters

[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant
[in]	alt_time_cst	- altitude time constant

void DUNE::Simulation::UAVSimulation::setPosition

(

const DUNE::Math::Matrix &

pos

)

This method sets the vehicle state.

Parameters

[in]

pos

- new position vector

References DUNE::Math::Matrix::rows(), and DUNE::Math::Matrix::set().

Referenced by Simulators::UAV::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState(), and UAVSimulation().

void DUNE::Simulation::UAVSimulation::setVelocity

(

const DUNE::Math::Matrix &

vel

)

This method sets the vehicle state.

Parameters

[in]

vel

- new velocity vector

References DUNE::Math::Matrix::rows(), and DUNE::Math::Matrix::set().

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState(), and UAVSimulation().

void DUNE::Simulation::UAVSimulation::setVertSlopeLim

(

const double &

vert_slope_lim

)

This method sets the vehicle model vertical slope operation constraint.

Parameters

[in]

vert_slope_lim

- vertical slope limit

Referenced by Simulators::UAV::Task::onResourceAcquisition().

UAVSimulation DUNE::Simulation::UAVSimulation::update

(

const double &

timestep

)

This method updates the simulated state with the defined time step.

Parameters

[in]

timestep

- time step for the update

Returns

the updated state

References m_sim_type.

Referenced by Simulators::UAV::Task::task(), Maneuver::VehicleFormation::FormCollAvoid::Task::task(), Maneuver::VehicleFormation::FormCollAvoid::Task::teamPeriodicUpdate(), Maneuver::VehicleFormation::FormCollAvoid::Task::teamUnevenUpdate(), and update().

UAVSimulation DUNE::Simulation::UAVSimulation::update	(	const double &	timestep,
		const double &	bank_cmd
	)

This method updates the simulated state with the defined time step and controls.

Parameters

[in]	timestep	- time step for the update
[in]	bank_cmd	- applied bank command

Returns

the updated state

References m_bank_cmd, and update().

UAVSimulation DUNE::Simulation::UAVSimulation::update	(	const double &	timestep,
		const double &	bank_cmd,
		const double &	airspeed_cmd
	)

This method updates the simulated state with the defined time step and controls.

Parameters

[in]	timestep	- time step for the update
[in]	bank_cmd	- applied bank command
[in]	airspeed_cmd	- applied airspeed command

Returns

the updated state

References m_airspeed_cmd, m_bank_cmd, and update().

UAVSimulation DUNE::Simulation::UAVSimulation::update	(	const double &	timestep,
		const double &	bank_cmd,
		const double &	airspeed_cmd,
		const double &	altitude_cmd
	)

This method updates the simulated state with the defined time step and controls.

Parameters

[in]	timestep	- time step for the update
[in]	bank_cmd	- applied bank command
[in]	airspeed_cmd	- applied airspeed command
[in]	altitude_cmd	- applied altitude command

Returns

the updated state

References m_airspeed_cmd, m_altitude_cmd, m_bank_cmd, and update().

Member Data Documentation

double DUNE::Simulation::UAVSimulation::m_airspeed_cmd

• Airspeed

Referenced by command(), Simulators::UAV::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), resetModel(), Maneuver::VehicleFormation::FormCollAvoid::Task::task(), UAVSimulation(), and update().

double DUNE::Simulation::UAVSimulation::m_altitude_cmd

• Altitude

Referenced by command(), Simulators::UAV::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), resetModel(), UAVSimulation(), and update().

double DUNE::Simulation::UAVSimulation::m_bank_cmd

Control commands.

• Bank

Referenced by command(), Simulators::UAV::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), resetModel(), Maneuver::VehicleFormation::FormCollAvoid::Task::task(), UAVSimulation(), and update().

double DUNE::Simulation::UAVSimulation::m_g

Gravity acceleration.

Referenced by resetModel(), and UAVSimulation().

std::string DUNE::Simulation::UAVSimulation::m_sim_type

Simulation type.

Referenced by command(), Simulators::UAV::Task::onResourceAcquisition(), Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition(), UAVSimulation(), and update().

DUNE::Math::Matrix DUNE::Simulation::UAVSimulation::m_wind

Wind state vector.

Referenced by resetModel(), Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState(), Simulators::UAV::Task::task(), Maneuver::VehicleFormation::FormCollAvoid::Task::task(), and UAVSimulation().

Collaboration diagram for DUNE::Simulation::UAVSimulation: