Vehicle

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Class in Zendir.Universe | Inherits from GroundObject

Declaration

class Vehicle;

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Description

A ground vehicle is able to move along the ground of a planet and be controlled. The vehicle can have a reference frame for which the movement is relative to.

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Properties

Declared	Description
Coordinates	The coordinates of the vehicle in the origin coordinate system. Thisis relative to the 0, 0, 0 location and always along the surface ofthe planet, where the Y axis is the origin’s north direction, the X axisis 90 degrees clockwise from the north direction, and the Z axis is uptowards the zenith from the ground.
EulerAngles	The euler angles, as a roll, pitch, yaw set, of the vehicle indegrees.
OriginNorth	The northing of the origin of the coordinate system. This defines theangle, relative to true north along the surface, where 0, 0, 0 is located.This is a clockwise angle between 0 and 360 degrees.
Out_VehicleStateMsg	The output message storing the state of the vehicle and thecurrent origin and position data.
Quaternion	The quaternion that defines the rotation of the vehicle in the originreference frame.
VehicleForwardAxis	Defines the forward axis relative to the vehicle and the ground. This willbe in the Y axis of the coordinate frame, in the origin coordinate frame.
VehicleRightAxis	Defines the right axis relative to the vehicle and the ground. This willbe in the X axis of the coordinate frame, in the origin coordinate frame.
VehicleUpAxis	Defines the forward axis relative to the vehicle and the ground. This willbe in the Y axis of the coordinate frame, in the origin coordinate frame.
Velocity	The velocity of the vehicle’s body (B) in the origin (O) coordinate system,where the Y axis is the origin’s north direction, the X axis is 90 degreesclockwise from the north direction, and the Z axis is up towards the zenithfrom the ground.

Inherited	Description
Altitude	The altitude that the object is located above the surface of the planet
Behaviours	A collection of behaviours attached to this object.
CenterOfMassB_B	The center of mass of the component in respect to the bodyframe (B) of the component. This is isolated from any childrenand exists in isolation.
CenterOfMassDot_LB_B	The center of mass time-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation.
CenterOfMassDotB_B	The center of mass time-derivative of the component relative tothe body frame (B). This does not include any of the sub-componentsand exists in isolation.
CenterOfMassL_L	The center of mass of the component within its own localcoordinates. This does not include any of the sub-components andexists in isolation.
CenterOfMassPrime_LB_B	The center of mass general-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation.
CenterOfMassPrimeB_B	[m/s] The center of mass general-derivative of the component relativeto the body frame (B). This does not include any of the sub-componentsand exists in isolation.
Children	A collection of children attached to this object.
DCM_BN	The rotational DCM matrix between the body frame (B) at the topof this component chain and the inertial frame (N).
DCM_LB	The rotational DCM matrix between the component frame of thisobject (L) relative to the body frame (B).
DCM_LN	The DCM rotational matrix of the component relative to theinertial origin (N) of the world.
DCM_LP	Rotation matrix from planet-centered, planet-fixed frame P to site-local topographic (SEZ) frame L coordinates
In_PlanetStateMsg	A reference to the message for the planet attached to.
IsEnabled	Is true if the object is currently enabled.
Latitude	The latitude that this object is located at on the surface of the planet
LocalForward	The direction of the transform frame’s forward vector, which is along the Y axis.
LocalRight	The direction of the transform frame’s right vector, which is along the X axis.
LocalUp	The direction of the transform frame’s up vector, which is along the Z axis.
Longitude	The longitude that this object is located at on the surface of the planet
Mass	The component mass defined in the object. This is independentof any parent or children objects and exists in isolation.
MassDot	The component mass time-derivative defined in the object. Thisis independent of any parent or children objects and exists in isolation.
Models	A collection of models attached to this object.
MomentOfInertia_LB	The moment of inertia of the component, measured at thelocal center of mass, represented with its own local coordinates.This does not include any of the sub-components and exists inisolation.
MomentOfInertiaB_B	The moment of inertia of this component, measured inthe body frame relative to the parented body. This is independentof any children and exists in isolation.
MomentOfInertiaPrime_LB	The derivative of the moment of inertia of the component,measured at the local center of mass, represented with its own localcoordinates. This does not include any of the sub-components andexists in isolation.
MomentOfInertiaPrimeB_B	The derivative of the moment of inertia of the component,represented in the body frame (B). This is independent and exists inisolation.
Name	The display name or tag of this object.
Out_ComponentMassMsg	The component mass message defines the set of mass properties andstates of the system within this component locally. This is independentof any parent or children properties or objects.
Out_GeodeticMsg	The message defining the geodetic location of the ground objectrelative to the planet.
Out_GroundStateMsg	The Ground state message contains all the information aboutthe current state of the ground object in inertial space.
Out_TransformMsg	This defines the base transform message that stores the state of the transform of this object.
Parent	The currently attached parent object (if any).
PCPF_P	Initial Ground Location to Planet origin vector in planet frame coordinates.
Planet	The name of the planet that the ground object is located on.
Position	[m] The position of the object relative to the parent or to world origin, if no parent exists.
Position_BN_N	The position of the body (the root parent B) in theinertial frame relative to the inertial point (N).
Position_LB_B	The position of the component relative to the rootobject of this hierarchy. This is in the inertial frameand if the component is the root object, then there willbe no position.
Position_LN_N	The position of the inertial world space. This position isderived from the world’s transform (N).
Position_LP_P	The position of the object relative to the parented object (P).If there is no parent object, then this will be in the inertialframe.
Root	The root object in the parent chain.
Rotation	[-] The rotation of the object relative to the parent or to the world origin, if no parent exists.
Thermal	A reference to the thermal model that is attached to this object.This will allow the object to have thermal properties and be ableto be used in thermal simulations.

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Methods

Inherited	Description
AddObject	Returns a new simulation object with the specified type.
Attach	Attempts to attach this object to a new parent. This will only work if the current object is no parented to anyother object.
ContainsModelWithID	Returns true if an attached model satisfies the specified ID.
ContainsModelWithType	Returns true if an attached model satisfies the specified type.
Destroy	Removes the current object from the simulation.
Detach	This is an action to detach the current object from its parent, if it exists and move it to another object or tojust exist within the simulation.
FindBehavioursWithType	Returns all attached behaviours that satisfies the specified type.
FindBehaviourWithID	Returns an attached behaviour that satisfies the specified ID.
FindBehaviourWithType	Returns an attached behaviour that satisfies the specified type.
FindChildrenWithType	Returns all attached children that satisfies the specified type.
FindChildWithID	Returns an attached child that satisfies the specified ID.
FindChildWithType	Returns an attached child that satisfies the specified type.
FindModelsWithType	Returns all attached models that satisfies the specified type.
FindModelWithID	Returns an attached model that satisfies the specified ID.
FindModelWithType	Returns an attached model that satisfies the specified type.
FindParentWithID	Returns an attached parent that satisfies the specified ID.
FindParentWithType	Returns an attached parent that satisfies the specified type.
FindRootWithID	Returns a root object that satisfies the specified ID.
FindRootWithType	Returns a root object that satisfies the specified type.
GetModel	Returns a valid assigned model with the specified type.
GetWorldTransform	Returns the world transform of the object which is relative to the parent. If no parent exists, this will be thetransform of the object in world space.
ReadBodyTransform	This method will reset the dirty flag on the mass so thatit has been read successfully and is valid.
SetGroundPosition	Sets the position of the ground object relative to the planet. This will update thePCPF value and the inertial coordinates. This will be relative to the planet and withthe planet’s rotation.
SetLocation	Updates the location of the ground body relative to the planet. If the locationneeds to be changed during the runtime, this function should be called and notthe updating of the fields.
UpdateMassProperties	Updates the mass properties of the current physical object ata particular time.