model

Planning.Examples.DubinsAircraftFlightPlan

General figure eight whose two traversal headings share one center position

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
parameter	`waypointCount`	`Integer`	`(min=2) = 7`
parameter	`waypointPosition`	`Real`	`[waypointCount, 2] = [ 0.0, 0.0; 12.0, 7.0; 12.0, -7.0; 0.0, 0.0; -12.0, 7.0; -12.0, -7.0; 0.0, 0.0]`	Two outer poses per lobe and three center occurrences
parameter	`waypointHeading`	`Real`	`[waypointCount] = { 0.7853981633974483, 0.0, 3.141592653589793, 2.356194490192345, 3.141592653589793, 0.0, 0.7853981633974483}`
parameter	`planningTurnRadius`	`Real`	`(min=0.0) = 2.5`
parameter	`aircraftMinimumTurnRadius`	`Real`	`(min=0.0) = 1.0`
parameter	`flightSpeed`	`Real`	`(min=0.0) = 1.5`
parameter	`maximumBankAngle`	`Real`	`(min=0.0) = 0.5`
parameter	`maximumRollRate`	`Real`	`(min=0.0) = 3.0`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model DubinsAircraftFlightPlan
  "General figure eight whose two traversal headings share one center position"
  parameter Integer waypointCount(min=2) = 7;
  parameter Real waypointPosition[waypointCount, 2] = [
    0.0, 0.0;
    12.0, 7.0;
    12.0, -7.0;
    0.0, 0.0;
    -12.0, 7.0;
    -12.0, -7.0;
    0.0, 0.0]
    "Two outer poses per lobe and three center occurrences";
  parameter Real waypointHeading[waypointCount] = {
    0.7853981633974483,
    0.0,
    3.141592653589793,
    2.356194490192345,
    3.141592653589793,
    0.0,
    0.7853981633974483};
  parameter Real planningTurnRadius(min=0.0) = 2.5;
  parameter Real aircraftMinimumTurnRadius(min=0.0) = 1.0;
  parameter Real flightSpeed(min=0.0) = 1.5;
  parameter Real maximumBankAngle(min=0.0) = 0.5;
  parameter Real maximumRollRate(min=0.0) = 3.0;

  Planning.Examples.DubinsAircraftTrajectory leg[waypointCount - 1](
    startPosition=waypointPosition[1:waypointCount - 1, :],
    startHeading=waypointHeading[1:waypointCount - 1],
    goalPosition=waypointPosition[2:waypointCount, :],
    goalHeading=waypointHeading[2:waypointCount],
    each turnRadius=planningTurnRadius,
    each aircraftMinimumTurnRadius=aircraftMinimumTurnRadius,
    each flightSpeed=flightSpeed,
    each maximumBankAngle=maximumBankAngle,
    each maximumRollRate=maximumRollRate);
  annotation(experiment(StartTime=0.0, StopTime=1.0, Interval=0.0025));
end DubinsAircraftFlightPlan;