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DeadReckoning_BPFL

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huggins edited this page May 10, 2023 · 5 revisions

Dead Reckoning BPFL

Dead Reckoning Blueprint Function Library. Houses functions for performing dead reckoning.

class UDeadReckoning_BPFL
  : public UBlueprintFunctionLibrary

Includes

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Members

Access Type Name Description
Private Static Const double MIN_ROTATION_RATE

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Functions

Access Return Name Description
Private Static FRotator CalculateDeadReckonedEulerAnglesFromQuaternion(glm::dvec3 AngularVelocityVector, FQuat EntityRotationQuaternion, float DeltaTime) Calculates the Psi, Theta, Phi orientation for the entity from the given orientation quaternion. Utilized as a final step in converting quaternion OtherParameters to an orientation
Private Static void CalculateDeadReckonedOrientation(double PsiRadians, double ThetaRadians, double PhiRadians, glm::dvec3 AngularVelocityVector, float DeltaTime, double& OutPsiRadians, double& OutThetaRadians, double& OutPhiRadians) Calculates the new orientation vector using the given velocity, acceleration, and time increment
Private Static glm::dvec3 CalculateDeadReckonedPosition(glm::dvec3 PositionVector, glm::dvec3 VelocityVector, glm::dvec3 AccelerationVector, double DeltaTime) Calculates the new position vector using the given velocity, acceleration, and time increment
Private Static void ConvertLocalRotatorToPsiThetaPhiRadians(FEntityStatePDU EntityPDUToDeadReckon, FRotator LocalRotatorRadians, FPsiThetaPhi& PsiThetaPhiRadians) Converts the given local heading, pitch, roll rotator in radians into world space psi, theta, phi rotator in radians
Public Static glm::dmat3 CreateDeadReckoningMatrix(glm::dvec3 AngularVelocityVector, double DeltaTime) Calculates and returns the dead reckoning matrix used for calculating entity rotation
Public Static FQuat CreateDeadReckoningQuaternion(glm::dvec3 AngularVelocityVector, double DeltaTime) Calculates and returns the dead reckoning quaternion used for calculating entity rotation
Public Static bool DeadReckoning(FEntityStatePDU EntityPDUToDeadReckon, float DeltaTime, [FEntityStatePDU& DeadReckonedEntityPDU) Performs dead reckoning on the given Entity PDU
Public Static TArray<uint8> FormOtherParameters(EDeadReckoningAlgorithm DeadReckoningAlgorithm, FRotator EntityPsiThetaPhiRadians, FVector EntityECEFLocation) Forms the Other Parameters section utilized in Dead Reckoning Parameters
Private Static glm::dvec3 GetEntityBodyDeadReckonedPosition(glm::dvec3 InitialPositionVector, glm::dvec3 BodyVelocityVector, glm::dvec3 BodyLinearAccelerationVector, glm::dvec3 BodyAngularVelocityVector, glm::dvec3 EntityOrientation, double DeltaTime) Calculates the new position vector using the given velocity, acceleration, and time increment given in body coordinates
Public Static glm::dmat3 GetEntityOrientationMatrix(double PsiRadians, double ThetaRadians, double PhiRadians) Calculates a DIS entity's orientation matrix from the provided Euler angles
Public Static FQuat GetEntityOrientationQuaternion(double PsiRadians, double ThetaRadians, double PhiRadians) Calculates a DIS entity's orientation quaternion from the provided Euler angles
Private Static bool GetLocalEulerAngles(TArray<uint8> OtherDeadReckoningParameters, FRotator& LocalRotator) Gets the local yaw, pitch, and roll from the other parameters structure. The yaw, pitch, and roll act on the entity's local North, East, Down vectors
Private Static bool GetLocalQuaternionAngles(TArray<uint8> OtherDeadReckoningParameters, FQuat& EntityOrientation) Gets the local entity orientation as a quaternion from the dead reckoning other parameters
Private Static bool IsMachineLittleEndian() Checks if the machine is in Little Endian. Returns true if Little Endian or false if Big Endian

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Details

MIN ROTATION RATE

double MIN_ROTATION_RATE

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CalculateDeadReckonedEulerAnglesFromQuaternion

private static FRotator CalculateDeadReckonedEulerAnglesFromQuaternion
(
    glm::dvec3 AngularVelocityVector,
    FQuat EntityRotationQuaternion,
    float DeltaTime
)

Calculates the Psi, Theta, Phi orientation for the entity from the given orientation quaternion. Utilized as a final step in converting quaternion OtherParameters to an orientation.

Parameter Description
AngularVelocityVector The angular velocity of the entity
EntityRoationQuaternion The orientation quaternion to use to calculate the Psi, Theta, Phi orientation
DeltaTime The time increment for dead reckoning calculation
Returns
Psi, Theta, Phi orientation for the entity from the given orientation quaternion as FRotator

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CalculateDeadReckonedOrientation

private static void CalculateDeadReckonedOrientation
(
    double PsiRadians,
    double ThetaRadians,
    double PhiRadians,
    glm::dvec3 AngularVelocityVector,
    float DeltaTime,
    double& OutPsiRadians,
    double& OutThetaRadians,
    double& OutPhiRadians
)

Calculates the new orientation vector using the given velocity, acceleration, and time increment.

Parameter Description
PsiRadians The rotation about the Z axis in radians
ThetaRadians The rotation about the Y axis in radians
PhiRadians The rotation about the X axis in radians
AngularVelocityVector The angular velocity vector in body coordinates
DeltaTime The time increment for dead reckoning calculation
&OutPsiRadians The rotation about the Z axis in radians after time step DeltaTime
&OutThetaRadians The rotation about the Y axis in radians after time step DeltaTime
&OutPhiRadians The rotation about the X axis in radians after time step DeltaTime

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CalculateDeadReckonedPosition

private static glm::dvec3 CalculateDeadReckonedPosition
(
    glm::dvec3 PositionVector,
    glm::dvec3 VelocityVector,
    glm::dvec3 AccelerationVector,
    double DeltaTime
)

Calculates the new position vector using the given velocity, acceleration, and time increment.

Parameter Description
PositionVector The initial position of the entity in world coordinates
VelocityVector The initial velocity in world coordinates
AccelerationVector The initial acceleration in world coordinates
DeltaTime The time increment for dead reckoning calculation
Returns
Calculated entity ECEF position vector

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ConvertLocalRotatorToPsiThetaPhiRadians

private static void ConvertLocalRotatorToPsiThetaPhiRadians
(
    FEntityStatePDU EntityPDUToDeadReckon,
    FRotator LocalRotatorRadians,
    FPsiThetaPhi& PsiThetaPhiRadians
)

Converts the given local heading, pitch, roll rotator in radians into world space psi, theta, phi rotator in radians.

Parameter Description
EntityPDUToDeadReckon The entity PDU being dead reckoned.
LocalRotatorRadians The local heading, pitch, roll rotator in radians
&PsiThetaPhiRadians The world space psi, theta, phi rotator in radians

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CreateDeadReckoningMatrix

public static glm::dmat3 CreateDeadReckoningMatrix
(
    glm::dvec3 AngularVelocityVector,
    double DeltaTime
)

Calculates and returns the dead reckoning matrix used for calculating entity rotation.

Parameter Description
AngularVelocityVector The angular velocity vector in body coordinates
DeltaTime The time increment for dead reckoning calculations
Returns
The dead reckoning matrix used for calculating entity rotation

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CreateDeadReckoningQuaternion

public static FQuat CreateDeadReckoningQuaternion
(
    glm::dvec3 AngularVelocityVector,
    double DeltaTime
)

Calculates and returns the dead reckoning quaternion used for calculating entity rotation.

Parameter Description
AngularVelocityVector The angular velocity vector in body coordinates
DeltaTime The time increment for dead reckoning calculations
Returns
The dead reckoning quaternion used for calculating entity rotation

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DeadReckoning

public static bool DeadReckoning
(
    FEntityStatePDU EntityPDUToDeadReckon,
    float DeltaTime,
    FEntityStatePDU& DeadReckonedEntityPDU
)

Performs dead reckoning on the given Entity PDU.

Category: GRILL DIS|Dead Reckoning

Parameter Description
EntityPDUToDeadReckon The Entity State PDU to perform dead reckoning on
DeltaTime The time elapsed in seconds that dead reckoning should be calculated for
DeadReckonedEntityPDU The resulting dead reckoned EntityStatePDU that contains all of the dead reckoning information
Returns
True if dead reckoning algorithm is supported and dead reckoning was performed. False otherwise.

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FormOtherParameters

public static TArray<uint8> FormOtherParameters
(
    EDeadReckoningAlgorithm DeadReckoningAlgorithm,
    FRotator EntityPsiThetaPhiRadians,
    FVector EntityECEFLocation
)

Forms the Other Parameters section utilized in Dead Reckoning Parameters.

Category: GRILL DIS|Dead Reckoning

Parameter Description
DeadReckoningAlgorithm The dead reckoning algorithm being used
EntityPsiThetaPhiRadians The Psi, Theta, Phi orientation of the entity
EntityECEFLocation The ECEF location of the entity
Returns
An array of 15 bytes representing the Other Parameters of the Dead Reckoning PDU

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GetEntityBodyDeadReckonedPosition

private static glm::dvec3 GetEntityBodyDeadReckonedPosition
(
    glm::dvec3 InitialPositionVector,
    glm::dvec3 BodyVelocityVector,
    glm::dvec3 BodyLinearAccelerationVector,
    glm::dvec3 BodyAngularVelocityVector,
    glm::dvec3 EntityOrientation,
    double DeltaTime
)

Calculates the new position vector using the given velocity, acceleration, and time increment given in body coordinates.

Parameter Description
InitialPositionVector The initial position of the entity in body coordinates
BodyVelocityVector The initial velocity in body coordinates
BodyLinearAccelerationVector The initial linear acceleration in body coordinates
BodyAngularVelocityVector The initial angular acceleration in body coordinates
EntityOrientation The orientation of the entity (Psi[Yaw]/Theta[Pitch]/Phi[Roll]) in radians
DeltaTime The time increment for dead reckoning calculation
Returns
The new position vector using the given velocity, acceleration, and time increment given in body coordinates

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GetEntityOrientationMatrix

public static glm::dmat3 GetEntityOrientationMatrix
(
    double PsiRadians,
    double ThetaRadians,
    double PhiRadians
)

Calculates a DIS entity's orientation matrix from the provided Euler angles.

Parameter Description
PsiRadians The rotation about the Z axis in radians
ThetaRadians The rotation about the Y axis in radians
PhiRadians The rotation about the X axis in radians
Returns
Orientation matrix from the provided Euler angles of a DIS entity

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GetEntityOrientationQuaternion

public static FQuat GetEntityOrientationQuaternion
(
    double PsiRadians,
    double ThetaRadians,
    double PhiRadians
)

Calculates a DIS entity's orientation quaternion from the provided Euler angles.

Parameter Description
PsiRadians The rotation about the Z axis in radians
ThetaRadians The rotation about the Y axis in radians
PhiRadians The rotation about the X axis in radians
Returns
A DIS entity's orientation quaternion from the provided Euler angles

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GetLocalEulerAngles

private static bool GetLocalEulerAngles
(
    TArray<uint8> OtherDeadReckoningParameters,
    FRotator& LocalRotator
)

Gets the local yaw, pitch, and roll from the other parameters structure. The yaw, pitch, and roll act on the entity's local North, East, Down vectors.

Parameter Description
OtherDeadReckoningParameters The 120 bits sent as part of the dead reckoning parameters marked as other parameters sent as an array of bytes
LocalRotator The local yaw, pitch, and roll of the entity in radians. Yaw is the heading from true north, positive to the right. Pitch is the elevation angle above or below the local horizon, positive up. Roll is the bank angle from the local horizontal, positive tile to the right
Returns
False if OtherDeadReckoningParameters has a length less than 15 or the Dead Reckoning Parameter Type (OtherDeadReckoningParameters[0]) is not set to 1. True otherwise.

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GetLocalQuaternionAngles

private static bool GetLocalQuaternionAngles
(
    TArray<uint8> OtherDeadReckoningParameters,
    FQuat& EntityOrientation
)

Gets the local entity orientation as a quaternion from the dead reckoning other parameters.

Parameter Description
OtherDeadReckoningParameters The 120 bits sent as part of the dead reckoning parameters marked as other parameters sent as an array of bytes
EntityOrientation The four-valued unit quaternion that represents the entity's orientation
Returns
False if OtherDeadReckoningParameters has a length less than 15 or the Dead Reckoning Parameter Type (OtherDeadReckoningParameters[0]) is not set to 2. True otherwise.

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IsMachineLittleEndian

private static bool IsMachineLittleEndian()

Checks if the machine is in Little Endian. Returns true if Little Endian or false if Big Endian.

Returns
True if machine is little Endian. False if machine is big Endian.

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