agi.foundation.routedesign

(agi.foundation.routedesign-2024r2.jar)

Class HeightTransitionProcedure

java.lang.Object

agi.foundation.infrastructure.DefinitionalObject

agi.foundation.routedesign.RouteSegment

agi.foundation.routedesign.RouteProcedure

agi.foundation.routedesign.HeightTransitionProcedure

All Implemented Interfaces:

ICloneWithContext, IEnumerateDependencies, IEquatableDefinition, IFreezable

public class HeightTransitionProcedure
extends RouteProcedure

A procedure that will transition from one height to another based on the given Dynamics (get / set). The surface procedure behaves like a TurnBeforeWaypointProcedure. The platform will enter into a spiral prior to reaching the given waypoint in order to adjust its current height. This is useful in cases where the maximum ascent or descent velocity would otherwise be violated while trying to transition from one procedure to another.

This procedure is illustrated by the following image:

Constructor Summary

Constructors

Modifier	Constructor and Description
	HeightTransitionProcedure() Create a new instance.
protected	HeightTransitionProcedure(HeightTransitionProcedure existingInstance, CopyContext context) Initializes a new instance as a copy of an existing instance.
	HeightTransitionProcedure(TerrainProvider heightReferenceSurface, Cartographic waypoint, double turningRadius, ProfileDynamics dynamics, ProfileSpeed speed, double initialHeight, double finalHeight) Create a new instance based on the given parameters.

Method Summary

Modifier and Type	Method and Description
protected boolean	checkForSameDefinition(HeightTransitionProcedure other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
protected boolean	checkForSameDefinition(RouteProcedure 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.
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 to allow the following connection to update the FinalHeight (get / set) if there was a problem with the next profile.
boolean	getAllowModificationOfInitialHeight() Gets a value indicating whether to allow the previous connection to update the InitialHeight (get / set) if there was a problem with the previous profile.
ProfileDynamics	getDynamics() Gets the set of parameters specifying the achievable accelerations during the profile.
double	getFinalHeight() Gets the final target height above the HeightReferenceSurface (get / set), in meters.
TerrainProvider	getHeightReferenceSurface() Gets the reference surface above which the profile height is defined.
double	getInitialHeight() Gets the initial target height above the HeightReferenceSurface (get / set), in meters.
ProfileSpeed	getSpeed() Gets the target speed at which to transition between heights.
ConfigurableSurfaceProcedure	getSurfacePath() Get an object that will allow configuration of the surface geometry as it connects with other procedures.
double	getTurningRadius() Gets the radius at which to turn during the spiral transition from the InitialHeight (get / set) to the FinalHeight (get / set), in meters.
Cartographic	getWaypoint() Gets the waypoint at which to make the transition.
void	setAllowModificationOfFinalHeight(boolean value) Sets a value indicating whether to allow the following connection to update the FinalHeight (get / set) if there was a problem with the next profile.
void	setAllowModificationOfInitialHeight(boolean value) Sets a value indicating whether to allow the previous connection to update the InitialHeight (get / set) if there was a problem with the previous profile.
void	setDynamics(ProfileDynamics value) Sets the set of parameters specifying the achievable accelerations during the profile.
void	setFinalHeight(double value) Sets the final target height above the HeightReferenceSurface (get / set), in meters.
void	setHeightReferenceSurface(TerrainProvider value) Sets the reference surface above which the profile height is defined.
void	setInitialHeight(double value) Sets the initial target height above the HeightReferenceSurface (get / set), in meters.
void	setSpeed(ProfileSpeed value) Sets the target speed at which to transition between heights.
void	setTurningRadius(double value) Sets the radius at which to turn during the spiral transition from the InitialHeight (get / set) to the FinalHeight (get / set), in meters.
void	setWaypoint(Cartographic value) Sets the waypoint at which to make the transition.

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

HeightTransitionProcedure

public HeightTransitionProcedure()

Create a new instance.

HeightTransitionProcedure

public HeightTransitionProcedure(TerrainProvider heightReferenceSurface,
                                 @Nonnull
                                 Cartographic waypoint,
                                 double turningRadius,
                                 ProfileDynamics dynamics,
                                 ProfileSpeed speed,
                                 double initialHeight,
                                 double finalHeight)

Create a new instance based on the given parameters.

Parameters:

heightReferenceSurface - The reference surface above which the height is defined.

waypoint - The point at which the procedure will leave after transitioning to the final height.

turningRadius - The turning radius to use during the transition, in meters.

dynamics - The dynamics describing the vertical and linear rates and accelerations of the platform.

speed - The constant speed to target during the spiral transition.

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

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

HeightTransitionProcedure

protected HeightTransitionProcedure(@Nonnull
                                    HeightTransitionProcedure 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(RouteProcedure 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 RouteProcedure

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(HeightTransitionProcedure 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 HeightTransitionProcedure.checkForSameDefinition(agi.foundation.routedesign.RouteProcedure) method.

Overrides:

computeCurrentDefinitionHashCode in class RouteProcedure

Returns:

The computed hash code.

getWaypoint

@Nonnull
public final Cartographic getWaypoint()

Gets the waypoint at which to make the transition. This is the point at which the procedure will leave after transitioning to the FinalHeight (get / set).

setWaypoint

public final void setWaypoint(@Nonnull
                              Cartographic value)

Sets the waypoint at which to make the transition. This is the point at which the procedure will leave after transitioning to the FinalHeight (get / set).

getTurningRadius

public final double getTurningRadius()

Gets the radius at which to turn during the spiral transition from the InitialHeight (get / set) to the FinalHeight (get / set), in meters.

setTurningRadius

public final void setTurningRadius(double value)

Sets the radius at which to turn during the spiral transition from the InitialHeight (get / set) to the FinalHeight (get / set), in meters.

getInitialHeight

public final double getInitialHeight()

Gets the initial target height above the HeightReferenceSurface (get / set), in meters.

setInitialHeight

public final void setInitialHeight(double value)

Sets the initial target height above the HeightReferenceSurface (get / set), in meters.

getFinalHeight

public final double getFinalHeight()

Gets the final target height above the HeightReferenceSurface (get / set), in meters.

setFinalHeight

public final void setFinalHeight(double value)

Sets the final target height above the HeightReferenceSurface (get / set), in meters.

getHeightReferenceSurface

public final TerrainProvider getHeightReferenceSurface()

Gets the reference surface above which the profile height is defined.

setHeightReferenceSurface

public final void setHeightReferenceSurface(TerrainProvider value)

Sets the reference surface above which the profile height is defined.

getAllowModificationOfInitialHeight

public final boolean getAllowModificationOfInitialHeight()

Gets a value indicating whether to allow the previous connection to update the InitialHeight (get / set) if there was a problem with the previous profile.

setAllowModificationOfInitialHeight

public final void setAllowModificationOfInitialHeight(boolean value)

Sets a value indicating whether to allow the previous connection to update the InitialHeight (get / set) if there was a problem with the previous profile.

getAllowModificationOfFinalHeight

public final boolean getAllowModificationOfFinalHeight()

Gets a value indicating whether to allow the following connection to update the FinalHeight (get / set) if there was a problem with the next profile.

setAllowModificationOfFinalHeight

public final void setAllowModificationOfFinalHeight(boolean value)

Sets a value indicating whether to allow the following connection to update the FinalHeight (get / set) if there was a problem with the next profile.

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.

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 RouteSegment

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 target speed at which to transition between heights.

setSpeed

public final void setSpeed(ProfileSpeed value)

Sets the target speed at which to transition between heights.