DUNE::Simulation::UAVSimulation Class Reference

Classes
class	Error

Public Member Functions
	UAVSimulation (Tasks::Task &task)
	UAVSimulation (const UAVSimulation &simul)
	UAVSimulation (Tasks::Task &task, const double &alt_time_cst)
	UAVSimulation (Tasks::Task &task, const double &bank_time_cst, const double &speed_time_cst)
	UAVSimulation (Tasks::Task &task, const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &vel)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &vel, const double &alt_time_cst)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &alt_time_cst)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst, const double &airspeed_cmd, const double &bank_cmd)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &alt_time_cst)
	UAVSimulation (Tasks::Task &task, const DUNE::Math::Matrix &pos, const DUNE::Math::Matrix &vel, const double &bank_time_cst, const double &speed_time_cst)
	UAVSimulation (Tasks::Task &task, 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 (Tasks::Task &task, 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 (Tasks::Task &task, 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
Tasks::Task &	m_task
std::string	m_sim_type
DUNE::Math::Matrix	m_wind
double	m_timestep_lim

Constructor & Destructor Documentation

DUNE::Simulation::UAVSimulation::UAVSimulation

(

Tasks::Task &

task

)

Constructor.

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

Parameters

[in]

task

- filter parent task.

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

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[in]	alt_time_cst	- altitude time constant

References resetModel().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[in]	bank_time_cst	- bank angle time constant
[in]	speed_time_cst	- airspeed time constant

References resetModel().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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	(	Tasks::Task &	task,
		const DUNE::Math::Matrix &	vel
	)

Constructor.

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

Parameters

[in]	task	- filter parent task.
[in]	vel	- initial velocity vector

References resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[in]	vel	- initial velocity vector
[in]	alt_time_cst	- altitude time constant

References resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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 commandAirspeed(), commandBank(), resetModel(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[in]	pos	- initial position vector
[in]	vel	- initial velocity vector

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

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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 commandAirspeed(), commandBank(), resetModel(), setPosition(), and setVelocity().

DUNE::Simulation::UAVSimulation::UAVSimulation	(	Tasks::Task &	task,
		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]	task	- filter parent task.
[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 commandAirspeed(), commandAlt(), commandBank(), 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 commandBank().

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

References commandAirspeed(), and commandBank().

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 commandAirspeed(), commandAlt(), and commandBank().

void DUNE::Simulation::UAVSimulation::commandAirspeed

(

const double &

airspeed_cmd

)

This method sets the vehicle airspeed command.

Parameters

[in]

airspeed_cmd

- applied airspeed command

References DUNE::Math::isNaN(), m_task, and DUNE::Tasks::Task::war().

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

void DUNE::Simulation::UAVSimulation::commandAlt

(

const double &

altitude_cmd

)

This method sets the vehicle altitude command.

Parameters

[in]

altitude_cmd

- applied altitude command

References DUNE::Math::isNaN(), m_sim_type, m_task, and DUNE::Tasks::Task::war().

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

void DUNE::Simulation::UAVSimulation::commandBank

(

const double &

bank_cmd

)

This method sets the vehicle bank command.

Parameters

[in]

bank_cmd

- applied bank command

References DUNE::Math::isNaN(), m_task, and DUNE::Tasks::Task::war().

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

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

References DUNE::Math::isNaN(), m_task, and DUNE::Tasks::Task::war().

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

References DUNE::Math::isNaN(), m_task, and DUNE::Tasks::Task::war().

double DUNE::Simulation::UAVSimulation::getAirspeed

(

void

)

This method gets the vehicle state.

Returns

airspeed - current aircraft total airspeed

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

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

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

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().

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_sim_type, m_timestep_lim, and m_wind.

void DUNE::Simulation::UAVSimulation::resetModel

(

void

)

This method resets all the vehicle model variables.

References 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 Simulators::UAV::Task::onResourceAcquisition(), Maneuver::VehicleFormation::Coordinator::Task::onUpdateParameters(), 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 Simulators::UAV::Task::onResourceAcquisition(), Maneuver::VehicleFormation::Coordinator::Task::onUpdateParameters(), 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::Coordinator::Task::onUpdateParameters(), and 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, m_task, DUNE::Math::Matrix::rows(), DUNE::Math::Matrix::set(), and DUNE::Tasks::Task::war().

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, m_task, DUNE::Math::Matrix::rows(), DUNE::Math::Matrix::set(), and DUNE::Tasks::Task::war().

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, m_task, m_timestep_lim, and DUNE::Tasks::Task::war().

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 commandBank(), 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 commandAirspeed(), commandBank(), 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 commandAirspeed(), commandAlt(), commandBank(), DUNE::Math::Matrix::get(), m_sim_type, m_task, m_wind, DUNE::Math::Matrix::norm_2(), DUNE::Math::Angles::normalizeRadian(), DUNE::Math::Matrix::set(), DUNE::Math::trimValue(), update(), and DUNE::Tasks::Task::war().

Member Data Documentation

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

Simulation type.

Referenced by commandAlt(), Simulators::UAV::Task::onResourceAcquisition(), Maneuver::VehicleFormation::Coordinator::Task::onUpdateParameters(), Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters(), operator=(), setPosition(), setVelocity(), and update().

Tasks::Task& DUNE::Simulation::UAVSimulation::m_task

Referenced by commandAirspeed(), commandAlt(), commandBank(), commandFPA(), commandPitch(), setPosition(), setVelocity(), and update().

double DUNE::Simulation::UAVSimulation::m_timestep_lim

Time step control.

• If negative, the time step limitation is disabled

Referenced by operator=(), resetModel(), and update().

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

Wind state vector.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::leaderOutput(), Simulators::UAV::Task::onResourceAcquisition(), Simulators::UAV::Task::onUpdateParameters(), operator=(), Maneuver::VehicleFormation::Coordinator::Task::periodicUpdate(), resetModel(), Maneuver::VehicleFormation::Coordinator::Task::setLeaderState(), Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState(), Simulators::UAV::Task::task(), and update().

Collaboration diagram for DUNE::Simulation::UAVSimulation: