agi.foundation.routedesign

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

Class TerrainAvoidanceProfile

java.lang.Object

agi.foundation.routedesign.RouteProfile

agi.foundation.routedesign.TerrainAvoidanceProfile

public class TerrainAvoidanceProfile
extends RouteProfile

A profile that defines the height and speed necessary to transition from an initial height and speed to a final height and speed while attempting to maintain a minimum height above intervening terrain. This is useful when modeling low altitude aircraft trajectories in areas where the terrain varies significantly between waypoints.

The following figure shows the behavior of a particular route profile. Note how the profile will find the convex hull and maintain height in between the peaks.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	TerrainAvoidanceProfile.ConfigurationData An enumeration indicating the result of configuring the TerrainAvoidanceProfile.

Constructor Summary

Constructors

Constructor and Description
TerrainAvoidanceProfile() Create a new instance.
TerrainAvoidanceProfile(TerrainProvider terrain, double minimumHeight, double samplingDistance, double initialHeight, double finalHeight, ProfileDynamics profileDynamics, double targetSpeed) Create a new instance based on the given terrain and boundary conditions.

Method Summary

Modifier and Type	Method and Description
ConfigurableProfile	createConfigurableProfile(SurfaceSegment surfacePath) Create a profile based on the given settings that the RoutePropagator can use to configure this profile in relation to all other profiles along the route.
boolean	getAllowModificationOfFinalHeight() Gets a value indicating whether the profile can update the final height in the course of configuring itself in relation to the surrounding profiles.
boolean	getAllowModificationOfInitialHeight() Gets a value indicating whether the profile can update the initial height in the course of configuring itself in relation to the surrounding profiles.
ProfileDynamics	getDynamics() Gets the set of parameters specifying the achievable accelerations during the profile.
double	getFinalHeightAboveTerrain() Gets the final height above the terrain, in meters.
double	getInitialHeightAboveTerrain() Gets the initial height above the terrain, in meters.
double	getMinimumHeightAboveTerrain() Gets the minimum height at which to traverse above the terrain, in meters.
double	getSamplingDistance() Gets the rate at which to sample the terrain, in meters.
ProfileSpeed	getSpeed() Gets the speed at which to traverse over the terrain.
TerrainProvider	getTerrain() Gets the terrain over which to traverse.
void	setAllowModificationOfFinalHeight(boolean value) Sets a value indicating whether the profile can update the final height in the course of configuring itself in relation to the surrounding profiles.
void	setAllowModificationOfInitialHeight(boolean value) Sets a value indicating whether the profile can update the initial height in the course of configuring itself in relation to the surrounding profiles.
void	setDynamics(ProfileDynamics value) Sets the set of parameters specifying the achievable accelerations during the profile.
void	setFinalHeightAboveTerrain(double value) Sets the final height above the terrain, in meters.
void	setInitialHeightAboveTerrain(double value) Sets the initial height above the terrain, in meters.
void	setMinimumHeightAboveTerrain(double value) Sets the minimum height at which to traverse above the terrain, in meters.
void	setSamplingDistance(double value) Sets the rate at which to sample the terrain, in meters.
void	setSpeed(ProfileSpeed value) Sets the speed at which to traverse over the terrain.
void	setTerrain(TerrainProvider value) Sets the terrain over which to traverse.

Methods inherited from class java.lang.Object

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

Constructor Detail

TerrainAvoidanceProfile

public TerrainAvoidanceProfile()

Create a new instance.

TerrainAvoidanceProfile

public TerrainAvoidanceProfile(TerrainProvider terrain,
                               double minimumHeight,
                               double samplingDistance,
                               double initialHeight,
                               double finalHeight,
                               ProfileDynamics profileDynamics,
                               double targetSpeed)

Create a new instance based on the given terrain and boundary conditions.

Parameters:

terrain - The terrain defining the height profile.

minimumHeight - The minimum height above the terrain, in meters.

samplingDistance - The rate at which to sample the terrain along the surface path, in meters. A smaller sampling distance will result in fewer violations of the minimum height. Whereas, a larger sampling distance will be faster. The sampling distance should reflect how quickly the terrain height is changing over the surface region in which the corresponding procedure occurs.

initialHeight - The initial height above the terrain, in meters.

finalHeight - The final height above the terrain, in meters.

profileDynamics - The dynamical properties of the position.

targetSpeed - The target speed at which to traverse over the terrain, in meters per second.

Method Detail

createConfigurableProfile

public ConfigurableProfile createConfigurableProfile(SurfaceSegment surfacePath)

Create a profile based on the given settings that the RoutePropagator can use to configure this profile in relation to all other profiles along the route.

Specified by:

createConfigurableProfile in class RouteProfile

Parameters:

surfacePath - The surface path over which the profile is defined.

Returns:

The configurable profile used by the RoutePropagator to configure the route.

getDynamics

public final ProfileDynamics getDynamics()

Gets the set of parameters specifying the achievable accelerations during the profile.

setDynamics

public final void setDynamics(ProfileDynamics value)

Sets the set of parameters specifying the achievable accelerations during the profile.

getSpeed

public final ProfileSpeed getSpeed()

Gets the speed at which to traverse over the terrain.

setSpeed

public final void setSpeed(ProfileSpeed value)

Sets the speed at which to traverse over the terrain.

getAllowModificationOfInitialHeight

public final boolean getAllowModificationOfInitialHeight()

Gets a value indicating whether the profile can update the initial height in the course of configuring itself in relation to the surrounding profiles.

setAllowModificationOfInitialHeight

public final void setAllowModificationOfInitialHeight(boolean value)

Sets a value indicating whether the profile can update the initial height in the course of configuring itself in relation to the surrounding profiles.

getAllowModificationOfFinalHeight

public final boolean getAllowModificationOfFinalHeight()

Gets a value indicating whether the profile can update the final height in the course of configuring itself in relation to the surrounding profiles.

setAllowModificationOfFinalHeight

public final void setAllowModificationOfFinalHeight(boolean value)

Sets a value indicating whether the profile can update the final height in the course of configuring itself in relation to the surrounding profiles.

getSamplingDistance

public final double getSamplingDistance()

Gets the rate at which to sample the terrain, in meters. A smaller sampling distance will result in fewer violations of the minimum height. Whereas, a larger sampling distance will be faster. The sampling distance should reflect how quickly the terrain height is changing over the surface region in which the corresponding procedure occurs.

setSamplingDistance

public final void setSamplingDistance(double value)

Sets the rate at which to sample the terrain, in meters. A smaller sampling distance will result in fewer violations of the minimum height. Whereas, a larger sampling distance will be faster. The sampling distance should reflect how quickly the terrain height is changing over the surface region in which the corresponding procedure occurs.

getMinimumHeightAboveTerrain

public final double getMinimumHeightAboveTerrain()

Gets the minimum height at which to traverse above the terrain, in meters.

setMinimumHeightAboveTerrain

public final void setMinimumHeightAboveTerrain(double value)

Sets the minimum height at which to traverse above the terrain, in meters.

getInitialHeightAboveTerrain

public final double getInitialHeightAboveTerrain()

Gets the initial height above the terrain, in meters.

setInitialHeightAboveTerrain

public final void setInitialHeightAboveTerrain(double value)

Sets the initial height above the terrain, in meters.

getFinalHeightAboveTerrain

public final double getFinalHeightAboveTerrain()

Gets the final height above the terrain, in meters.

setFinalHeightAboveTerrain

public final void setFinalHeightAboveTerrain(double value)

Sets the final height above the terrain, in meters.

getTerrain

public final TerrainProvider getTerrain()

Gets the terrain over which to traverse.

setTerrain

public final void setTerrain(TerrainProvider value)

Sets the terrain over which to traverse.