agi.foundation.routedesign

(agi.foundation.routedesign-2024r3.jar)

Class HeadingAtWaypointProcedure

java.lang.Object

agi.foundation.infrastructure.DefinitionalObject

agi.foundation.routedesign.RouteSegment

agi.foundation.routedesign.RouteProcedure

agi.foundation.routedesign.advanced.SimpleRouteProcedure

agi.foundation.routedesign.HeadingAtWaypointProcedure

All Implemented Interfaces:

ICloneWithContext, IEnumerateDependencies, IEquatableDefinition, IFreezable

public class HeadingAtWaypointProcedure
extends SimpleRouteProcedure

A procedure that defines a required heading at a waypoint. This can be used as an initial or final state for a route, which can be used to smoothly concatenate multiple routes together or create a route based on another ephemeris. It can also be used to ensure the platform's position is pointing in a particular direction at the given waypoint in order to avoid an obstacle or turn into the wind direction. The platform will turn before and after the waypoint to satisfy the heading. In order to have the platform follow a particular heading over a given distance, use a SurfaceCurveProcedure with an EllipsoidRhumbLine.

This procedure is illustrated by the following image:

Constructor Summary

Constructors

Modifier	Constructor and Description
	HeadingAtWaypointProcedure() Create a new instance.
	HeadingAtWaypointProcedure(Cartographic position, double turningRadius, double heading, double speed) Create a new instance based on the given parameters over the surface of the Earth (get).
	HeadingAtWaypointProcedure(double waypointLongitude, double waypointLatitude, double turningRadius, double heading, double speed, double heightAboveSurface, RouteHeightReference heightReference) Create a new instance based on the given parameters over the surface of the Earth (get).
	HeadingAtWaypointProcedure(double waypointLongitude, double waypointLatitude, double turningRadius, double heading, double speed, double heightAboveTerrain, TerrainProvider terrain) Create a new instance based on the given parameters over a terrain surface.
	HeadingAtWaypointProcedure(Ellipsoid surfaceShape, Cartographic position, double turningRadius, double heading, RouteProfile profile) Create a new instance based on the given parameters for the surface procedure and its associated profile.
protected	HeadingAtWaypointProcedure(HeadingAtWaypointProcedure existingInstance, CopyContext context) Initializes a new instance as a copy of an existing instance.

Method Summary

Modifier and Type	Method and Description
protected boolean	checkForSameDefinition(HeadingAtWaypointProcedure other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
protected boolean	checkForSameDefinition(SimpleRouteProcedure other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
Object	clone(CopyContext context) Clones this object using the specified context.
protected int	computeCurrentDefinitionHashCode() Computes a hash code based on the current properties of this object.
static HeadingAtWaypointProcedure	getFinalFromNextState(CentralBody centralBody, Motion1<Cartesian> stateInFixedFrame, ProfileDynamics dynamics, double turningRadius) Creates an instance of the procedure to represent a final state for a route based on a given state (position and velocity) in the FixedFrame (get / set) of the CentralBody.
double	getHeading() Gets the position's heading with respect to north at which to arrive at and leave from the waypoint Position (get / set), in radians.
static HeadingAtWaypointProcedure	getInitialFromPreviousState(CentralBody centralBody, Motion1<Cartesian> stateInFixedFrame, ProfileDynamics dynamics, double turningRadius) Creates an instance of the procedure to represent an initial state for a route based on a given state (position and velocity) in the FixedFrame (get / set) of the CentralBody.
Cartographic	getPosition() Gets the geodetic position of the waypoint at which to arrive and leave at the given Heading (get / set).
ConfigurableSurfaceProcedure	getSurfacePath() Get an object that will allow configuration of the surface geometry as it connects with other procedures.
Ellipsoid	getSurfaceShape() Gets the reference surface over which the surface geometry is defined.
double	getTurningRadius() Gets the horizontal turning radius to use when turning toward and from the given heading, in meters.
void	setHeading(double value) Sets the position's heading with respect to north at which to arrive at and leave from the waypoint Position (get / set), in radians.
void	setPosition(Cartographic value) Sets the geodetic position of the waypoint at which to arrive and leave at the given Heading (get / set).
void	setSurfaceShape(Ellipsoid value) Sets the reference surface over which the surface geometry is defined.
void	setTurningRadius(double value) Sets the horizontal turning radius to use when turning toward and from the given heading, in meters.

Methods inherited from class agi.foundation.routedesign.advanced.SimpleRouteProcedure

checkForSameDefinition, createConfigurableProfile, getProfile, setProfile, setProfileFromHeight, setProfileFromHeightAboveMeanSeaLevel, setProfileFromHeightAboveSurface, setProfileFromHeightAboveTerrain

Methods inherited from class agi.foundation.routedesign.RouteProcedure

checkForSameDefinition

Methods inherited from class agi.foundation.routedesign.RouteSegment

checkForSameDefinition

Methods inherited from class agi.foundation.infrastructure.DefinitionalObject

areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, dictionaryItemsAreSameDefinition, enumerateDependencies, freeze, freezeAggregatedObjects, getCollectionHashCode, getCollectionHashCode, getCollectionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDictionaryHashCode, getIsFrozen, isSameDefinition, throwIfFrozen

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

HeadingAtWaypointProcedure

public HeadingAtWaypointProcedure()

Create a new instance.

HeadingAtWaypointProcedure

public HeadingAtWaypointProcedure(@Nonnull
                                  Cartographic position,
                                  double turningRadius,
                                  double heading,
                                  double speed)

Create a new instance based on the given parameters over the surface of the Earth (get).

Parameters:

position - The point at which to arrive and leave on the set heading.

turningRadius - The horizontal turning radius to use when turning toward and from the given heading, in meters.

heading - The position's heading with respect to north at the given position, in radians.

speed - The target speed for the position at the given position, in meters per second.

HeadingAtWaypointProcedure

public HeadingAtWaypointProcedure(double waypointLongitude,
                                  double waypointLatitude,
                                  double turningRadius,
                                  double heading,
                                  double speed,
                                  double heightAboveSurface,
                                  @Nonnull
                                  RouteHeightReference heightReference)

Create a new instance based on the given parameters over the surface of the Earth (get).

Parameters:

waypointLongitude - The longitude of the waypoint, in radians.

waypointLatitude - The geodetic latitude of the waypoint, in radians.

turningRadius - The horizontal turning radius to use when turning toward and from the given heading.

heading - The position's heading with respect to north at the given waypoint, in radians.

speed - The target speed for the position at the given waypoint, in meters per second.

heightAboveSurface - The height above the heightReference, in meters.

heightReference - The reference surface to use for the given heightAboveSurface.

HeadingAtWaypointProcedure

public HeadingAtWaypointProcedure(double waypointLongitude,
                                  double waypointLatitude,
                                  double turningRadius,
                                  double heading,
                                  double speed,
                                  double heightAboveTerrain,
                                  @Nonnull
                                  TerrainProvider terrain)

Create a new instance based on the given parameters over a terrain surface.

Parameters:

waypointLongitude - The longitude of the waypoint, in radians.

waypointLatitude - The geodetic latitude of the waypoint, in radians.

turningRadius - The horizontal turning radius to use when turning toward and from the given heading, in meters.

heading - The position's heading with respect to north at the given waypoint, in radians.

speed - The target speed for the position at the given waypoint, in meters per second.

heightAboveTerrain - The height above the terrain.

terrain - The terrain surface that defines the reference for the heightAboveTerrain.

HeadingAtWaypointProcedure

public HeadingAtWaypointProcedure(Ellipsoid surfaceShape,
                                  @Nonnull
                                  Cartographic position,
                                  double turningRadius,
                                  double heading,
                                  RouteProfile profile)

Create a new instance based on the given parameters for the surface procedure and its associated profile.

Parameters:

surfaceShape - The surface of the central body over which to define the surface geometry and height profile.

position - The waypoint at which to arrive and leave at the given heading.

turningRadius - The horizontal turning radius to use when turning toward and from the given heading, in meters.

heading - The position's heading with respect to north at the given waypoint, in radians.

profile - The profile that defines the height and speed over the course of the surface path.

HeadingAtWaypointProcedure

protected HeadingAtWaypointProcedure(@Nonnull
                                     HeadingAtWaypointProcedure existingInstance,
                                     @Nonnull
                                     CopyContext context)

Initializes a new instance as a copy of an existing instance.

See ICloneWithContext.clone(CopyContext) for more information about how to implement this constructor in a derived class.

Parameters:

existingInstance - The existing instance to copy.

context - A CopyContext that controls the depth of the copy.

Throws:

ArgumentNullException - Thrown when existingInstance or context is null.

Method Detail

clone

public Object clone(CopyContext context)

Clones this object using the specified context.

This method should be implemented to call a copy constructor on the class of the object being cloned. The copy constructor should take the CopyContext as a parameter in addition to the existing instance to copy. The copy constructor should first call CopyContext.addObjectMapping(T, T) to identify the newly constructed instance as a copy of the existing instance. It should then copy all fields, using CopyContext.updateReference(T) to copy any reference fields.

A typical implementation of ICloneWithContext:

public static class MyClass implements ICloneWithContext {
    public MyClass(MyClass existingInstance, CopyContext context) {
        context.addObjectMapping(existingInstance, this);
        someReference = context.updateReference(existingInstance.someReference);
    }

    @Override
    public final Object clone(CopyContext context) {
        return new MyClass(this, context);
    }

    private Object someReference;
}

In general, all fields that are reference types should be copied with a call to CopyContext.updateReference(T). There are a couple of exceptions:

1. Fields that are aggregate parts of the object should always be copied. A referenced object is an aggregate if properties or methods on the object being copied can modify the externally-visible value of the referenced object.
2. If the semantics of the referenced object require that it have a single parent, owner, context, etc., and the object being copied is that parent, owner, or context, then the referenced object should always be copied.

If one of these exceptions applies, the CopyContext should be given an opportunity to update the reference before the reference is copied explicitly. Use CopyContext.updateReference(T) to update the reference. If CopyContext.updateReference(T) returns the original object, indicating that the context does not have a replacement registered, then copy the object manually by invoking a Clone method, a copy constructor, or by manually constructing a new instance and copying the values.

alwaysCopy = context.updateReference(existingInstance.alwaysCopy);
if (existingInstance.alwaysCopy != null && alwaysCopy == existingInstance.alwaysCopy) {
    alwaysCopy = (AlwaysCopy) existingInstance.alwaysCopy.clone(context);
}

If you are implementing an evaluator (a class that implements IEvaluator), the IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) method shares some responsibilities with the copy context constructor. Code duplication can be avoided by doing the following:

1. For references to other evaluators ONLY, simply assign the reference in the constructor instead of calling CopyContext.updateReference(T). You should still call CopyContext.updateReference(T) on any references to non-evaluators.
2. Call IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as the last line in the constructor and pass it the same CopyContext passed to the constructor.
3. Implement IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as normal. See the reference documentation for IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) for more information on implementing that method.

public MyClass(MyClass existingInstance, CopyContext context) {
    super(existingInstance, context);
    someReference = context.updateReference(existingInstance.someReference);
    evaluatorReference = existingInstance.evaluatorReference;
    updateEvaluatorReferences(context);
}

@Override
public void updateEvaluatorReferences(CopyContext context) {
    evaluatorReference = context.updateReference(evaluatorReference);
}

@Override
public Object clone(CopyContext context) {
    return new MyClass(this, context);
}

private Object someReference;
private IEvaluator evaluatorReference;

Specified by:

clone in interface ICloneWithContext

Specified by:

clone in class DefinitionalObject

Parameters:

context - The context to use to perform the copy.

Returns:

A new instance which is a copy of this object.

checkForSameDefinition

protected final boolean checkForSameDefinition(SimpleRouteProcedure other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Specified by:

checkForSameDefinition in class SimpleRouteProcedure

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

checkForSameDefinition

protected boolean checkForSameDefinition(HeadingAtWaypointProcedure other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

computeCurrentDefinitionHashCode

protected int computeCurrentDefinitionHashCode()

Computes a hash code based on the current properties of this object. Derived classes MUST override this method and compute a hash code that combines: a unique hash code seed, the base implementation result, and the hash codes of all new fields introduced by the derived class which are used in the HeadingAtWaypointProcedure.checkForSameDefinition(agi.foundation.routedesign.advanced.SimpleRouteProcedure) method.

Overrides:

computeCurrentDefinitionHashCode in class SimpleRouteProcedure

Returns:

The computed hash code.

getInitialFromPreviousState

public static HeadingAtWaypointProcedure getInitialFromPreviousState(CentralBody centralBody,
                                                                     @Nonnull
                                                                     Motion1<Cartesian> stateInFixedFrame,
                                                                     ProfileDynamics dynamics,
                                                                     double turningRadius)

Creates an instance of the procedure to represent an initial state for a route based on a given state (position and velocity) in the FixedFrame (get / set) of the CentralBody.

Parameters:

centralBody - The central body with respect to which the state is evaluated.

stateInFixedFrame - The state (position and velocity) observed in the central body's fixed frame.

dynamics - The dynamics to use for the RouteProfile.

turningRadius - The radius at which to turn toward the next procedure, in meters.

Returns:

An instance of the procedure representing the initial state for a route.

getFinalFromNextState

public static HeadingAtWaypointProcedure getFinalFromNextState(CentralBody centralBody,
                                                               @Nonnull
                                                               Motion1<Cartesian> stateInFixedFrame,
                                                               ProfileDynamics dynamics,
                                                               double turningRadius)

Creates an instance of the procedure to represent a final state for a route based on a given state (position and velocity) in the FixedFrame (get / set) of the CentralBody.

Parameters:

centralBody - The central body with respect to which the state is evaluated.

stateInFixedFrame - The state (position and velocity) observed in the central body's fixed frame.

dynamics - The dynamics to use for the RouteProfile.

turningRadius - The radius at which to turn from the previous procedure, in meters.

Returns:

An instance of the procedure representing the final state for a route.

getTurningRadius

public final double getTurningRadius()

Gets the horizontal turning radius to use when turning toward and from the given heading, in meters.

setTurningRadius

public final void setTurningRadius(double value)

Sets the horizontal turning radius to use when turning toward and from the given heading, in meters.

getSurfaceShape

public final Ellipsoid getSurfaceShape()

Gets the reference surface over which the surface geometry is defined.

setSurfaceShape

public final void setSurfaceShape(Ellipsoid value)

Sets the reference surface over which the surface geometry is defined.

getPosition

@Nonnull
public final Cartographic getPosition()

Gets the geodetic position of the waypoint at which to arrive and leave at the given Heading (get / set).

setPosition

public final void setPosition(@Nonnull
                              Cartographic value)

Sets the geodetic position of the waypoint at which to arrive and leave at the given Heading (get / set).

getHeading

public final double getHeading()

Gets the position's heading with respect to north at which to arrive at and leave from the waypoint Position (get / set), in radians.

setHeading

public final void setHeading(double value)

Sets the position's heading with respect to north at which to arrive at and leave from the waypoint Position (get / set), in radians.

getSurfacePath

public ConfigurableSurfaceProcedure getSurfacePath()

Get an object that will allow configuration of the surface geometry as it connects with other procedures.

This is used by the RoutePropagator to ensure smooth connection between procedures.

Specified by:

getSurfacePath in class RouteProcedure

Returns:

The configurable surface geometry.