-
Notifications
You must be signed in to change notification settings - Fork 15
/
Copy path_kinematics_lat_lon_8h_source.html
216 lines (214 loc) · 38.8 KB
/
_kinematics_lat_lon_8h_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.7"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>DAIDALUS: include/KinematicsLatLon.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr id="projectrow">
<td id="projectalign">
<div id="projectname">DAIDALUS<span id="projectnumber"> v2.0.4</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.7 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">KinematicsLatLon.h</div></div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * KinematicsLatLon.h</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> * </span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2011-2021 United States Government as represented by</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * the National Aeronautics and Space Administration. No copyright</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> * is claimed in the United States under Title 17, U.S.Code. All Other</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Rights Reserved.</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> */</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="preprocessor">#ifndef KINEMATICS_LATLON_H_</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#define KINEMATICS_LATLON_H_</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#include "Vect3.h"</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="preprocessor">#include "Velocity.h"</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="preprocessor">#include "Quad.h"</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="preprocessor">#include "Tuple5.h"</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="preprocessor">#include "StateVector.h"</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="preprocessor">#include "Triple.h"</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="preprocessor">#include "LatLonAlt.h"</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="preprocessor">#include "Kinematics.h"</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacelarcfm.html">larcfm</a> {</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classlarcfm_1_1_kinematics_lat_lon.html"> 34</a></span><span class="keyword">class </span><a class="code hl_class" href="classlarcfm_1_1_kinematics_lat_lon.html">KinematicsLatLon</a> {</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> chordalSemantics;</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#aba4e47184f91bbf1bdaa0d61bea65da8">linear</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#aba4e47184f91bbf1bdaa0d61bea65da8">linear</a>(std::pair<LatLonAlt,Velocity> sv0, <span class="keywordtype">double</span> t);</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#ae02d52fa221a2ea8bc8d22b884bcf634">turnRadiusByRate</a>(<span class="keywordtype">double</span> speed, <span class="keywordtype">double</span> omega);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#acbab9200afc85776a1321324a1c8d050">turnOmega</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> omega);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#acbab9200afc85776a1321324a1c8d050">turnOmega</a>(std::pair<LatLonAlt,Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> omega) ;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span><span class="comment">// static std::pair<LatLonAlt,Velocity> turnRadius(const LatLonAlt& so, const Velocity& vo, double t, double signedRadius);</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a395ed110ebed9dd057fc9e6b52bd57ea">turnByDist2D</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7bb3284a7e53e4ecbd14778cbd2e3bb1">center</a>, <span class="keywordtype">int</span> dir, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> gsAtd);</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a395ed110ebed9dd057fc9e6b52bd57ea">turnByDist2D</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7bb3284a7e53e4ecbd14778cbd2e3bb1">center</a>, <span class="keywordtype">int</span> dir, <span class="keywordtype">double</span> d);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#aebf95de6b78a88b03c4cf49ea5372238">turnByAngle2D</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7bb3284a7e53e4ecbd14778cbd2e3bb1">center</a>, <span class="keywordtype">double</span> alpha);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a0a8a9b69b8270d4e70efb1b88047146c">turn</a>(<a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a> s0, <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a> v0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> R, <span class="keywordtype">bool</span> turnRight);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a0a8a9b69b8270d4e70efb1b88047146c">turn</a>(std::pair<LatLonAlt,Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> R, <span class="keywordtype">bool</span> turnRight);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a69b364c76c2b3046d77cb50f5bab55f7">turnUntilTimeOmega</a>(std::pair<LatLonAlt,Velocity> svo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> turnTime, <span class="keywordtype">double</span> omega) ;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a69b364c76c2b3046d77cb50f5bab55f7">turnUntilTimeOmega</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> turnTime, <span class="keywordtype">double</span> omega) ;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a42b96e47f81bb2b3b645973afb6a85e2">turnUntil</a>(std::pair<LatLonAlt,Velocity> svo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> goalTrack, <span class="keywordtype">double</span> maxBank);</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a42b96e47f81bb2b3b645973afb6a85e2">turnUntil</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> goalTrack, <span class="keywordtype">double</span> maxBank);</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#aae8e98ac37a36cd1f3fcbced727effa8">turnUntilTimeRadius</a>(<span class="keyword">const</span> std::pair<LatLonAlt,Velocity>& svo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> turnTime, <span class="keywordtype">double</span> R, <span class="keywordtype">bool</span> turnRight);</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7bb3284a7e53e4ecbd14778cbd2e3bb1">center</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& s0, <span class="keywordtype">double</span> trk, <span class="keywordtype">double</span> radius, <span class="keywordtype">int</span> dir);</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keyword">static</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7bb3284a7e53e4ecbd14778cbd2e3bb1">center</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& s0, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& v0, <span class="keywordtype">double</span> omega);</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a35d78f2c2c5386c1ccf9623cbef3d20b">closestTimeOnTurn</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& s0, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& v0, <span class="keywordtype">double</span> omega, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& x, <span class="keywordtype">double</span> endTime);</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a073ad73d77bfde1043b820116df202d7">closestDistOnTurn</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& s0, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& v0, <span class="keywordtype">double</span> R, <span class="keywordtype">int</span> dir, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& x, <span class="keywordtype">double</span> maxDist);</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> </div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> </div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="comment">// ****************************** Ground Speed KINEMATIC CALCULATIONS *******************************</span></div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7513b0f54138184e10d8ec787c7a180c">gsAccel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> a) ;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> </div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a67e9c9e9258664e7b8872b818a1570e5">gsAccelUntil</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> goalGS, <span class="keywordtype">double</span> gsAccel_d);</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> </div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a67e9c9e9258664e7b8872b818a1570e5">gsAccelUntil</a>(std::pair<LatLonAlt,Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> goalGs, <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a7513b0f54138184e10d8ec787c7a180c">gsAccel</a>);</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> </div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="comment">// ****************************** Vertical Speed KINEMATIC CALCULATIONS *******************************</span></div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> </div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a57c97712ed8e1cebfd2cf207d5218bf1">vsAccel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> a) ;</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> </div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a57c97712ed8e1cebfd2cf207d5218bf1">vsAccel</a>(std::pair<LatLonAlt,Velocity> svo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> a);</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a64d549d169b3d49cc0183a3b816e95d7">vsAccelUntil</a>(<span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_lat_lon_alt.html">LatLonAlt</a>& so, <span class="keyword">const</span> <a class="code hl_class" href="classlarcfm_1_1_velocity.html">Velocity</a>& vo, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> goalVs, <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a57c97712ed8e1cebfd2cf207d5218bf1">vsAccel</a>);</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> </div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">static</span> std::pair<LatLonAlt,Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a64d549d169b3d49cc0183a3b816e95d7">vsAccelUntil</a>(std::pair<LatLonAlt,Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> goalVs, <span class="keywordtype">double</span> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#a57c97712ed8e1cebfd2cf207d5218bf1">vsAccel</a>);</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> </div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">static</span> std::pair<LatLonAlt, Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#adddec55844c0fc3c9c0c7ac24be0df6f">vsLevelOut</a>(std::pair<LatLonAlt, Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> climbRate,</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">double</span> targetAlt, <span class="keywordtype">double</span> accelUp, <span class="keywordtype">double</span> accelDown, <span class="keywordtype">bool</span> allowClimbRateChange);</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keyword">static</span> std::pair<LatLonAlt, Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#adddec55844c0fc3c9c0c7ac24be0df6f">vsLevelOut</a>(std::pair<LatLonAlt, Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> climbRate,</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordtype">double</span> targetAlt, <span class="keywordtype">double</span> a, <span class="keywordtype">bool</span> allowClimbRateChange) ;</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> </div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">static</span> std::pair<LatLonAlt, Velocity> <a class="code hl_function" href="classlarcfm_1_1_kinematics_lat_lon.html#adddec55844c0fc3c9c0c7ac24be0df6f">vsLevelOut</a>(std::pair<LatLonAlt, Velocity> sv0, <span class="keywordtype">double</span> t, <span class="keywordtype">double</span> climbRate,</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">double</span> targetAlt, <span class="keywordtype">double</span> a) ;</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> </div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> </div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">static</span> std::pair<LatLonAlt, Velocity> vsLevelOutCalculation(std::pair<LatLonAlt,Velocity> sv0,</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordtype">double</span> targetAlt, <span class="keywordtype">double</span> a1, <span class="keywordtype">double</span> a2, <span class="keywordtype">double</span> t1, <span class="keywordtype">double</span> t2, <span class="keywordtype">double</span> t3, <span class="keywordtype">double</span> t);</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> </div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span>};</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> </div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span>}</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span><span class="preprocessor">#endif </span><span class="comment">//KINEMATICS_LATLON_H_</span></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html">larcfm::KinematicsLatLon</a></div><div class="ttdef"><b>Definition</b> KinematicsLatLon.h:34</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a073ad73d77bfde1043b820116df202d7"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a073ad73d77bfde1043b820116df202d7">larcfm::KinematicsLatLon::closestDistOnTurn</a></div><div class="ttdeci">static double closestDistOnTurn(const LatLonAlt &s0, const Velocity &v0, double R, int dir, const LatLonAlt &x, double maxDist)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:222</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a0a8a9b69b8270d4e70efb1b88047146c"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a0a8a9b69b8270d4e70efb1b88047146c">larcfm::KinematicsLatLon::turn</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > turn(LatLonAlt s0, Velocity v0, double t, double R, bool turnRight)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:138</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a35d78f2c2c5386c1ccf9623cbef3d20b"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a35d78f2c2c5386c1ccf9623cbef3d20b">larcfm::KinematicsLatLon::closestTimeOnTurn</a></div><div class="ttdeci">static double closestTimeOnTurn(const LatLonAlt &s0, const Velocity &v0, double omega, const LatLonAlt &x, double endTime)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:202</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a395ed110ebed9dd057fc9e6b52bd57ea"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a395ed110ebed9dd057fc9e6b52bd57ea">larcfm::KinematicsLatLon::turnByDist2D</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > turnByDist2D(const LatLonAlt &so, const LatLonAlt &center, int dir, double d, double gsAtd)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:105</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a42b96e47f81bb2b3b645973afb6a85e2"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a42b96e47f81bb2b3b645973afb6a85e2">larcfm::KinematicsLatLon::turnUntil</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > turnUntil(std::pair< LatLonAlt, Velocity > svo, double t, double goalTrack, double maxBank)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:168</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a57c97712ed8e1cebfd2cf207d5218bf1"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a57c97712ed8e1cebfd2cf207d5218bf1">larcfm::KinematicsLatLon::vsAccel</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > vsAccel(const LatLonAlt &so, const Velocity &vo, double t, double a)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:273</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a64d549d169b3d49cc0183a3b816e95d7"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a64d549d169b3d49cc0183a3b816e95d7">larcfm::KinematicsLatLon::vsAccelUntil</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > vsAccelUntil(const LatLonAlt &so, const Velocity &vo, double t, double goalVs, double vsAccel)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:287</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a67e9c9e9258664e7b8872b818a1570e5"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a67e9c9e9258664e7b8872b818a1570e5">larcfm::KinematicsLatLon::gsAccelUntil</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > gsAccelUntil(const LatLonAlt &so, const Velocity &vo, double t, double goalGS, double gsAccel_d)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:253</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a69b364c76c2b3046d77cb50f5bab55f7"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a69b364c76c2b3046d77cb50f5bab55f7">larcfm::KinematicsLatLon::turnUntilTimeOmega</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > turnUntilTimeOmega(std::pair< LatLonAlt, Velocity > svo, double t, double turnTime, double omega)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:152</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a7513b0f54138184e10d8ec787c7a180c"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a7513b0f54138184e10d8ec787c7a180c">larcfm::KinematicsLatLon::gsAccel</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > gsAccel(const LatLonAlt &so, const Velocity &vo, double t, double a)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:241</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_a7bb3284a7e53e4ecbd14778cbd2e3bb1"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#a7bb3284a7e53e4ecbd14778cbd2e3bb1">larcfm::KinematicsLatLon::center</a></div><div class="ttdeci">static LatLonAlt center(const LatLonAlt &s0, double trk, double radius, int dir)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:191</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_aae8e98ac37a36cd1f3fcbced727effa8"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#aae8e98ac37a36cd1f3fcbced727effa8">larcfm::KinematicsLatLon::turnUntilTimeRadius</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > turnUntilTimeRadius(const std::pair< LatLonAlt, Velocity > &svo, double t, double turnTime, double R, bool turnRight)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:179</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_aba4e47184f91bbf1bdaa0d61bea65da8"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#aba4e47184f91bbf1bdaa0d61bea65da8">larcfm::KinematicsLatLon::linear</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > linear(const LatLonAlt &so, const Velocity &vo, double t)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:37</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_acbab9200afc85776a1321324a1c8d050"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#acbab9200afc85776a1321324a1c8d050">larcfm::KinematicsLatLon::turnOmega</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > turnOmega(const LatLonAlt &so, const Velocity &vo, double t, double omega)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:54</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_adddec55844c0fc3c9c0c7ac24be0df6f"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#adddec55844c0fc3c9c0c7ac24be0df6f">larcfm::KinematicsLatLon::vsLevelOut</a></div><div class="ttdeci">static std::pair< LatLonAlt, Velocity > vsLevelOut(std::pair< LatLonAlt, Velocity > sv0, double t, double climbRate, double targetAlt, double accelUp, double accelDown, bool allowClimbRateChange)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:323</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_ae02d52fa221a2ea8bc8d22b884bcf634"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#ae02d52fa221a2ea8bc8d22b884bcf634">larcfm::KinematicsLatLon::turnRadiusByRate</a></div><div class="ttdeci">static double turnRadiusByRate(double speed, double omega)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:49</div></div>
<div class="ttc" id="aclasslarcfm_1_1_kinematics_lat_lon_html_aebf95de6b78a88b03c4cf49ea5372238"><div class="ttname"><a href="classlarcfm_1_1_kinematics_lat_lon.html#aebf95de6b78a88b03c4cf49ea5372238">larcfm::KinematicsLatLon::turnByAngle2D</a></div><div class="ttdeci">static LatLonAlt turnByAngle2D(const LatLonAlt &so, const LatLonAlt &center, double alpha)</div><div class="ttdef"><b>Definition</b> KinematicsLatLon.cpp:129</div></div>
<div class="ttc" id="aclasslarcfm_1_1_lat_lon_alt_html"><div class="ttname"><a href="classlarcfm_1_1_lat_lon_alt.html">larcfm::LatLonAlt</a></div><div class="ttdef"><b>Definition</b> LatLonAlt.h:33</div></div>
<div class="ttc" id="aclasslarcfm_1_1_velocity_html"><div class="ttname"><a href="classlarcfm_1_1_velocity.html">larcfm::Velocity</a></div><div class="ttdef"><b>Definition</b> Velocity.h:39</div></div>
<div class="ttc" id="anamespacelarcfm_html"><div class="ttname"><a href="namespacelarcfm.html">larcfm</a></div><div class="ttdef"><b>Definition</b> ACCoRDConfig.h:16</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
</small></address>
</body>
</html>