Performs time estimates for move along route with actions tasks. Based on settings for the entity's speed and acceleration characteristics, determines an estimate of when the entity will reach each vertex and task and set along the route. Before calling any estimation functions you will need to initialize the estimator with the current state and characteristics of the entity. To initialize the estimator for a particular entity, it is recommended you call the following setEntity* functions.

setEntityMaxSpeed
setEntityMinSpeed (mainly for fixed wings)
setEntityDefaultSpeed
setEntityDefaultSpeed
setEntityMaxAcceleration
setEntityMaxDeceleration Then to initialize a particular movement estimate for current entity state, you should call the following setInitial* functions.
setInitialGeocentricLocation
setInitialTime
setInitialSpeed Subclasses of this class may add additional entity or state initialization functions if they take into account further factors. Once initialized, the primary calculation function is estimateTimes(). It takes in information about the route and any target and hold points and returns time estimates. The setCurrent* functions are present for the purposes of any registered task and set processors which need to adjust factors based on some action that is performed along the route. All distances are in meters and all times are in seconds.

Classes
struct	InputRoute

struct	OutputEstimates

struct	PlannedSpeed

Public Types
typedef void(*	TaskCallbackFcn )(DtSimTask task, const DtVertexList &vertices, double position, void usr)

typedef void(*	SetCallbackFcn )(DtSetDataRequest set, const DtVertexList &vertices, double position, void usr)

typedef std::vector< PlannedSpeed >	PlannedSpeedList

Public Member Functions
	DtMoveAlongRouteTimeEstimator ()

virtual	~DtMoveAlongRouteTimeEstimator ()

virtual void	initialize ()

virtual void	estimateTimes (const InputRoute &routeInput, OutputEstimates &estimates)

virtual void	addTaskPreprocessor (DtSimTaskMessageType t, TaskCallbackFcn fcn, void *usr)

virtual void	addTaskProcessor (DtSimTaskMessageType t, TaskCallbackFcn fcn, void *usr)

virtual void	addSetPreprocessor (DtSetMessageType t, SetCallbackFcn fcn, void *usr)

virtual void	addSetProcessor (DtSetMessageType t, SetCallbackFcn fcn, void *usr)

virtual void	printState (std::ostream &strm) const

Initialization functions for starting entity state
virtual void	setInitialGeocentricLocation (const DtVector &geocLoc)

virtual void	setInitialTime (double t)

virtual void	setInitialSpeed (double s)

Initialization functions for entity movement capabilities
virtual void	setEntityMaxSpeed (double speed)

virtual double	entityMaxSpeed () const

virtual void	setEntityMinSpeed (double speed)

virtual double	entityMinSpeed () const

virtual void	setEntityDefaultSpeed (double speed)

virtual double	entityDefaultSpeed () const

virtual void	setEntityMaxAcceleration (double accel)

virtual double	entityMaxAcceleration () const

virtual void	setEntityMaxDeceleration (double decel)

virtual double	entityMaxDeceleration () const

Estimator functions. Used during estimation calculations.
virtual void	setCurrentGeocentricLocation (const DtVector &geocLoc)

virtual DtVector	currentGeocentricLocation () const

virtual void	setCurrentTime (double t)

virtual double	currentTime () const

virtual void	setCurrentMinSpeed (double speed)

virtual double	currentMinSpeed () const

virtual void	setCurrentMaxSpeed (double speed)

virtual double	currentMaxSpeed () const

virtual void	setCurrentPreferredSpeed (double speed)

virtual double	currentPreferredSpeed () const

virtual void	setCurrentSpeed (double speed)

virtual double	currentSpeed () const

virtual void	setCurrentAcceleration (double speed)

virtual double	currentAcceleration () const

virtual double	targetPosition () const

virtual double	targetTime () const

virtual double	holdPosition () const

virtual void	addPlannedSpeed (double routePosition, double speed, bool required)

virtual PlannedSpeedList	plannedSpeeds () const

Static Public Member Functions
static DtMoveAlongRouteTimeEstimator *	createAndInitialize ()

Static Public Attributes
static const double	NoTimeSpecified

static const double	NoRoutePositionSpecified

Protected Types
typedef std::pair < TaskCallbackFcn, void * >	TaskCallbackPair

typedef std::map < DtSimTaskMessageType, TaskCallbackPair >	TaskCallbackMap

typedef std::pair < SetCallbackFcn, void * >	SetCallbackPair

typedef std::map < DtSetMessageType, SetCallbackPair >	SetCallbackMap

Protected Member Functions
virtual DtVector	calculateLocationOfPositionOnRoute (double pos, const DtVertexList &vertices) const

virtual double	calculateTravelTime (const DtVector &currLoc, const DtVector &nextLoc, double currentSpeed, double preferredSpeed, double &newSpeed, double &newAcceleration) const

virtual double	calculateDistanceToTarget (const DtVector &currLoc, double currPos, const DtVertexList &vertices, double targetPos) const

virtual double	calculateTimeAndDistanceAtRequiredSpeeds (double currPos, const DtVertexList &vertices, double targetPos, const PlannedSpeedList &plannedSpeeds, double &distanceAtRequiredSpeeds) const

virtual void	sanityCheckCurrentSettings ()

virtual void	processHold (const DtVertexList &vertices, double position)

void	preprocessAction (const DtRouteAction &action, const DtVertexList &vertices, double position)

void	processAction (const DtRouteAction &action, const DtVertexList &vertices, double position)

void	preprocessTask (DtSimTask *task, const DtVertexList &vertices, double position)

void	preprocessSet (DtSetDataRequest *set, const DtVertexList &vertices, double position)

void	processTask (DtSimTask *task, const DtVertexList &vertices, double position)

void	processSet (DtSetDataRequest *set, const DtVertexList &vertices, double position)

Member Typedef Documentation

typedef void(* DtMoveAlongRouteTimeEstimator::TaskCallbackFcn)(DtSimTask *task, const DtVertexList &vertices, double position, void *usr)

typedef void(* DtMoveAlongRouteTimeEstimator::SetCallbackFcn)(DtSetDataRequest *set, const DtVertexList &vertices, double position, void *usr)

typedef std::vector<PlannedSpeed> DtMoveAlongRouteTimeEstimator::PlannedSpeedList

typedef std::pair<TaskCallbackFcn, void*> DtMoveAlongRouteTimeEstimator::TaskCallbackPair

protected

typedef std::map<DtSimTaskMessageType, TaskCallbackPair> DtMoveAlongRouteTimeEstimator::TaskCallbackMap

protected

typedef std::pair<SetCallbackFcn, void*> DtMoveAlongRouteTimeEstimator::SetCallbackPair

protected

typedef std::map<DtSetMessageType, SetCallbackPair> DtMoveAlongRouteTimeEstimator::SetCallbackMap

protected

Constructor & Destructor Documentation

DtMoveAlongRouteTimeEstimator::DtMoveAlongRouteTimeEstimator ( )

virtual DtMoveAlongRouteTimeEstimator::~DtMoveAlongRouteTimeEstimator ( )

virtual

Member Function Documentation

virtual void DtMoveAlongRouteTimeEstimator::initialize ( )

virtual

Initializes the estimator by registering default task and set pre-processor and processor functions.

virtual void DtMoveAlongRouteTimeEstimator::estimateTimes	(	const InputRoute &	routeInput,
		OutputEstimates &	estimates
	)

virtual

Estimates the ETA at every vertex and action point along a route.

Parameters

vertexEtas	- Input parameter describing the route and any actions to take along it.
actionEtas	- Output parameter that specifies estimated times for each route vertex and action.

virtual void DtMoveAlongRouteTimeEstimator::setInitialGeocentricLocation ( const DtVector & geocLoc )

virtual

Sets the initial geocentric location. Should be called prior to any time estimates. If not called, the first route vertex is assumed to be the initial position.

virtual void DtMoveAlongRouteTimeEstimator::setInitialTime ( double t )

virtual

Sets the initial time, in seconds. Should be called prior to any time estimates. The meaning of the value, other than that it is in seconds, is up to the caller. It can be relative to any time frame of the caller's choosing. Default is 0.0.

virtual void DtMoveAlongRouteTimeEstimator::setInitialSpeed ( double s )

virtual

Sets the initial speed, in meters per second. Should be called prior to any time estimates.

virtual void DtMoveAlongRouteTimeEstimator::setEntityMaxSpeed ( double speed )

virtual

Initializes the entity's absolute maximum speed. Should be initialized once and not changed by any calculations.

virtual double DtMoveAlongRouteTimeEstimator::entityMaxSpeed ( ) const

virtual

The entity's absolute maximum speed.

virtual void DtMoveAlongRouteTimeEstimator::setEntityMinSpeed ( double speed )

virtual

Initializes the entity's absolute minimum speed. Should be initialized once and not changed by any calculations.

virtual double DtMoveAlongRouteTimeEstimator::entityMinSpeed ( ) const

virtual

The entity's absolute minimum speed.

virtual void DtMoveAlongRouteTimeEstimator::setEntityDefaultSpeed ( double speed )

virtual

Initializes the entity's default speed. Should be initialized once and not changed by any calculations.

virtual double DtMoveAlongRouteTimeEstimator::entityDefaultSpeed ( ) const

virtual

The entity's default speed.

virtual void DtMoveAlongRouteTimeEstimator::setEntityMaxAcceleration ( double accel )

virtual

Initializes the entity's maximum acceleration. Should be initialized once and not changed by any calculations.

virtual double DtMoveAlongRouteTimeEstimator::entityMaxAcceleration ( ) const

virtual

The entity's default speed.

virtual void DtMoveAlongRouteTimeEstimator::setEntityMaxDeceleration ( double decel )

virtual

Initializes the entity's maximum deceleration. Should be initialized once and not changed by any calculations.

virtual double DtMoveAlongRouteTimeEstimator::entityMaxDeceleration ( ) const

virtual

The entity's default speed.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentGeocentricLocation ( const DtVector & geocLoc )

virtual

Sets the current geocentric location. Called by calculations to adjust location as travel along the route is estimated.

virtual DtVector DtMoveAlongRouteTimeEstimator::currentGeocentricLocation ( ) const

virtual

The current preferred speed.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentTime ( double t )

virtual

Sets the current time, in seconds. Called by calculations to adjust elapsed time as travel along the route is estimated.

virtual double DtMoveAlongRouteTimeEstimator::currentTime ( ) const

virtual

The current time.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentMinSpeed ( double speed )

virtual

Sets the current minimum speed. May be called by calculations to adjust the minimum speed based on entity actions.

virtual double DtMoveAlongRouteTimeEstimator::currentMinSpeed ( ) const

virtual

The current minimum speed.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentMaxSpeed ( double speed )

virtual

Sets the current maximum speed. May be called by calculations to adjust the maximum speed based on entity actions.

virtual double DtMoveAlongRouteTimeEstimator::currentMaxSpeed ( ) const

virtual

The current maximum speed.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentPreferredSpeed ( double speed )

virtual

Sets the current preferred speed. May be called by calculations to adjust the maximum speed based on entity actions.

virtual double DtMoveAlongRouteTimeEstimator::currentPreferredSpeed ( ) const

virtual

The current preferred speed.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentSpeed ( double speed )

virtual

Sets the current speed. Updated by calculations to adjust speed. Should not be called directly by users!

virtual double DtMoveAlongRouteTimeEstimator::currentSpeed ( ) const

virtual

The current speed.

virtual void DtMoveAlongRouteTimeEstimator::setCurrentAcceleration ( double speed )

virtual

Sets the current acceleration. Updated by calculations to adjust acceleration. Should not be called directly by users!

virtual double DtMoveAlongRouteTimeEstimator::currentAcceleration ( ) const

virtual

The current acceleration.

virtual double DtMoveAlongRouteTimeEstimator::targetPosition ( ) const

virtual

Returns the target position along the route.

virtual double DtMoveAlongRouteTimeEstimator::targetTime ( ) const

virtual

Returns the time at which we should arrive at the target position.

virtual double DtMoveAlongRouteTimeEstimator::holdPosition ( ) const

virtual

Returns the hold position along the route.

virtual void DtMoveAlongRouteTimeEstimator::addPlannedSpeed	(	double	routePosition,
		double	speed,
		bool	required
	)

virtual

Informs the estimator of planned ordered speed changes.

virtual PlannedSpeedList DtMoveAlongRouteTimeEstimator::plannedSpeeds ( ) const

virtual

Returns the future ordered speeds list.

virtual void DtMoveAlongRouteTimeEstimator::addTaskPreprocessor	(	DtSimTaskMessageType	t,
		TaskCallbackFcn	fcn,
		void *	usr
	)

virtual

Adds a task pre-processor callback.

virtual void DtMoveAlongRouteTimeEstimator::addTaskProcessor	(	DtSimTaskMessageType	t,
		TaskCallbackFcn	fcn,
		void *	usr
	)

virtual

Adds a task processor callback.

virtual void DtMoveAlongRouteTimeEstimator::addSetPreprocessor	(	DtSetMessageType	t,
		SetCallbackFcn	fcn,
		void *	usr
	)

virtual

Adds a set pre-processor callback.

virtual void DtMoveAlongRouteTimeEstimator::addSetProcessor	(	DtSetMessageType	t,
		SetCallbackFcn	fcn,
		void *	usr
	)

virtual

Adds a set processor callback.

static DtMoveAlongRouteTimeEstimator* DtMoveAlongRouteTimeEstimator::createAndInitialize ( )

static

Creates and initializes a new estimator.

virtual void DtMoveAlongRouteTimeEstimator::printState ( std::ostream & strm ) const

virtual

Prints the current state to the specified output stream.

virtual DtVector DtMoveAlongRouteTimeEstimator::calculateLocationOfPositionOnRoute	(	double	pos,
		const DtVertexList &	vertices
	)		const

protectedvirtual

Calculates the geocentric location of a point on a route. Called by estimateTimes().

Parameters

pos	- The position on the route defined as a floating point value based on the vertices of the route: e.g. 0.75 is 75% of the way between vertex 0 and 1 and 2.35 is 35% of the way between vertex 2 and 3.
vertices	- The geocentric vertices of the route.

Returns: The geocentric location of the point on the the route, or 0,0,0 if it could not be determined.

virtual double DtMoveAlongRouteTimeEstimator::calculateTravelTime	(	const DtVector &	currLoc,
		const DtVector &	nextLoc,
		double	currentSpeed,
		double	preferredSpeed,
		double &	newSpeed,
		double &	newAcceleration
	)		const

protectedvirtual

Calculates the time to get from one location to the next given current settings and specified entity capabilities. Called by estimateTimes().

Parameters

currLoc	- The current location (geocentric).
nextLoc	- The location to which we are traveling (geocentric).
currentSpeed	- The starting speed.
preferredSpeed	- The preferred speed.
newSpeed	- Output speed at arrival at nextPos.
newAcceleration	- Output acceleration at arrival at nextPos.

Returns: The time it takes to travel from the currPos to the nextPos.

virtual double DtMoveAlongRouteTimeEstimator::calculateDistanceToTarget	(	const DtVector &	currLoc,
		double	currPos,
		const DtVertexList &	vertices,
		double	targetPos
	)		const

protectedvirtual

Calculates an estimated distance to the target position.

Parameters

currLoc	- The current location (geocentric).
currPos	- The approximate current position along the route defined as a floating point value based on the vertices of the route.
vertices	- The geocentric vertices of the route.
targetPos	- The target position along the route defined as a floating point value based on the vertices of the route.

virtual double DtMoveAlongRouteTimeEstimator::calculateTimeAndDistanceAtRequiredSpeeds	(	double	currPos,
		const DtVertexList &	vertices,
		double	targetPos,
		const PlannedSpeedList &	plannedSpeeds,
		double &	distanceAtRequiredSpeeds
	)		const

protectedvirtual

Calculates the time and distance the entity is required to move at user specified speeds. During these times we will not be able to adjust speeds to meet target times, so they can be removed from the calculation to determine how we should adjust our speed.

Parameters

currLoc	- The current location (geocentric).
currPos	- The approximate current position along the route defined as a floating point value based on the vertices of the route.
vertices	- The geocentric vertices of the route.
targetPos	- The target position along the route defined as a floating point value based on the vertices of the route.
plannedSpeeds	- The list of route segments where that are planned to use specific, required speeds.
distanceAtRequiredSpeeds	- Output distance covered at required speeds.

Returns: The time it will take to traverse the segments at required speeds.

virtual void DtMoveAlongRouteTimeEstimator::sanityCheckCurrentSettings ( )

protectedvirtual

Performs a sanity check on current settings and adjusts some of the current values to ensure correctness before beginning estimates.

virtual void DtMoveAlongRouteTimeEstimator::processHold	(	const DtVertexList &	vertices,
		double	position
	)

protectedvirtual

Performs a hold at the specified position, determining hold time based on desired time arrival time.

void DtMoveAlongRouteTimeEstimator::preprocessAction	(	const DtRouteAction &	action,
		const DtVertexList &	vertices,
		double	position
	)

protected

Pre-process the given action. Calls preprocessTask() or preprocessSet() accordingly.

void DtMoveAlongRouteTimeEstimator::processAction	(	const DtRouteAction &	action,
		const DtVertexList &	vertices,
		double	position
	)

protected

Process the given action. Calls processTask() or processSet() accordingly.

void DtMoveAlongRouteTimeEstimator::preprocessTask	(	DtSimTask *	task,
		const DtVertexList &	vertices,
		double	position
	)

protected

Pre-processes the given task. All tasks and sets are pre-processed in order prior to performing calculations. This allows us to save information about future tasks or sets as necessary before performing the actual calculations.

void DtMoveAlongRouteTimeEstimator::preprocessSet	(	DtSetDataRequest *	set,
		const DtVertexList &	vertices,
		double	position
	)

protected

Pre-processes the given set. All tasks and sets are pre-processed in order prior to performing calculations. This allows us to save information about future tasks or sets as necessary before performing the actual calculations.

void DtMoveAlongRouteTimeEstimator::processTask	(	DtSimTask *	task,
		const DtVertexList &	vertices,
		double	position
	)

protected

Processes the given task. Processing of a task may change current settings and affect time estimates going forward.

void DtMoveAlongRouteTimeEstimator::processSet	(	DtSetDataRequest *	set,
		const DtVertexList &	vertices,
		double	position
	)

protected

Processes the given set. Processing of a set may change current settings and affect time estimates going forward.

Member Data Documentation

const double DtMoveAlongRouteTimeEstimator::NoTimeSpecified

static

const double DtMoveAlongRouteTimeEstimator::NoRoutePositionSpecified

static

double DtMoveAlongRouteTimeEstimator::myCurrentTime

protected

Current state, initialized by user and updated by calculations.

DtVector DtMoveAlongRouteTimeEstimator::myCurrentLocation

protected

Current state, initialized by user and updated by calculations.

double DtMoveAlongRouteTimeEstimator::myTargetPosition

protected

Target position and the time at which we need to arrive there.

double DtMoveAlongRouteTimeEstimator::myTargetTime

protected

Target position and the time at which we need to arrive there.

double DtMoveAlongRouteTimeEstimator::myHoldPosition

protected

Position at which to hold.

double DtMoveAlongRouteTimeEstimator::myEntityMinSpeed

protected