DtAggregatedMoveAlongController Class Reference

End User Description: Controller for executing DtMoveAlongTask for aggregated aggregates. More...

Inheritance diagram for DtAggregatedMoveAlongController:

List of all members.

Public Member Functions
	DtAggregatedMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Constructor.
virtual	~DtAggregatedMoveAlongController ()
	Destructor.
virtual bool	init ()
	Init. Call immediately after construction.
virtual DtString	type () const
	Returns DtAggregatedMoveAlongControllerType.
virtual void	tick ()
	This components simulation tick.
virtual void	processMoveAlongTask (DtSimMessage *msg, DtSimTaskStatePtr taskState)
	Handle messages to move along a route or assume a move along task from another.
virtual void	processRouteChanged (DtVrfObject *obj)
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register it's interest in MoveAlong commands.
virtual bool	setupRoute ()
	Look up the route by name, and set myRoute if found.
virtual bool	setupDestination ()
	Sets myControlPoint to the position of the route's current vertex.
virtual double	findDesiredSpeed ()
	Returns ordered speed of the entity.
virtual void	stop ()
	Overrides to advance to the next vertex rather then actually stop when a vertex is reached.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	doMoving ()
	Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
virtual double	findDesiredHeading ()
	Calls headingAngleTo() to find the heading from the entity to the destination.
Static Public Member Functions
static void	moveAlongCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
	Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-along tasks.
static void	routeChangedCallback (DtVrfObject *obj, void *usr)
	Intended to be called only when the route has changed.
static void	objectAddedCb (DtVrfObject *vrfObject, void *usr)
	Calls processObjectAdded().
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Static creator function for factory registration.
Protected Member Functions
virtual void	buildLocalRoute ()
	const DtVector& localDestination) const;
virtual void	emptyVertexList ()
	removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
virtual void	processObjectAdded (DtVrfObject *vrfObject)
	Checks given vrfObject against the route we're looking for.
virtual void	clearTask ()
	Override to clear route name and route state data stored in myProcessState.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
virtual double	distanceToDestination () const
virtual bool	atDestination ()
	Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.
virtual bool	passedDestination ()
	Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.
virtual bool	getDestination (DtVector &destination)
	getDestination()
virtual const DtVector &	destinationVector () const
	Returns the current destination vector for the entity.
virtual void	setupDestinationVector () const
	Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.
virtual double	atDistance () const
	Maximum distance at which entity is considered to be 'at' a route vertex.
virtual bool	stayOnRoute () const
	If true, will attempt to closely follow route segments as it moves along a route.
virtual double	minCorrectionDistance () const
	Maximum distance at which entity is considered to be 'at' a route vertex.
virtual double	maxCorrectionDistance () const
virtual double	maxCorrectionAngle () const
virtual bool	getCurrentRouteSegment (DtVector &routeSegmentStart, DtVector &routeSegmentEnd) const
DtSimTaskStatePtr	currentTaskState () const
Protected Attributes
Ports and Port Groups
DtOutputPortGroup *	myMovementControlPortGroup
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtAnalogOutputPort *	mySpeedPort
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtAnalogOutputPort *	myMovementDirectionPort
	Output Port Name: desired-movement-direction Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVectorOutputPort *	myDestinationOutputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordiantes.
DtVrfAggregateStateRepository *	myTrueAggregateRepository
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtAggregatedMoveAlongPSR *	myProcessState
	Container for state data associated with this component.
DtVrfObject *	myRoute
	This is looked up once per tick - assumed unchanging while we have control.
bool	myRouteHasChanged
	This gets set to true when a modifyRoute message for the route we're following is received.
bool	myResetVertex
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myFirstTick
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
int	myPreviousVertex
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myAtDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myNearDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myPassedDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
double	myDistanceSquared
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVector	myLocalDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVector	myWorldDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
double	myCurrentSpeed
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myDestinationVectorIsValid
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVector	myDestinationVector
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
Private Member Functions
	DtAggregatedMoveAlongController ()
	Not Implemented.
	DtAggregatedMoveAlongController (const DtAggregatedMoveAlongController &orig)
	Not Implemented.
DtAggregatedMoveAlongController &	operator= (const DtAggregatedMoveAlongController &orig)
	Not Implemented.

---

Detailed Description

End User Description: Controller for executing DtMoveAlongTask for aggregated aggregates.

This moves the aggregate along a route. Uses Descriptor Type: DtComponentDescriptor

---

Constructor & Destructor Documentation

DtAggregatedMoveAlongController::DtAggregatedMoveAlongController

(

)

[private]

Not Implemented.

DtAggregatedMoveAlongController::DtAggregatedMoveAlongController

(

const DtAggregatedMoveAlongController &

orig

)

[private]

Not Implemented.

DtAggregatedMoveAlongController::DtAggregatedMoveAlongController	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

Constructor.

virtual DtAggregatedMoveAlongController::~DtAggregatedMoveAlongController

(

)

[virtual]

Destructor.

---

Member Function Documentation

DtAggregatedMoveAlongController& DtAggregatedMoveAlongController::operator=

(

const DtAggregatedMoveAlongController &

orig

)

[private]

Not Implemented.

virtual bool DtAggregatedMoveAlongController::init

(

)

[virtual]

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual DtString DtAggregatedMoveAlongController::type

(

)

const [virtual]

Returns DtAggregatedMoveAlongControllerType.

Implements DtTaskControllerComponent.

virtual void DtAggregatedMoveAlongController::tick

(

)

[virtual]

This components simulation tick.

Reimplemented from DtSimComponent.

static void DtAggregatedMoveAlongController::moveAlongCallback	(	DtSimMessage *	msg,
		void *	usr,
		DtSimTaskStatePtr	taskState
	)		[static]

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-along tasks.

virtual void DtAggregatedMoveAlongController::processMoveAlongTask	(	DtSimMessage *	msg,
		DtSimTaskStatePtr	taskState
	)		[virtual]

Handle messages to move along a route or assume a move along task from another.

static void DtAggregatedMoveAlongController::routeChangedCallback	(	DtVrfObject *	obj,
		void *	usr
	)		[static]

Intended to be called only when the route has changed.

Note:

Also invalidates the destination vector as the world position has changed.

virtual void DtAggregatedMoveAlongController::processRouteChanged

(

DtVrfObject *

obj

)

[virtual]

virtual void DtAggregatedMoveAlongController::registerTaskMsgCallbacks

(

)

[virtual]

Overrides this so it can register it's interest in MoveAlong commands.

Reimplemented from DtTaskControllerComponent.

virtual bool DtAggregatedMoveAlongController::setupRoute

(

)

[virtual]

Look up the route by name, and set myRoute if found.

Looks up the route in the Control Manager. If it does not find the route, it returns false. Otherwise, it sets the myRoute member to point to the object found. setupRoute() then checks the myRouteChanged flag. If myRouteChanged is true, it calls the route object’s resyncRouteState() member function to update the current DtRouteState. setupRoute() then returns true.

virtual bool DtAggregatedMoveAlongController::setupDestination

(

)

[virtual]

Sets myControlPoint to the position of the route's current vertex.

If setupRoute() returns false, setupControlPoint() calls taskComplete() and returns false. Otherwise, it sets the position of the myControlPoint member variable to the position of myRoute’s current vertex. If myRouteHasChanged is true, setupGoalVector() is called, and myRouteHasChanged is set to false. true is then returned.

virtual double DtAggregatedMoveAlongController::findDesiredSpeed

(

)

[virtual]

Returns ordered speed of the entity.

virtual void DtAggregatedMoveAlongController::stop

(

)

[virtual]

Overrides to advance to the next vertex rather then actually stop when a vertex is reached.

Checks to see if the entity is currently moving to the last vertex in the route. If so, DtGroundMoveToControllerComponent::stop() is called. Otherwise, myProcessState->routeState()->next() is called, followed by setupControlPoint() and setupGoalVector().

static void DtAggregatedMoveAlongController::objectAddedCb	(	DtVrfObject *	vrfObject,
		void *	usr
	)		[static]

Calls processObjectAdded().

static DtSimComponent* DtAggregatedMoveAlongController::creator	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0
	)		[static]

Static creator function for factory registration.

virtual bool DtAggregatedMoveAlongController::createPorts

(

)

[virtual]

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveAlongController::createPortGroups

(

)

[virtual]

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveAlongController::createPSR

(

)

[virtual]

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual void DtAggregatedMoveAlongController::doMoving

(

)

[virtual]

Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.

virtual double DtAggregatedMoveAlongController::findDesiredHeading

(

)

[virtual]

Calls headingAngleTo() to find the heading from the entity to the destination.

virtual void DtAggregatedMoveAlongController::buildLocalRoute

(

)

[protected, virtual]

const DtVector& localDestination) const;

builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices. (calls process state repository's setRouteVertices()).

virtual void DtAggregatedMoveAlongController::emptyVertexList

(

)

[protected, virtual]

removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).

virtual void DtAggregatedMoveAlongController::processObjectAdded

(

DtVrfObject *

vrfObject

)

[protected, virtual]

Checks given vrfObject against the route we're looking for.

If it is ours, registers a vertices-changed callback on the object. This way we can detect if the route changes while we're trying to follow it.

virtual void DtAggregatedMoveAlongController::clearTask

(

)

[protected, virtual]

Override to clear route name and route state data stored in myProcessState.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtAggregatedMoveAlongController::moveToDestination

(

)

[protected, virtual]

Attempts to move to the destination location. Override to provide movement functionality.

virtual void DtAggregatedMoveAlongController::invalidateDestinationVector

(

)

const [protected, virtual]

Tells the component that any cached destination vector should be recalculated.

virtual double DtAggregatedMoveAlongController::distanceToDestination

(

)

const [protected, virtual]

virtual bool DtAggregatedMoveAlongController::atDestination

(

)

[protected, virtual]

Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.

If the myDistanceSquared !<= at-distance, atDestination() sets myAtDestination to false. myAtDestination is returned to the calling function.

virtual bool DtAggregatedMoveAlongController::passedDestination

(

)

[protected, virtual]

Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.

It dead-reckons its position. It calculates the vector that points from the entity to the destination It finds the dot product between this vector and destination vector, If that dot product is greater than 0.0, the entity will pass the destinationthis tick if it does not stop. myPassedDestination is set, and the value is returned to the calling function.

virtual bool DtAggregatedMoveAlongController::getDestination

(

DtVector &

destination

)

[protected, virtual]

getDestination()

Parameters:

destination

the position this object is trying to drive to in local coordinates.

Returns:

true if it has a valid destination () or false if it is unable to determine it's destination.

Note:

Used by other areas of the simulation to determine where this object is going. (Information)

virtual const DtVector& DtAggregatedMoveAlongController::destinationVector

(

)

const [protected, virtual]

Returns the current destination vector for the entity.

Note:

if the destination vector is currently invalidated, it recalculates it and sets it to valid.

See also:

setupDestinationVector

virtual void DtAggregatedMoveAlongController::setupDestinationVector

(

)

const [protected, virtual]

Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.

This is done by subtracting the DtVector representing the destination's position from the one representing the entity’s position.

Note:

Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

virtual double DtAggregatedMoveAlongController::atDistance

(

)

const [protected, virtual]

Maximum distance at which entity is considered to be 'at' a route vertex.

Returns value stored in descriptor (if it exists), otherwise returns 1.0.

Returns:

Returns maximum distance in meters from route vertex that entity is considered to be 'at' the vertex.

virtual bool DtAggregatedMoveAlongController::stayOnRoute

(

)

const [protected, virtual]

If true, will attempt to closely follow route segments as it moves along a route.

If false, will only attempt to reach each waypoint in turn as it moves along the route.

Returns:

Flag indicating whether or entity will attempt to closely follow route segments.

virtual double DtAggregatedMoveAlongController::minCorrectionDistance

(

)

const [protected, virtual]

Maximum distance at which entity is considered to be 'at' a route vertex.

Returns:

Minimum distance from route that entity will attempt to correct heading to stay on route segment. If entity is within this distance from route segment, it will move directly toward the next waypoint. In meters.

virtual double DtAggregatedMoveAlongController::maxCorrectionDistance

(

)

const [protected, virtual]

Returns:

Maximum distance from route that entity will attempt to correct heading to stay on route segment. If entity is within the min-correction-distance and max-correction-distance from the route segment, it will correct its heading toward the next waypoint in such a way that it 'pulls' the entity closer to the route as it travels. If distance from route segment is greater than this threshold, it will move directly toward the next waypoint. In meters.

virtual double DtAggregatedMoveAlongController::maxCorrectionAngle

(

)

const [protected, virtual]

Returns:

Maximum absolute angular corrections entity will make to attempt to move the entity closer to the route segment. In radians. Default is ~45 degrees.

virtual bool DtAggregatedMoveAlongController::getCurrentRouteSegment	(	DtVector &	routeSegmentStart,
		DtVector &	routeSegmentEnd
	)		const [protected, virtual]

Returns:

True if we are currently moving along a route segment, false otherwise.

Parameters:

routeSegmentStart	Starting point of route segment in local coordinates.
routeSegmentEnd	End point of route segment in local coordinates.

DtSimTaskStatePtr DtAggregatedMoveAlongController::currentTaskState

(

)

const [protected, virtual]

Returns:

Current execution state of the task. At the base class level, returns 0. Derived classes that have tasks with DtTaskState (data associated with execution of the task) may return a new DtTaskState instance, filled out with the appropriate information about the current task execution state. Task controllers that do not need to return task state do not need to override this function.

Reimplemented from DtSingleTaskControllerComponent.

---

Member Data Documentation

DtOutputPortGroup* DtAggregatedMoveAlongController::myMovementControlPortGroup [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtAnalogOutputPort* DtAggregatedMoveAlongController::mySpeedPort [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtAnalogOutputPort* DtAggregatedMoveAlongController::myMovementDirectionPort [protected]

Output Port Name: desired-movement-direction
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVectorOutputPort* DtAggregatedMoveAlongController::myDestinationOutputPort [protected]

Output Port Name: destination
Output Port Description: Specifies the current destination of the entity in geocentric coordiantes.

Output Port Range:
Output Group Parent:

DtVrfAggregateStateRepository* DtAggregatedMoveAlongController::myTrueAggregateRepository [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtAggregatedMoveAlongPSR* DtAggregatedMoveAlongController::myProcessState [protected]

Container for state data associated with this component.

This state is saved and restored as part of a scenario (or checkpoint).

DtVrfObject* DtAggregatedMoveAlongController::myRoute [protected]

This is looked up once per tick - assumed unchanging while we have control.

bool DtAggregatedMoveAlongController::myRouteHasChanged [protected]

This gets set to true when a modifyRoute message for the route we're following is received.

bool DtAggregatedMoveAlongController::myResetVertex [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myFirstTick [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

int DtAggregatedMoveAlongController::myPreviousVertex [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myAtDestination [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myNearDestination [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myPassedDestination [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

double DtAggregatedMoveAlongController::myDistanceSquared [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVector DtAggregatedMoveAlongController::myLocalDestination [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVector DtAggregatedMoveAlongController::myWorldDestination [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

double DtAggregatedMoveAlongController::myCurrentSpeed [protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myDestinationVectorIsValid [mutable, protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVector DtAggregatedMoveAlongController::myDestinationVector [mutable, protected]

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

---

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

• include/vrfmodel/aggregatedMoveAlongController.h