Detailed Description

DtVreGimbalController extends the base sensor gimbal controller with VRE-specific functionality. It manages the rotation of sensor gimbals to aim sensors at targets, handles laser designation, and provides mechanisms for object tracking. The controller supports both joystick-controlled and AI-controlled gimbal movement.

#include <vreGimbalController.h>

Inheritance diagram for makVre::DtVreGimbalController:

[legend]

Public Member Functions
	DtVreGimbalController (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtVreGimbalController () override

virtual const char *	type () const override

virtual void	calcAndSetPortValues (const DtString &functionGroup, const DtString &function, double value, bool repeat) override

virtual bool	findLocationOfSensorAiming (const DtVector &location, const DtTaitBryan &orientation, DtVector &aimingPoint) const override

virtual const makVrf::DtLaserDesignatorStateComponent *	lookupDesignator () const

virtual void	processSetAimGimbal (DtSimMessage *msg) override

virtual void	updateDesignatorLocation ()

virtual void	tick () override

virtual bool	targetPoint (const DtTaitBryan &orientation, DtVector &location) const override

Public Member Functions inherited from makVre::DtVreSimComponent< DtSensorGimbalController >
	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)

Protected Member Functions
virtual void	aimSensorAtPoint (const DtVector &worldLocation) override

double	checkDistance () const

void	increaseCheckDistance () const

void	resetCheckDistance () const

Protected Attributes
DtVreGimbalControllerDescriptor *	myVreGimbalDescriptor

double	myMinCheckDistance

double	myCurrentCheckDistance

double	myMaxCheckDistance

int	myLaserCode

bool	myContinuousTrack

Private Member Functions
	DtVreGimbalController ()

	DtVreGimbalController (const DtVreGimbalController &orig)

const DtVreGimbalController &	operator= (const DtVreGimbalController &orig)

Constructor & Destructor Documentation

◆ DtVreGimbalController() [1/3]

makVre::DtVreGimbalController::DtVreGimbalController	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0 )

Constructor.

Parameters

name	The name of this component
owner	The local object that owns this component
simManager	The simulation services manager
desc	Component descriptor with configuration parameters
parentRegistry	Optional parent registry for reader/writer functionality

Creates a new gimbal controller component with the specified parameters.

Referenced by DtVreGimbalController(), and operator=().

◆ ~DtVreGimbalController()

virtual makVre::DtVreGimbalController::~DtVreGimbalController ( )

overridevirtual

Virtual destructor.

Cleans up resources used by the gimbal controller component.

◆ DtVreGimbalController() [2/3]

makVre::DtVreGimbalController::DtVreGimbalController ( )

private

Default constructor (not implemented)

Default constructor is private and not implemented to prevent creation of instances without proper initialization.

◆ DtVreGimbalController() [3/3]

makVre::DtVreGimbalController::DtVreGimbalController ( const DtVreGimbalController & orig )

private

Copy constructor (not implemented)

Copy constructor is private and not implemented to prevent copy construction.

References DtVreGimbalController().

Member Function Documentation

◆ type()

virtual const char * makVre::DtVreGimbalController::type ( ) const

overridevirtual

Gets the type identifier for this component.

Returns: String identifying the component type (DtVreGimbalControllerType)

Implements the DtSimComponent::type() method to return the type identifier for this component.

◆ calcAndSetPortValues()

virtual void makVre::DtVreGimbalController::calcAndSetPortValues	(	const DtString &	functionGroup,
		const DtString &	function,
		double	value,
		bool	repeat )

overridevirtual

Calculates and sets port values based on function input.

Parameters

functionGroup	The function group identifier
function	The specific function name
value	The input value to process
repeat	Flag indicating whether the function should repeat

Processes input from function ports (typically joystick inputs) and applies the appropriate transforms to control the gimbal movement.

◆ findLocationOfSensorAiming()

virtual bool makVre::DtVreGimbalController::findLocationOfSensorAiming	(	const DtVector &	location,
		const DtTaitBryan &	orientation,
		DtVector &	aimingPoint ) const

overridevirtual

Finds the world location that a sensor is aiming at.

Parameters

location	The geocentric location of the sensor
orientation	The orientation of the sensor
aimingPoint	Output parameter that will contain the aiming point if found

Returns: True if an aiming point was successfully found, false otherwise

Determines the world location that a sensor is currently aiming at, based on the sensor's location, orientation, and internal configuration.

◆ lookupDesignator()

virtual const makVrf::DtLaserDesignatorStateComponent * makVre::DtVreGimbalController::lookupDesignator ( ) const

virtual

Chooses an appropriate laser designator object as the target to engage.

Returns: Pointer to the selected designator component, or NULL if no valid target found

Searches for and selects an appropriate laser designator object to engage as a target. Uses targetDesignatorValid() to check if each potential target is valid. This method enables sensors to track laser-designated targets.

◆ processSetAimGimbal()

virtual void makVre::DtVreGimbalController::processSetAimGimbal ( DtSimMessage * msg )

overridevirtual

Processes a message to set the gimbal aim direction.

Parameters

msg	Pointer to the simulation message containing aim parameters

Handles messages requesting to set the aiming direction of the gimbal. Extracts the target aiming information from the message and applies it to the gimbal controller.

◆ updateDesignatorLocation()

virtual void makVre::DtVreGimbalController::updateDesignatorLocation ( )

virtual

Updates the current laser designator target location.

Refreshes the stored location of the current laser designator target. This keeps the gimbal controller's understanding of the target position up to date for accurate tracking.

◆ tick()

virtual void makVre::DtVreGimbalController::tick ( )

overridevirtual

Updates the controller state each simulation frame.

Overridden to allow object tracking while in joystick mode. This method is called each simulation frame to update the gimbal orientation based on current tracking targets and input controls.

◆ targetPoint()

virtual bool makVre::DtVreGimbalController::targetPoint	(	const DtTaitBryan &	orientation,
		DtVector &	location ) const

overridevirtual

Determines the target point based on orientation and maximum laser range.

Parameters

orientation	The orientation to calculate the target point from
location	Output parameter that will contain the target point if found

Returns: True if a target point was successfully found, false otherwise

Overridden to respect the maximum range of the laser when determining target points. Calculates the point in world space that corresponds to the given orientation and the configured maximum laser range.

◆ aimSensorAtPoint()

virtual void makVre::DtVreGimbalController::aimSensorAtPoint ( const DtVector & worldLocation )

overrideprotectedvirtual

Aims the sensor at a specified world location.

Parameters

worldLocation The geocentric world location to aim at

Attempts to adjust the gimbal orientation so that the sensor is aimed at the specified world location. Calculates the appropriate azimuth and elevation angles to achieve the desired aiming point.

◆ operator=()

const DtVreGimbalController & makVre::DtVreGimbalController::operator= ( const DtVreGimbalController & orig )

private

Assignment operator (not implemented)

Returns: Reference to this object

Assignment operator is private and not implemented to prevent assignment.

References DtVreGimbalController().

◆ creator()

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

static

Factory method to create a new instance of this component.

Parameters

name	The name for the new component
object	The local object that will own this component
simManager	The simulation services manager
compDescriptor	Optional component descriptor
parentRegistry	Optional parent registry for reader/writer functionality

Returns: Pointer to the newly created component

Static factory method used by the component creation system to instantiate new instances of this component type.

◆ checkDistance()

double makVre::DtVreGimbalController::checkDistance ( ) const

protected

Gets the current terrain check distance.

Returns: The current distance to check for terrain intersections

Returns the current distance value used for terrain intersection checks. Used to handle terrain loading latency issues by progressively checking at different distances.

◆ increaseCheckDistance()

void makVre::DtVreGimbalController::increaseCheckDistance ( ) const

protected

Increases the terrain check distance.

Increments the terrain check distance when a previous check fails. Helps handle terrain loading latency by progressively increasing the check distance until terrain is found or the maximum is reached.

◆ resetCheckDistance()

void makVre::DtVreGimbalController::resetCheckDistance ( ) const

protected

Resets the terrain check distance to the minimum value.

Resets the terrain check distance back to the minimum configured value. Called when starting a new series of terrain checks.

Member Data Documentation

◆ myVreGimbalDescriptor

DtVreGimbalControllerDescriptor* makVre::DtVreGimbalController::myVreGimbalDescriptor

protected

Pointer to the gimbal controller descriptor.

Contains the configuration parameters for this gimbal controller component.

◆ myMinCheckDistance

double makVre::DtVreGimbalController::myMinCheckDistance

protected

Minimum distance for terrain intersection checks.

The starting (minimum) distance used for terrain intersection checks. This is the initial value used when resetting the check distance.

◆ myCurrentCheckDistance

double makVre::DtVreGimbalController::myCurrentCheckDistance

mutableprotected

Current distance for terrain intersection checks.

The current distance being used for terrain intersection checks. May be modified during runtime as checks are performed.

◆ myMaxCheckDistance

double makVre::DtVreGimbalController::myMaxCheckDistance

protected

Maximum distance for terrain intersection checks.

The maximum distance to use for terrain intersection checks. Once this value is reached, no further increases will occur.

◆ myLaserCode

int makVre::DtVreGimbalController::myLaserCode

protected

Laser code for designation.

The code used for laser designation. This helps identify specific laser designators when multiple are present in the simulation.

◆ myContinuousTrack

bool makVre::DtVreGimbalController::myContinuousTrack

protected

Flag indicating whether continuous tracking is enabled.

When true, indicates that the gimbal should continuously track the target, even in joystick control mode.

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

include/vrfExtensions/vreVrfmodel/vreGimbalController.h

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

◆ DtVreGimbalController() [1/3]

◆ ~DtVreGimbalController()

◆ DtVreGimbalController() [2/3]

◆ DtVreGimbalController() [3/3]

Member Function Documentation

◆ type()

◆ calcAndSetPortValues()

◆ findLocationOfSensorAiming()

◆ lookupDesignator()

◆ processSetAimGimbal()

◆ updateDesignatorLocation()

◆ tick()

◆ targetPoint()

◆ aimSensorAtPoint()

◆ operator=()

◆ creator()

◆ checkDistance()

◆ increaseCheckDistance()

◆ resetCheckDistance()

Member Data Documentation

◆ myVreGimbalDescriptor

◆ myMinCheckDistance

◆ myCurrentCheckDistance

◆ myMaxCheckDistance

◆ myLaserCode

◆ myContinuousTrack