DtRotaryWingPilotDescriptor Class Reference

DtRotaryWingPilotDescriptor is a component descriptor for helicopter flight involving destination points. More...

Inheritance diagram for DtRotaryWingPilotDescriptor:

List of all members.

Public Member Functions
	DtRotaryWingPilotDescriptor (const DtString &name, DtReaderWriterRegistry *parentRegistry=0)
	constructor
	DtRotaryWingPilotDescriptor (const DtRotaryWingPilotDescriptor &orig, DtReaderWriterRegistry *parentRegistry=0)
	copy constructor
DtRotaryWingPilotDescriptor &	operator= (const DtRotaryWingPilotDescriptor &orig)
	assignment
virtual	~DtRotaryWingPilotDescriptor ()
	destructor
virtual DtString	type () const
	Returns the type of component this descriptor describes.
virtual DtComponentDescriptor *	clone (DtReaderWriterRegistry *parentRegistry=0) const
	Clone creates a new copy.
virtual DtReal	pdRadius () const
	Accessor/mutator for myPdRadius.
virtual void	setPdRadius (const DtReal value)
	Accessor/mutator for myPdRadius.
virtual DtReal	contourFlightVelocityThreshold () const
	Accessor/mutator for myContourFlightVelocityThreshold.
virtual void	setContourFlightVelocityThreshold (const DtReal value)
	Accessor/mutator for myContourFlightVelocityThreshold.
virtual DtReal	contourFlightPositionThreshold () const
	Accessor/mutator for myContourFlightPositionThreshold.
virtual void	setContourFlightPositionThreshold (const DtReal value)
	Accessor/mutator for myContourFlightPositionThreshold.
virtual DtReal	heightFeedbackGain () const
	Accessor/mutator for myHeightFeedbackGain.
virtual void	setHeightFeedbackGain (const DtReal value)
	Accessor/mutator for myHeightFeedbackGain.
virtual const Dt1DRegularTableFn &	heightVersusSpeed () const
	Accessor/mutator for myHeightVersusSpeed.
virtual void	setHeightVersusSpeed (const Dt1DRegularTableFn &value)
	Accessor/mutator for myHeightVersusSpeed.
virtual bool	isAlignWithTargets () const
	Accessor/mutator for myIsAlignWithTargets.
virtual void	setIsAlignWithTargets (const bool val)
	Accessor/mutator for myIsAlignWithTargets.
virtual DtReal	maxAngularVel () const
	Accessor/mutator for myMaxAngularVel.
virtual void	setMaxAngularVel (const DtReal val)
	Accessor/mutator for myMaxAngularVel.
virtual DtReal	maxAngularAcc () const
	Accessor/mutator for myMaxAngularAcc.
virtual void	setMaxAngularAcc (const DtReal val)
	Accessor/mutator for myMaxAngularAcc.
virtual DtReal	velToAlignDesired () const
	Accessor/mutator for myVelToAlignDesired.
virtual void	setVelToAlignDesired (const DtReal val)
	Accessor/mutator for myVelToAlignDesired.
virtual DtReal	velToAlignActual () const
	Accessor/mutator for myVelToAlignActual.
virtual void	setVelToAlignActual (const DtReal val)
	Accessor/mutator for myVelToAlignActual.
virtual DtReal	radiusTriggerVel () const
	Accessor/mutator for myRadiusTriggerVel.
virtual void	setRadiusTriggerVel (const DtReal val)
	Accessor/mutator for myRadiusTriggerVel.
virtual DtReal	radiusFraction () const
	Accessor/mutator for myRadiusFraction.
virtual void	setRadiusFraction (const DtReal val)
	Accessor/mutator for myRadiusFraction.
virtual DtReal	positionGain () const
	Accessor/mutator for myPositionGain.
virtual void	setPositionGain (const DtReal val)
	Accessor/mutator for myPositionGain.
virtual DtReal	velocityGain () const
	Accessor/mutator for myVelocityGain.
virtual void	setVelocityGain (const DtReal val)
	Accessor/mutator for myVelocityGain.
virtual DtReal	orientationGain () const
	Accessor/mutator for myOrientationGain.
virtual void	setOrientationGain (const DtReal val)
	Accessor/mutator for myOrientationGain.
virtual DtReal	bodyRateGain () const
	Accessor/mutator for myBodyRateGain.
virtual void	setBodyRateGain (const DtReal val)
	Accessor/mutator for myBodyRateGain.
virtual DtReal	controlNoiseLevel () const
	Accessor/mutator for myControlNoiseLevel.
virtual void	setControlNoiseLevel (const DtReal val)
	Accessor/mutator for myControlNoiseLevel.
virtual DtReal	landingFuelLevel () const
	Accessor/mutator for myLandingFuelLevel.
virtual void	setLandingFuelLevel (const DtReal val)
	Accessor/mutator for myLandingFuelLevel.
Static Public Member Functions
static DtComponentDescriptor *	creator ()
Protected Member Functions
	DtRotaryWingPilotDescriptor ()
	default constructor; not implemented
Protected Attributes
parameters
These parameters are available for setting in the OPD files.
DtRwReal	myPdRadius
	Parameter Name: pd-radius Parameter Description: Radius within which bank-to-turn logic is not invoked.
DtRwReal	myContourFlightVelocityThreshold
	Inside this, all control is PD.
DtRwReal	myContourFlightPositionThreshold
	Parameter Name: contour-flight-position-threshold Parameter Description: Contour flight position threshold, within which the terrain-avoidance logic is eliminated.
DtRwReal	myHeightFeedbackGain
	Parameter Name: height-feedback-gain Parameter Description: Height feedback gain, which is the maximum gain parameter for terrain avoidance.
Dt1DRegularTableFn	myHeightVersusSpeed
	Parameter Name: height-versus-speed Parameter Description: Table function used to describe the terrain-avoidance height versus speed.
DtRwBoolean	myIsAlignWithTargets
	Parameter Name: is-align-with-targets Parameter Description: Flag indicating whether or not the helicopter aligns with targets when kinematic constraints allow it.
DtRwReal	myMaxAngularVel
	Parameter Name: max-angular-vel Parameter Description: Pilot's maximum angular velocity.
DtRwReal	myMaxAngularAcc
	Parameter Name: max-angular-acc Parameter Description: Pilot's maximum angular acceleration.
DtRwReal	myVelToAlignDesired
	Parameter Name: vel-to-align-desired Parameter Description: Desired-velocity threshold, beyond which the helicopter pilot aligns the helicopter body with the desired velocity within kinematic constraints.
DtRwReal	myVelToAlignActual
	Parameter Name: vel-to-align-actual Parameter Description: Velocity threshold above which the pilot aligns the helicopter body with the actual velocity.
DtRwReal	myRadiusTriggerVel
	Parameter Name: radius-trigger-vel Parameter Description: Turning radius trigger velocity, the velocity threshold beyond which bank-to-turn logic is invoked.
DtRwReal	myRadiusFraction
	Parameter Name: radius-fraction Parameter Description: Radius-fraction parameter that is used in the bank-to-turn logic.
DtRwReal	myPositionGain
	Parameter Name: position-gain Parameter Description: Position gain for the position controller.
DtRwReal	myVelocityGain
	Parameter Name: velocity-gain Parameter Description: Velocity gain for the position controller.
DtRwReal	myOrientationGain
	Parameter Name: orientation-gain Parameter Description: Orientation gain for the orientation controller.
DtRwReal	myBodyRateGain
	Parameter Name: body-rate-gain Parameter Description: Body-rate gain for the orientation controller.
DtRwReal	myControlNoiseLevel
	Parameter Name: noise-level Parameter Description: Noise-level parameter for the helicopter-controls error model.
DtRwReal	myLandingFuelLevel
	Parameter Name: landing-fuel-level Parameter Description: Fuel level that induces the pilot to land.

---

Detailed Description

DtRotaryWingPilotDescriptor is a component descriptor for helicopter flight involving destination points.

This descriptor includes gain, control-parameter, and terrain-interation data.

---

Constructor & Destructor Documentation

DtRotaryWingPilotDescriptor::DtRotaryWingPilotDescriptor	(	const DtString &	name,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

constructor

DtRotaryWingPilotDescriptor::DtRotaryWingPilotDescriptor	(	const DtRotaryWingPilotDescriptor &	orig,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

copy constructor

virtual DtRotaryWingPilotDescriptor::~DtRotaryWingPilotDescriptor

(

)

[virtual]

destructor

DtRotaryWingPilotDescriptor::DtRotaryWingPilotDescriptor

(

)

[protected]

default constructor; not implemented

---

Member Function Documentation

DtRotaryWingPilotDescriptor& DtRotaryWingPilotDescriptor::operator=

(

const DtRotaryWingPilotDescriptor &

orig

)

assignment

virtual DtString DtRotaryWingPilotDescriptor::type

(

)

const [virtual]

Returns the type of component this descriptor describes.

Used to create the descriptor on read from an mtl file. Component descriptor type strings are defined in compDescTypes.h.

Returns:

DtRotaryWingPilotDescriptorType

Reimplemented from DtComponentDescriptor.

virtual DtComponentDescriptor* DtRotaryWingPilotDescriptor::clone

(

DtReaderWriterRegistry *

parentRegistry = 0

)

const [virtual]

Clone creates a new copy.

Reimplemented from DtComponentDescriptor.

virtual DtReal DtRotaryWingPilotDescriptor::pdRadius

(

)

const [virtual]

Accessor/mutator for myPdRadius.

virtual void DtRotaryWingPilotDescriptor::setPdRadius

(

const DtReal

value

)

[virtual]

Accessor/mutator for myPdRadius.

virtual DtReal DtRotaryWingPilotDescriptor::contourFlightVelocityThreshold

(

)

const [virtual]

Accessor/mutator for myContourFlightVelocityThreshold.

virtual void DtRotaryWingPilotDescriptor::setContourFlightVelocityThreshold

(

const DtReal

value

)

[virtual]

Accessor/mutator for myContourFlightVelocityThreshold.

virtual DtReal DtRotaryWingPilotDescriptor::contourFlightPositionThreshold

(

)

const [virtual]

Accessor/mutator for myContourFlightPositionThreshold.

virtual void DtRotaryWingPilotDescriptor::setContourFlightPositionThreshold

(

const DtReal

value

)

[virtual]

Accessor/mutator for myContourFlightPositionThreshold.

virtual DtReal DtRotaryWingPilotDescriptor::heightFeedbackGain

(

)

const [virtual]

Accessor/mutator for myHeightFeedbackGain.

virtual void DtRotaryWingPilotDescriptor::setHeightFeedbackGain

(

const DtReal

value

)

[virtual]

Accessor/mutator for myHeightFeedbackGain.

virtual const Dt1DRegularTableFn& DtRotaryWingPilotDescriptor::heightVersusSpeed

(

)

const [virtual]

Accessor/mutator for myHeightVersusSpeed.

virtual void DtRotaryWingPilotDescriptor::setHeightVersusSpeed

(

const Dt1DRegularTableFn &

value

)

[virtual]

Accessor/mutator for myHeightVersusSpeed.

virtual bool DtRotaryWingPilotDescriptor::isAlignWithTargets

(

)

const [virtual]

Accessor/mutator for myIsAlignWithTargets.

virtual void DtRotaryWingPilotDescriptor::setIsAlignWithTargets

(

const bool

val

)

[virtual]

Accessor/mutator for myIsAlignWithTargets.

virtual DtReal DtRotaryWingPilotDescriptor::maxAngularVel

(

)

const [virtual]

Accessor/mutator for myMaxAngularVel.

virtual void DtRotaryWingPilotDescriptor::setMaxAngularVel

(

const DtReal

val

)

[virtual]

Accessor/mutator for myMaxAngularVel.

virtual DtReal DtRotaryWingPilotDescriptor::maxAngularAcc

(

)

const [virtual]

Accessor/mutator for myMaxAngularAcc.

virtual void DtRotaryWingPilotDescriptor::setMaxAngularAcc

(

const DtReal

val

)

[virtual]

Accessor/mutator for myMaxAngularAcc.

virtual DtReal DtRotaryWingPilotDescriptor::velToAlignDesired

(

)

const [virtual]

Accessor/mutator for myVelToAlignDesired.

virtual void DtRotaryWingPilotDescriptor::setVelToAlignDesired

(

const DtReal

val

)

[virtual]

Accessor/mutator for myVelToAlignDesired.

virtual DtReal DtRotaryWingPilotDescriptor::velToAlignActual

(

)

const [virtual]

Accessor/mutator for myVelToAlignActual.

virtual void DtRotaryWingPilotDescriptor::setVelToAlignActual

(

const DtReal

val

)

[virtual]

Accessor/mutator for myVelToAlignActual.

virtual DtReal DtRotaryWingPilotDescriptor::radiusTriggerVel

(

)

const [virtual]

Accessor/mutator for myRadiusTriggerVel.

virtual void DtRotaryWingPilotDescriptor::setRadiusTriggerVel

(

const DtReal

val

)

[virtual]

Accessor/mutator for myRadiusTriggerVel.

virtual DtReal DtRotaryWingPilotDescriptor::radiusFraction

(

)

const [virtual]

Accessor/mutator for myRadiusFraction.

virtual void DtRotaryWingPilotDescriptor::setRadiusFraction

(

const DtReal

val

)

[virtual]

Accessor/mutator for myRadiusFraction.

virtual DtReal DtRotaryWingPilotDescriptor::positionGain

(

)

const [virtual]

Accessor/mutator for myPositionGain.

virtual void DtRotaryWingPilotDescriptor::setPositionGain

(

const DtReal

val

)

[virtual]

Accessor/mutator for myPositionGain.

virtual DtReal DtRotaryWingPilotDescriptor::velocityGain

(

)

const [virtual]

Accessor/mutator for myVelocityGain.

virtual void DtRotaryWingPilotDescriptor::setVelocityGain

(

const DtReal

val

)

[virtual]

Accessor/mutator for myVelocityGain.

virtual DtReal DtRotaryWingPilotDescriptor::orientationGain

(

)

const [virtual]

Accessor/mutator for myOrientationGain.

virtual void DtRotaryWingPilotDescriptor::setOrientationGain

(

const DtReal

val

)

[virtual]

Accessor/mutator for myOrientationGain.

virtual DtReal DtRotaryWingPilotDescriptor::bodyRateGain

(

)

const [virtual]

Accessor/mutator for myBodyRateGain.

virtual void DtRotaryWingPilotDescriptor::setBodyRateGain

(

const DtReal

val

)

[virtual]

Accessor/mutator for myBodyRateGain.

virtual DtReal DtRotaryWingPilotDescriptor::controlNoiseLevel

(

)

const [virtual]

Accessor/mutator for myControlNoiseLevel.

virtual void DtRotaryWingPilotDescriptor::setControlNoiseLevel

(

const DtReal

val

)

[virtual]

Accessor/mutator for myControlNoiseLevel.

virtual DtReal DtRotaryWingPilotDescriptor::landingFuelLevel

(

)

const [virtual]

Accessor/mutator for myLandingFuelLevel.

virtual void DtRotaryWingPilotDescriptor::setLandingFuelLevel

(

const DtReal

val

)

[virtual]

Accessor/mutator for myLandingFuelLevel.

static DtComponentDescriptor* DtRotaryWingPilotDescriptor::creator

(

)

[static]

Returns:

Newly created instance of this class, with an empty DtReaderWriter name. Creation methods are registered with a DtComponentDescriptorFactory, so they can be created on demand as they are read in from a parameter database file.

Reimplemented from DtComponentDescriptor.

---

Member Data Documentation

DtRwReal DtRotaryWingPilotDescriptor::myPdRadius [protected]

Parameter Name: pd-radius
Parameter Description: Radius within which bank-to-turn logic is not invoked.

Parameter Default Value: 800.0
Parameter Units: meters

DtRwReal DtRotaryWingPilotDescriptor::myContourFlightVelocityThreshold [protected]

Inside this, all control is PD.

Parameter Name: contour-flight-velocity-threshold
Parameter Description: Desired-speed threshold, below which the terrain-avoidance logic is eliminated.
Parameter Default Value: 5.0
Parameter Units: meters/second

DtRwReal DtRotaryWingPilotDescriptor::myContourFlightPositionThreshold [protected]

Parameter Name: contour-flight-position-threshold
Parameter Description: Contour flight position threshold, within which the terrain-avoidance logic is eliminated.

Parameter Default Value: 10.0
Parameter Units: meters

DtRwReal DtRotaryWingPilotDescriptor::myHeightFeedbackGain [protected]

Parameter Name: height-feedback-gain
Parameter Description: Height feedback gain, which is the maximum gain parameter for terrain avoidance.

The terrain-avoidance velocity is found by multiplying an actual gain by the distance between the helicopter and the terrain avoidance height. The actual gain is found by ramping from zero to the maximum gain as the helicopter moves from the terrain-avoidance height to the surface.
Parameter Default Value: 3.0

Dt1DRegularTableFn DtRotaryWingPilotDescriptor::myHeightVersusSpeed [protected]

Parameter Name: height-versus-speed
Parameter Description: Table function used to describe the terrain-avoidance height versus speed.

The domain of the table is the horizontal speed of the entity (in m/s), starting at domain-bottom, with a table entry for each domain-increment of speed specified. The data-range is the altitude (in meters) to maintain above the terrain for each speed range.

DtRwBoolean DtRotaryWingPilotDescriptor::myIsAlignWithTargets [protected]

Parameter Name: is-align-with-targets
Parameter Description: Flag indicating whether or not the helicopter aligns with targets when kinematic constraints allow it.

Parameter Default Value: True

DtRwReal DtRotaryWingPilotDescriptor::myMaxAngularVel [protected]

Parameter Name: max-angular-vel
Parameter Description: Pilot's maximum angular velocity.

Parameter Default Value: 6.0
Parameter Units: radians/second

DtRwReal DtRotaryWingPilotDescriptor::myMaxAngularAcc [protected]

Parameter Name: max-angular-acc
Parameter Description: Pilot's maximum angular acceleration.

Parameter Default Value: 20.0
Parameter Units: radians/second/second

DtRwReal DtRotaryWingPilotDescriptor::myVelToAlignDesired [protected]

Parameter Name: vel-to-align-desired
Parameter Description: Desired-velocity threshold, beyond which the helicopter pilot aligns the helicopter body with the desired velocity within kinematic constraints.

Parameter Default Value: 5.0

DtRwReal DtRotaryWingPilotDescriptor::myVelToAlignActual [protected]

Parameter Name: vel-to-align-actual
Parameter Description: Velocity threshold above which the pilot aligns the helicopter body with the actual velocity.

This represents the top-level kinematic constraint on the pilot and overrides all other alignment algorithms when it is triggered.
Parameter Default Value: 15.0

DtRwReal DtRotaryWingPilotDescriptor::myRadiusTriggerVel [protected]

Parameter Name: radius-trigger-vel
Parameter Description: Turning radius trigger velocity, the velocity threshold beyond which bank-to-turn logic is invoked.

Parameter Default Value: 10.0

DtRwReal DtRotaryWingPilotDescriptor::myRadiusFraction [protected]

Parameter Name: radius-fraction
Parameter Description: Radius-fraction parameter that is used in the bank-to-turn logic.

The larger this value, the tighter the turn.
Parameter Default Value: 0.85

DtRwReal DtRotaryWingPilotDescriptor::myPositionGain [protected]

Parameter Name: position-gain
Parameter Description: Position gain for the position controller.

For position gains, tr=10s, zeta=1
Parameter Default Value: 0.09

DtRwReal DtRotaryWingPilotDescriptor::myVelocityGain [protected]

Parameter Name: velocity-gain
Parameter Description: Velocity gain for the position controller.

Parameter Default Value: 0.36

DtRwReal DtRotaryWingPilotDescriptor::myOrientationGain [protected]

Parameter Name: orientation-gain
Parameter Description: Orientation gain for the orientation controller.

For orientation gains, tr=1s, zeta=1.2
Parameter Default Value: 0.75

DtRwReal DtRotaryWingPilotDescriptor::myBodyRateGain [protected]

Parameter Name: body-rate-gain
Parameter Description: Body-rate gain for the orientation controller.

Parameter Default Value: 4.32

DtRwReal DtRotaryWingPilotDescriptor::myControlNoiseLevel [protected]

Parameter Name: noise-level
Parameter Description: Noise-level parameter for the helicopter-controls error model.

The noise-level parameter sets the magnitude of the power spectral density (PSD) of the white noise approximation on each control in percent (for collective, 0.1 percent). That is, as the time step goes to zero, the PSD of the error process goes to the noise-level value. (Open loop, a process with a PSD of 1, would integrate over time T to a random variable with variance T).
Parameter Default Value: 0.08

DtRwReal DtRotaryWingPilotDescriptor::myLandingFuelLevel [protected]

Parameter Name: landing-fuel-level
Parameter Description: Fuel level that induces the pilot to land.

Parameter Default Value: 20.0

---

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

• include/vrfobjparam/rotWngPltDesc.h