FGWaypoint Class Reference

Detailed Description

Models a Waypoint object.

The waypoint_heading component returns the heading to a specified waypoint lat/long from another specified point. The waypoint_distance component returns the distance between

<waypoint_heading name="component_name" unit="DEG|RAD">
  <target_latitude unit="DEG|RAD">  property_name </target_latitude>
  <target_longitude unit="DEG|RAD"> property_name </target_longitude>
  <source_latitude unit="DEG|RAD">  property_name </source_latitude>
  <source_longitude unit="DEG|RAD"> property_name </source_longitude>
  [<clipto>
    <min> {[-]property name | value} </min>
    <max> {[-]property name | value} </max>
  </clipto>]
  [<output> {property} </output>]
</waypoint_heading>
 
<waypoint_distance name="component_name" unit="FT|M">
  <target_latitude unit="DEG|RAD">  property_name </target_latitude>
  <target_longitude unit="DEG|RAD"> property_name </target_longitude>
  <source_latitude unit="DEG|RAD">  property_name </source_latitude>
  <source_longitude unit="DEG|RAD"> property_name </source_longitude>
  [<radius> {value} </radius>]
  [<clipto>
    <min> {[-]property name | value} </min>
    <max> {[-]property name | value} </max>
  </clipto>]
  [<output> {property} </output>]
</waypoint_distance>

Author

Jon S. Berndt

Definition at line 97 of file FGWaypoint.h.

#include <FGWaypoint.h>

Inheritance diagram for FGWaypoint:

Collaboration diagram for FGWaypoint:

Public Member Functions
	FGWaypoint (FGFCS *fcs, Element *element)
bool	Run (void) override
Public Member Functions inherited from FGFCSComponent
	FGFCSComponent (FGFCS *fcs, Element *el)
	Constructor.
virtual	~FGFCSComponent ()
	Destructor.
std::string	GetName (void) const
double	GetOutput (void) const
virtual double	GetOutputPct (void) const
std::string	GetType (void) const
virtual void	ResetPastStates (void)
virtual void	SetOutput (void)
Public Member Functions inherited from FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.
virtual	~FGJSBBase ()
	Destructor for FGJSBBase.
void	disableHighLighting (void)
	Disables highlighting in the console output.

Additional Inherited Members
Public Types inherited from FGJSBBase
enum	{ eL = 1 , eM , eN }
	Moments L, M, N. More...
enum	{ eP = 1 , eQ , eR }
	Rates P, Q, R. More...
enum	{ eU = 1 , eV , eW }
	Velocities U, V, W. More...
enum	{ eX = 1 , eY , eZ }
	Positions X, Y, Z. More...
enum	{ ePhi = 1 , eTht , ePsi }
	Euler angles Phi, Theta, Psi. More...
enum	{ eDrag = 1 , eSide , eLift }
	Stability axis forces, Drag, Side force, Lift. More...
enum	{ eRoll = 1 , ePitch , eYaw }
	Local frame orientation Roll, Pitch, Yaw. More...
enum	{ eNorth = 1 , eEast , eDown }
	Local frame position North, East, Down. More...
enum	{ eLat = 1 , eLong , eRad }
	Locations Radius, Latitude, Longitude. More...
enum	{   inNone = 0 , inDegrees , inRadians , inMeters ,   inFeet }
	Conversion specifiers. More...
Static Public Member Functions inherited from FGJSBBase
static const std::string &	GetVersion (void)
	Returns the version number of JSBSim.
static constexpr double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit.
static constexpr double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine.
static constexpr double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius.
static constexpr double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine.
static constexpr double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin.
static constexpr double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius.
static constexpr double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit.
static constexpr double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin.
static constexpr double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius.
static constexpr double	FeetToMeters (double measure)
	Converts from feet to meters.
static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison.
static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison.
static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison.
static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison.
static constexpr double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.
static constexpr double	sign (double num)
Static Public Attributes inherited from FGJSBBase
static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text
static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text
static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text
static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties
static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text
static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off
static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text
static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text
static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text
static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text
static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text
static short	debug_lvl = 1
Protected Member Functions inherited from FGFCSComponent
virtual void	bind (Element *el, FGPropertyManager *pm)
void	CheckInputNodes (size_t MinNodes, size_t MaxNodes, Element *el)
void	Clip (void)
void	Delay (void)
Static Protected Member Functions inherited from FGJSBBase
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)
Protected Attributes inherited from FGFCSComponent
bool	clip
FGParameter_ptr	ClipMax
FGParameter_ptr	ClipMin
bool	cyclic_clip
unsigned int	delay
double	delay_time
double	dt
FGFCS *	fcs
int	index
std::vector< FGPropertyValue_ptr >	InitNodes
double	Input
std::vector< FGPropertyValue_ptr >	InputNodes
std::string	Name
double	Output
std::vector< double >	output_array
std::vector< FGPropertyNode_ptr >	OutputNodes
std::string	Type
Static Protected Attributes inherited from FGJSBBase
static constexpr double	radtodeg = 180. / M_PI
static constexpr double	degtorad = M_PI / 180.
static constexpr double	hptoftlbssec = 550.0
static constexpr double	psftoinhg = 0.014138
static constexpr double	psftopa = 47.88
static constexpr double	fttom = 0.3048
static constexpr double	ktstofps = 1852./(3600*fttom)
static constexpr double	fpstokts = 1.0 / ktstofps
static constexpr double	inchtoft = 1.0/12.0
static constexpr double	m3toft3 = 1.0/(fttom*fttom*fttom)
static constexpr double	in3tom3 = inchtoft*inchtoft*inchtoft/m3toft3
static constexpr double	inhgtopa = 3386.38
static constexpr double	slugtolb = 32.174049
	Note that definition of lbtoslug by the inverse of slugtolb and not to a different constant you can also get from some tables will make lbtoslug*slugtolb == 1 up to the magnitude of roundoff.
static constexpr double	lbtoslug = 1.0/slugtolb
static constexpr double	kgtolb = 2.20462
static constexpr double	kgtoslug = 0.06852168
static const std::string	needed_cfg_version = "2.0"
static const std::string	JSBSim_version = JSBSIM_VERSION " " __DATE__ " " __TIME__

Constructor & Destructor Documentation

FGWaypoint()

FGWaypoint	(	FGFCS *	fcs,
		Element *	element
	)

Definition at line 57 of file FGWaypoint.cpp.

  : FGFCSComponent(fcs, element)
{
  if      (Type == "WAYPOINT_HEADING")  WaypointType = eHeading;
  else if (Type == "WAYPOINT_DISTANCE") WaypointType = eDistance;
 
  target_latitude_unit = 1.0;
  target_longitude_unit = 1.0;
  source_latitude_unit = 1.0;
  source_longitude_unit = 1.0;
  source = fcs->GetExec()->GetIC()->GetPosition();
 
  auto PropertyManager = fcs->GetPropertyManager();
 
  if (element->FindElement("target_latitude") ) {
    target_latitude = std::make_unique<FGPropertyValue>(element->FindElementValue("target_latitude"),
                                                        PropertyManager, element);
    if (element->FindElement("target_latitude")->HasAttribute("unit")) {
      if (element->FindElement("target_latitude")->GetAttributeValue("unit") == "DEG") {
        target_latitude_unit = 0.017453293;
      }
    }
  } else {
    cerr << element->ReadFrom() << endl
         << "Target latitude is required for waypoint component: " << Name
         << endl;
    throw("Malformed waypoint definition");
  }
 
  if (element->FindElement("target_longitude") ) {
    target_longitude = std::make_unique<FGPropertyValue>(element->FindElementValue("target_longitude"),
                                                         PropertyManager, element);
    if (element->FindElement("target_longitude")->HasAttribute("unit")) {
      if (element->FindElement("target_longitude")->GetAttributeValue("unit") == "DEG") {
        target_longitude_unit = 0.017453293;
      }
    }
  } else {
    cerr << element->ReadFrom() << endl
         << "Target longitude is required for waypoint component: " << Name
         << endl;
    throw("Malformed waypoint definition");
  }
 
  if (element->FindElement("source_latitude") ) {
    source_latitude = std::make_unique<FGPropertyValue>(element->FindElementValue("source_latitude"),
                                                        PropertyManager, element);
    if (element->FindElement("source_latitude")->HasAttribute("unit")) {
      if (element->FindElement("source_latitude")->GetAttributeValue("unit") == "DEG") {
        source_latitude_unit = 0.017453293;
      }
    }
  } else {
    cerr << element->ReadFrom() << endl
         << "Source latitude is required for waypoint component: " << Name
         << endl;
    throw("Malformed waypoint definition");
  }
 
  if (element->FindElement("source_longitude") ) {
    source_longitude = std::make_unique<FGPropertyValue>(element->FindElementValue("source_longitude"),
                                                         PropertyManager, element);
    if (element->FindElement("source_longitude")->HasAttribute("unit")) {
      if (element->FindElement("source_longitude")->GetAttributeValue("unit") == "DEG") {
        source_longitude_unit = 0.017453293;
      }
    }
  } else {
    cerr << element->ReadFrom() << endl
         << "Source longitude is required for waypoint component: " << Name
         << endl;
    throw("Malformed waypoint definition");
  }
 
  unit = element->GetAttributeValue("unit");
  if (WaypointType == eHeading) {
    if (!unit.empty()) {
      if      (unit == "DEG") eUnit = eDeg;
      else if (unit == "RAD") eUnit = eRad;
      else {
        cerr << element->ReadFrom() << endl
             << "Unknown unit " << unit << " in HEADING waypoint component, "
             << Name << endl;
        throw("Malformed waypoint definition");
      }
    } else {
      eUnit = eRad; // Default is radians if unspecified
    }
  } else {
    if (!unit.empty()) {
      if      (unit == "FT") eUnit = eFeet;
      else if (unit == "M")  eUnit = eMeters;
      else {
        cerr << element->ReadFrom() << endl
             << "Unknown unit " << unit << " in DISTANCE waypoint component, "
             << Name << endl;
        throw("Malformed waypoint definition");
      }
    } else {
      eUnit = eFeet; // Default is feet if unspecified
    }
  }
 
  bind(element, PropertyManager.get());
  Debug(0);
}

~FGWaypoint()

~FGWaypoint

(

)

Definition at line 166 of file FGWaypoint.cpp.

{
  Debug(1);
}

Member Function Documentation

Run()

bool Run ( void  )

overridevirtual

Reimplemented from FGFCSComponent.

Definition at line 173 of file FGWaypoint.cpp.

{
  double source_latitude_rad = source_latitude->GetValue() * source_latitude_unit;
  double source_longitude_rad = source_longitude->GetValue() * source_longitude_unit;
  double target_latitude_rad = target_latitude->GetValue() * target_latitude_unit;
  double target_longitude_rad = target_longitude->GetValue() * target_longitude_unit;
  source.SetPositionGeodetic(source_longitude_rad, source_latitude_rad, 0.0);
 
  if (fabs(target_latitude_rad) > M_PI/2.0) {
    cerr << endl;
    cerr << "Target latitude in waypoint \"" << Name << "\" must be less than or equal to 90 degrees." << endl;
    cerr << "(is longitude being mistakenly supplied?)" << endl;
    cerr << endl;
    throw("Waypoint target latitude exceeded 90 degrees.");
  }
 
  if (fabs(source_latitude_rad) > M_PI/2.0) {
    cerr << endl;
    cerr << "Source latitude in waypoint \"" << Name << "\" must be less than or equal to 90 degrees." << endl;
    cerr << "(is longitude being mistakenly supplied?)" << endl;
    cerr << endl;
    throw("Source latitude exceeded 90 degrees.");
  }
 
  if (WaypointType == eHeading) {     // Calculate Heading
 
    double heading_to_waypoint_rad = source.GetHeadingTo(target_longitude_rad,
                                                         target_latitude_rad);
 
    if (eUnit == eDeg) Output = heading_to_waypoint_rad * radtodeg;
    else               Output = heading_to_waypoint_rad;
 
  } else {                            // Calculate Distance
 
    double wp_distance = source.GetDistanceTo(target_longitude_rad,
                                              target_latitude_rad);
    if (eUnit == eMeters) Output = FeetToMeters(wp_distance);
    else                  Output = wp_distance;
 
  }
 
  Clip();
  SetOutput();
 
  return true;
}

---

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

• FGWaypoint.h
• FGWaypoint.cpp