connector

Planning.Interfaces.WaypointPlanInput

Fixed-capacity waypoint plan received from a mission-data message

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
parameter	`capacity`	`Integer`	`(min = 2) = 16`
input	`valid`	`Boolean`		The message contains a complete candidate plan
input	`sequence`	`Integer`		Changes whenever the sender publishes a new plan
input	`waypointCount`	`Integer`	`(min = 0, max = capacity)`	Number of populated rows
input	`globalFrame`	`Boolean`		True for geodetic rows; false for local East-North-Up rows
input	`originGeodetic`	`Real`	`[3]`	Local origin [latitude_deg, longitude_deg, altitude_m]
input	`waypoint`	`Real`	`[capacity, 3]`	Local [east_m,north_m,up_m] or global [lat_deg,lon_deg,alt_m] rows
input	`velocityEnu`	`Real`	`[capacity, 3]`	World-frame velocity at each waypoint [m/s]
input	`yaw`	`Real`	`[capacity](each unit = "rad")`	Heading at each waypoint
input	`nominalSpeed`	`Real`	`(unit = "m/s")`	Nominal segment-average speed
input	`minSegmentDuration`	`Real`	`(unit = "s")`	Lower duration bound

Modelica declarations and implementation

Show parameters, interfaces and source

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

connector WaypointPlanInput
    "Fixed-capacity waypoint plan received from a mission-data message"
    parameter Integer capacity(min = 2) = 16;

    input Boolean valid "The message contains a complete candidate plan";
    input Integer sequence "Changes whenever the sender publishes a new plan";
    input Integer waypointCount(min = 0, max = capacity)
      "Number of populated rows";
    input Boolean globalFrame
      "True for geodetic rows; false for local East-North-Up rows";
    input Real originGeodetic[3]
      "Local origin [latitude_deg, longitude_deg, altitude_m]";
    input Real waypoint[capacity, 3]
      "Local [east_m,north_m,up_m] or global [lat_deg,lon_deg,alt_m] rows";
    input Real velocityEnu[capacity, 3]
      "World-frame velocity at each waypoint [m/s]";
    input Real yaw[capacity](each unit = "rad") "Heading at each waypoint";
    input Real nominalSpeed(unit = "m/s") "Nominal segment-average speed";
    input Real minSegmentDuration(unit = "s") "Lower duration bound";
  end WaypointPlanInput;