Formation class abstract
Formation class
The "Formation" is a controller to execute a maneuver with a team of vehicles. It defines the:
- Vehicles included in the formation group
- Vehicles relative positions inside the formation
- Reference frame where the relative positions are defined
- Formation shape configuration
- Plan (set of maneuvers) to be followed by the formation center
- Plan contrains (virtual leader speed and bank limits)
- Supervision settings
The formation reference frame may be:
- Earth Fixed: Where the vehicles relative position do not depend on the followed path. This results in all UAVs following the same path with an offset relative to each other;
- Path Fixed: Where the vehicles relative position depends on the followed path, changing the inter-vehicle offset direction with the path direction.
- Path Curved: Where the vehicles relative position depends on the followed path, changing the inter-vehicle offset direction with the path direction and direction change rate. An offset in the xx axis results in a distance over the curved path line. An offset in the yy axis results in an offset of the vehicle path line relative to the formation center path line.
- Inheritance
-
- Object
- Message
- ImcMessage
- Formation
- Implemented types
Constructors
- Formation([void updates(FormationBuilder b)?])
-
factory
Properties
- abbrev → String
-
no setteroverride
- commsTimeout → int
-
The amount of time the maneuver is allowed to run without any update on the other formation vehicles states.
no setter
- convergMax → double
-
Threshold for the convergence measure, above which a time-out limit
is evaluated to assert a maneuver abort state.
no setter
- convergTimeout → int
-
The amount of time the maneuver is allowed to run after the convergence threshold is surpassed.
no setter
- custom → String
-
Custom settings for maneuver.
no setter
- description → String
-
Verbose text description of plan.
no setter
- dst → int
-
no setterinherited
- dstEnt → int
-
no setterinherited
- formationName → String
-
Name of the formation configuration.
no setter
- groupName → String
-
Target group for the formation plan.
no setter
- hashCode → int
-
The hash code for this object.
no setterinherited
- leaderAltMax → double
-
Maximum altitude allowed for the formation leader flight.
no setter
- leaderAltMin → double
-
Minimum altitude allowed for the formation leader flight.
no setter
- leaderBankLim → double
-
Maximum absolute bank allowed for the formation leader.
no setter
- leaderSpeedMax → double
-
Maximum speed allowed for the formation leader flight.
no setter
- leaderSpeedMin → double
-
Minimum speed allowed for the formation leader flight.
no setter
- msgId → int
-
no setteroverride
- op → FormationEnumOp
-
Operation to perform.
no setter
-
participants
→ List<
VehicleFormationParticipant> -
List of formation participants.
no setter
- planId → String
-
The flight plan's identifier.
Flight plan defined to be tracked by the formation leader.
no setter
- posSimErrLim → double
-
Limit for the position mismatch between real and simulated position, before a maneuver abort is asserted.
no setter
- posSimErrTimeout → int
-
The amount of time the maneuver is allowed to run after the position mismatch threshold is surpassed.
no setter
- posSimErrWrn → double
-
Warning threshold for the position mismatch between real and simulated position.
Above this threshold a time-out limit is evaluated to assert a maneuver abort state.
no setter
- referenceFrame → FormationEnumReferenceFrame
-
Formation reference frame
no setter
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- src → int
-
no setterinherited
- srcEnt → int
-
no setterinherited
- sync → int
-
no setterinherited
- timestamp → DateTime?
-
no setterinherited
- turbLim → double
-
Turbulence limit above which a maneuver abort is asserted.
no setter
- type → FormationEnumType
-
Indicates if the message is a request, or a reply to a previous request.
no setter
Methods
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
rebuild(
dynamic updates(FormationBuilder)) → Formation -
Rebuilds the instance.
inherited
-
toBuilder(
) → FormationBuilder -
Converts the instance to a builder
B.inherited -
toJson(
[bool includeHeader = true]) → Map< String, dynamic> -
To JSON object
override
-
toString(
) → String -
A string representation of this object.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited