Detailed Description

This class provides the real-time dynamics integration for rotary-wing aircraft controlled through VREngage. It processes joystick inputs, handles control surface movement, and maintains proper kinematic state.

Note

Generally the VREngage actuator should not directly write the kinematic state to the state repository but use its output ports instead. This allows to use the Update Repository Actuator which in turn allows to mix the RTD actuator with the VRF Flight Kinematics Actuator. However, there are exceptions:

setRestore() and setLocation() (same if player takes control) use state repository methods like processSetRestore() and checkAndClampAircraftOnGround() which directly write the kinematic state to the state repository.

Reason:

VRF often calls DtVrfMovingObjectStateRepository::clampToGround() after a setLocation request. This method considers the current kinematic state of the state repository which has to be assigned beforehand.
The kinematic state is written to the state repository only at certain situations (setRestore, setLocation etc.) while the RTD actuator is active (see isPlayerControlled()). Hence, there should be no critical interference with other actuators.

#include <vreRlActuator.h>

Inheritance diagram for RlCgfVrf::DtVreRlActuator:

[legend]

Public Member Functions
	DtVreRlActuator (const DtString &name, DtLocalObject object, DtSimulationServices simManager, DtComponentDescriptor compDescriptor, DtReaderWriterRegistry parentRegistry)

virtual	~DtVreRlActuator () override

DtRotaryWingEntityStateRepository *	getStateRepository ()

virtual DtString	type () const

virtual void	tick () override

virtual void	preFirstTickInit () override

virtual bool	init () override

virtual bool	createPorts () override

Public Member Functions inherited from makVre::DtVreRotaryWingActuatorComponent
	DtVreRotaryWingActuatorComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtVreRotaryWingActuatorComponent () override

Public Member Functions inherited from makVre::DtVreSimComponent< DtRotaryWingActuatorComponent >
	DtVreSimComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtVreSimComponent ()

bool	isPlayerControlled (const std::string &role="") const

DtString	entitySystemName () const

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtLocalObject object, DtSimulationServices simManager, DtComponentDescriptor compDescriptor, DtReaderWriterRegistry parentRegistry)

Static Public Member Functions inherited from makVre::DtVreRotaryWingActuatorComponent
static DtSimComponent *	creator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

Protected Member Functions
bool	isPlayerControlled ()

void	writeOutputData ()

virtual double	calculateFuel () const

virtual void	setSpeed (DtReal speed)

virtual void	checkAndClampAircraftOnGround (const DtVector &localPosition)

virtual void	copyStateFromRTD ()

virtual void	copyStateFromRTD (DtVector &position, DtVector &velocity, DtVector &acceleration, DtTaitBryan &orientation, DtVector &rotVelocity)

virtual void	copyStateToRTD ()

const DtVreRlParameters *	getParameters ()

void	setStatePropThresholdingEnabled (bool enable)

virtual void	setRadio (DtSimBaseRadio *radio)

virtual void	processRadioMsg (DtSimMessage *msg)

virtual void	processSetRestore (DtSetRestoreRequest *req)

virtual void	processSetLocation (DtSetLocationRequest *req)

virtual void	processSetHeading (DtSetHeadingRequest *req)

Protected Member Functions inherited from makVre::DtVreRotaryWingActuatorComponent
virtual void	sendDetonation (const DtVector &geocentricLocation) override

virtual void	checkLandedOrCrashed () override

Static Protected Member Functions
static void	radioMsgCallback (DtSimMessage msg, void usr)

Protected Attributes
DtBooleanInputPort *	myJoystickEnabledPort

DtBooleanInputPort *	myWheelBrakePort

bool	myPlayerControlled

RotorLibCGF::HelicopterDynamics *	myDynamics

DtReal	myLastSpeed

makVre::MiniPID *	myXPid

makVre::MiniPID *	myYPid

float	myPreviousLat

float	myPreviousLon

bool	myReverseCollective

Constructor & Destructor Documentation

◆ DtVreRlActuator()

RlCgfVrf::DtVreRlActuator::DtVreRlActuator	(	const DtString &	name,
		DtLocalObject *	object,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry )

Constructor.

Parameters

name	The name of the component
object	The local object this component belongs to
simManager	The simulation services manager
compDescriptor	Component descriptor containing configuration
parentRegistry	Parent registry for reader/writer functionality

Initializes a new rotary-wing actuator component for VREngage control.

◆ ~DtVreRlActuator()

virtual RlCgfVrf::DtVreRlActuator::~DtVreRlActuator ( )

overridevirtual

Virtual destructor.

Cleans up resources used by the actuator component.

Member Function Documentation

◆ getStateRepository()

DtRotaryWingEntityStateRepository * RlCgfVrf::DtVreRlActuator::getStateRepository ( )

Gets the state repository.

Returns: Pointer to the rotary-wing entity state repository

Returns the state repository used by this rotary-wing aircraft.

References type().

◆ type()

virtual DtString RlCgfVrf::DtVreRlActuator::type ( ) const

virtual

Gets the component type.

Returns: The type string for this component

Returns TS_VREngageActuator as the component type identifier.

Reimplemented from makVre::DtVreRotaryWingActuatorComponent.

Referenced by getStateRepository().

◆ tick()

virtual void RlCgfVrf::DtVreRlActuator::tick ( )

overridevirtual

Performs per-frame processing.

Called once per simulation frame to update the component state, process inputs, and generate outputs.

◆ preFirstTickInit()

virtual void RlCgfVrf::DtVreRlActuator::preFirstTickInit ( )

overridevirtual

Initializes the component before the first tick.

Performs initialization that must occur before the first tick, such as setting up initial state values.

◆ init()

virtual bool RlCgfVrf::DtVreRlActuator::init ( )

overridevirtual

Initializes the component.

Returns: True if initialization was successful

Performs initial setup of the component, including configuration loading and port initialization.

◆ createPorts()

virtual bool RlCgfVrf::DtVreRlActuator::createPorts ( )

overridevirtual

Creates component ports.

Returns: True if port creation was successful

Creates input and output ports for helicopter controls including collective, cyclic, pedals, and wheel brakes.

◆ creator()

static DtSimComponent * RlCgfVrf::DtVreRlActuator::creator	(	const DtString &	name,
		DtLocalObject *	object,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry )

static

Component factory function.

Parameters

name	The name for the new component
object	The local object the component will belong to
simManager	The simulation services manager
compDescriptor	Component descriptor containing configuration
parentRegistry	Parent registry for reader/writer functionality

Returns: Pointer to the newly created component

Static factory function used for component creation through the component registry.

◆ isPlayerControlled()

bool RlCgfVrf::DtVreRlActuator::isPlayerControlled ( )

protected

Checks if the entity is currently player-controlled.

Returns: True if the entity is player-controlled, false otherwise

Determines whether the entity is currently under player control through VREngage or AI control.

◆ writeOutputData()

void RlCgfVrf::DtVreRlActuator::writeOutputData ( )

protected

Writes output data to ports.

Updates all output ports with current state data.

◆ calculateFuel()

virtual double RlCgfVrf::DtVreRlActuator::calculateFuel ( ) const

protectedvirtual

Calculates current fuel consumption.

Returns: Current fuel consumption rate

Calculates the current fuel consumption based on engine state and power settings.

◆ setSpeed()

virtual void RlCgfVrf::DtVreRlActuator::setSpeed ( DtReal speed )

protectedvirtual

Sets the aircraft speed.

Parameters

speed The new speed value to set

Sets the current speed of the aircraft.

◆ checkAndClampAircraftOnGround()

virtual void RlCgfVrf::DtVreRlActuator::checkAndClampAircraftOnGround ( const DtVector & localPosition )

protectedvirtual

Checks and adjusts the aircraft position to keep it on the ground.

Parameters

localPosition The current local position to check

Ensures the aircraft doesn't sink into or float above the ground when it should be in contact with the terrain.

◆ copyStateFromRTD() [1/2]

virtual void RlCgfVrf::DtVreRlActuator::copyStateFromRTD ( )

protectedvirtual

Copies state from RTD to the state repository.

Copies the current state from the real-time dynamics engine to the state repository to synchronize the simulation state.

◆ copyStateFromRTD() [2/2]

virtual void RlCgfVrf::DtVreRlActuator::copyStateFromRTD	(	DtVector &	position,
		DtVector &	velocity,
		DtVector &	acceleration,
		DtTaitBryan &	orientation,
		DtVector &	rotVelocity )

protectedvirtual

Copies state from RTD to provided parameters.

Parameters

position	Output parameter for position
velocity	Output parameter for velocity
acceleration	Output parameter for acceleration
orientation	Output parameter for orientation
rotVelocity	Output parameter for rotational velocity

Copies the current state from the real-time dynamics engine to the provided output parameters.

◆ copyStateToRTD()

virtual void RlCgfVrf::DtVreRlActuator::copyStateToRTD ( )

protectedvirtual

Copies state from the state repository to RTD.

Copies the current state from the state repository to the real-time dynamics engine to synchronize the simulation state.

◆ getParameters()

const DtVreRlParameters * RlCgfVrf::DtVreRlActuator::getParameters ( )

protected

Gets the rotary-wing parameters.

Returns: Pointer to the rotary-wing parameters

Returns the parameters used to configure this rotary-wing aircraft.

◆ setStatePropThresholdingEnabled()

void RlCgfVrf::DtVreRlActuator::setStatePropThresholdingEnabled ( bool enable )

protected

Enables or disables state propagation thresholding.

Parameters

enable True to enable thresholding, false to disable

Enables or disables thresholding for state propagation to reduce network traffic by only sending significant state changes.

References setRadio().

◆ setRadio()

virtual void RlCgfVrf::DtVreRlActuator::setRadio ( DtSimBaseRadio * radio )

protectedvirtual

Sets the radio interface for this component.

Parameters

radio The radio interface to use

Configures the radio interface used for communication with this component.

Referenced by setStatePropThresholdingEnabled().

◆ radioMsgCallback()

static void RlCgfVrf::DtVreRlActuator::radioMsgCallback	(	DtSimMessage *	msg,
		void *	usr )

staticprotected

Static callback for radio messages.

Parameters

msg	The received message
usr	User data pointer (points to the actuator instance)

Static callback function invoked when a radio message is received. Routes the message to the appropriate instance.

◆ processRadioMsg()

virtual void RlCgfVrf::DtVreRlActuator::processRadioMsg ( DtSimMessage * msg )

protectedvirtual

Processes a radio message.

Parameters

msg	The message to process

Handles incoming radio messages directed to this component.

◆ processSetRestore()

virtual void RlCgfVrf::DtVreRlActuator::processSetRestore ( DtSetRestoreRequest * req )

protectedvirtual

Processes a restore request.

Parameters

req	The restore request to process

Restores the entity to a previously saved state. Note: This method directly writes to the state repository. See class notes.

◆ processSetLocation()

virtual void RlCgfVrf::DtVreRlActuator::processSetLocation ( DtSetLocationRequest * req )

protectedvirtual

Processes a location change request.

Parameters

req	The location request to process

Changes the entity's location. Note: This method directly writes to the state repository. See class notes.

◆ processSetHeading()

virtual void RlCgfVrf::DtVreRlActuator::processSetHeading ( DtSetHeadingRequest * req )

protectedvirtual

Processes a heading change request.

Parameters

req	The heading request to process

Changes the entity's heading.

Member Data Documentation

◆ myJoystickEnabledPort

DtBooleanInputPort* RlCgfVrf::DtVreRlActuator::myJoystickEnabledPort

protected

Input port for joystick enabled state.

◆ myWheelBrakePort

DtBooleanInputPort* RlCgfVrf::DtVreRlActuator::myWheelBrakePort

protected

Input port for wheel brake control (boolean version)

◆ myPlayerControlled

bool RlCgfVrf::DtVreRlActuator::myPlayerControlled

protected

Flag indicating whether the entity is player-controlled.

◆ myDynamics

RotorLibCGF::HelicopterDynamics* RlCgfVrf::DtVreRlActuator::myDynamics

protected

Pointer to the real-time dynamics model.

◆ myLastSpeed

DtReal RlCgfVrf::DtVreRlActuator::myLastSpeed

protected

Last recorded speed value.

◆ myXPid

makVre::MiniPID* RlCgfVrf::DtVreRlActuator::myXPid

protected

PID controller for X-axis stabilization.

◆ myYPid

makVre::MiniPID* RlCgfVrf::DtVreRlActuator::myYPid

protected

PID controller for Y-axis stabilization.

◆ myPreviousLat

float RlCgfVrf::DtVreRlActuator::myPreviousLat

protected

Previous latitude value for position tracking.

◆ myPreviousLon

float RlCgfVrf::DtVreRlActuator::myPreviousLon

protected

Previous longitude value for position tracking.

◆ myReverseCollective

bool RlCgfVrf::DtVreRlActuator::myReverseCollective

protected

Flag indicating whether collective control should be reversed.

The documentation for this class was generated from the following file:

include/vrfExtensions/vreVrfRtd/vreRlActuator.h

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ DtVreRlActuator()

◆ ~DtVreRlActuator()

Member Function Documentation

◆ getStateRepository()

◆ type()

◆ tick()

◆ preFirstTickInit()

◆ init()

◆ createPorts()

◆ creator()

◆ isPlayerControlled()

◆ writeOutputData()

◆ calculateFuel()

◆ setSpeed()

◆ checkAndClampAircraftOnGround()

◆ copyStateFromRTD() [1/2]

◆ copyStateFromRTD() [2/2]

◆ copyStateToRTD()

◆ getParameters()

◆ setStatePropThresholdingEnabled()

◆ setRadio()

◆ radioMsgCallback()

◆ processRadioMsg()

◆ processSetRestore()

◆ processSetLocation()

◆ processSetHeading()

Member Data Documentation

◆ myJoystickEnabledPort

◆ myWheelBrakePort

◆ myPlayerControlled

◆ myDynamics

◆ myLastSpeed

◆ myXPid

◆ myYPid

◆ myPreviousLat

◆ myPreviousLon

◆ myReverseCollective