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)

UAVSimulation &	operator= (const UAVSimulation &model)

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)

double	getBankCmd (void)

double	getAirspeedCmd (void)

double	getAltCmd (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)

void	commandBank (const double &bank_cmd)

void	commandAirspeed (const double &airspeed_cmd)

void	commandAlt (const double &altitude_cmd)

void	commandFPA (const double &fpa_cmd)

void	commandPitch (const double &pitch_cmd)

Public Attributes
std::string	m_sim_type

DUNE::Math::Matrix	m_wind

double	m_g

double	m_timestep_lim

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_g, m_sim_type, m_timestep_lim, 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 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 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 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

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

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

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_sim_type.

void DUNE::Simulation::UAVSimulation::commandAirspeed ( const double & airspeed_cmd )

This method sets the vehicle airspeed command.

Parameters

[in] airspeed_cmd - applied airspeed command

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

void DUNE::Simulation::UAVSimulation::commandAlt ( const double & altitude_cmd )

This method sets the vehicle altitude command.

Parameters

[in] altitude_cmd - applied altitude command

References m_sim_type.

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

void DUNE::Simulation::UAVSimulation::commandBank ( const double & bank_cmd )

This method sets the vehicle bank command.

Parameters

[in] bank_cmd - applied bank command

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

void DUNE::Simulation::UAVSimulation::commandFPA ( const double & fpa_cmd )

This method sets the vehicle flight path angle command.

Parameters

[in] fpa_cmd - applied flight path angle command

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

void DUNE::Simulation::UAVSimulation::commandPitch ( const double & pitch_cmd )

This method sets the vehicle pitch command.

Parameters

[in] pitch_cmd - applied pitch command

double DUNE::Simulation::UAVSimulation::getAirspeed ( void )

This method gets the vehicle state.

Returns: airspeed - current aircraft total airspeed

Referenced by Maneuver::VehicleFormation::Coordinator::Task::periodicUpdate(), and Maneuver::VehicleFormation::FormCollAvoid::Task::teamPeriodicUpdate().

double DUNE::Simulation::UAVSimulation::getAirspeedCmd ( void )

This method gets the vehicle airspeed command.

Returns: airspeed command

double DUNE::Simulation::UAVSimulation::getAltCmd ( void )

This method gets the vehicle altitude command.

Returns: altitude command

double DUNE::Simulation::UAVSimulation::getBankCmd ( void )

This method gets the vehicle bank command.

Returns: bank command

DUNE::Math::Matrix DUNE::Simulation::UAVSimulation::getPosition ( void )

This method gets the vehicle state.

Returns: pos - current position vector

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

UAVSimulation & DUNE::Simulation::UAVSimulation::operator= ( const UAVSimulation & model )

This method assigns a UAVSimulation with another UAVSimulation.

Parameters

[in] model reference to UAV simulation model to be assigned

Returns: reference to resultant UAV simulation model

References m_g, m_sim_type, m_timestep_lim, and m_wind.

void DUNE::Simulation::UAVSimulation::resetModel ( void )

This method resets all the vehicle model variables.

References m_g, m_timestep_lim, 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 Maneuver::VehicleFormation::Coordinator::Task::onEntityResolution(), Simulators::UAV::Task::onResourceAcquisition(), and Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters().

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 Maneuver::VehicleFormation::Coordinator::Task::onEntityResolution(), Simulators::UAV::Task::onResourceAcquisition(), and Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters().

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

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

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

Referenced by Simulators::UAV::Task::consume(), Maneuver::VehicleFormation::Coordinator::Task::setLeaderState(), 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 m_sim_type, DUNE::Math::Matrix::rows(), and DUNE::Math::Matrix::set().

Referenced by Maneuver::VehicleFormation::Coordinator::Task::setLeaderState(), 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, and m_timestep_lim.

Referenced by Maneuver::VehicleFormation::Coordinator::Task::periodicUpdate(), Simulators::UAV::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 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 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