DtHumanMoveAlongController is a controller that models movement to a <location> or <waypoint> for aggregated entities. More...

Inheritance diagram for DtAggregatedMoveToController:

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List of all members.

Public Member Functions
	DtAggregatedMoveToController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	Constructor.
virtual	~DtAggregatedMoveToController ()
	Destructor.
virtual bool	init ()
	Init. Call immediately after construction.
virtual DtString	type () const
virtual void	tick ()
	This components simulation tick.
Static Public Member Functions
static void	moveToCallback (DtSimMessage msg, void usr)
	Callback function that handles DtMoveToType tasks.
static void	setLocationCallback (DtSimMessage msg, void usr)
	Callback function that handles DtSetLocationRequest set data requests.
static void	moveToLocationCallback (DtSimMessage msg, void usr)
	Callback function that handles DtMoveToLocation tasks.
static void	moveIntoFormationCallback (DtSimMessage msg, void usr)
	Callback function that handles DtMoveIntoFormation tasks.
static void	turnToHeadingCallback (DtSimMessage msg, void usrData)
	Callback function that handles DtTurnToHeading tasks.
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	Static creator function for factory registration.
static void	modifyVrfObjectCallback (DtSimMessage msg, void usr)
	Calls processModifyVrfObject.
Protected Member Functions
virtual void	processMoveToTask (DtSimMessage *msg)
	Sets world destination from the task.
virtual void	processMoveToLocationTask (DtSimMessage *msg)
virtual void	processDestinationChanged ()
	Ensures that the destination stored in the ProcessStateRepository is consistent with the location of the destination control point.
virtual bool	setupDestination ()
	Look up the control point by name and set the myControlPoint member to point to it.
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 void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
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 void	doMoving ()
	Calls findDesiredHeading() and then sets port values based on those results.
virtual double	findDesiredHeading ()
	Determines the desired heading.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual void	stop ()
	Set port values for stopping, and mark the task complete.
virtual void	registerTaskMsgCallbacks ()
	Overridden to register interest in move to messages.
virtual void	processModifyVrfObject (DtSimMessage *msg)
	Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.
virtual void	processSetLocation (DtSimMessage *msg)
	Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual double	distanceToDestination () const
virtual void	clearTask ()
	Override to deactivate myHumanMovementControlOutputPortGroup.
virtual double	atDistance () const
	Maximum distance at which entity is considered to be 'at' goal.
virtual void	processMoveIntoFormationTask (DtSimMessage *msg)
	Implements turn to heading task by sending a set location and set heading request to ourself.
virtual void	processTurnToHeadingTask (DtSimMessage *msg)
	Implements turn to heading task by sending a set heading request to ourself.
virtual void	sendRequestToSelf (const DtSetDataRequest &request) const
	Helper function that sends given set data request to ourself.
Protected Attributes
DtVrfObject *	myControlPoint
	This is looked up once per tick - assumed unchanging while we have control.
DtVector	myLocalDestination
DtVector	myWorldDestination
DtVector	myDestinationVector
bool	myDestinationVectorIsValid
bool	myAtDestination
double	myDistanceSquared
DtVrfAggregateStateRepository *	myAggregateStateRepository
DtAggregatedMoveToPSR *	myProcessState
	Container for state data associated with this component.
DtAggregatedMoveToDescriptor *	myAggregatedMoveToDescriptor
DtSetDataManager *	mySetDataManager
	Pointer to aggregate's DtSetDataManager, cached in this class for convenience.
Ports and Port Groups
DtAnalogOutputPort *	myMovementDirectionOutputPort
	Output Port Name: desired-movement-direction Output Port Description: Specifies the current movement direction in radians Output Port Range: Output Group Parent: .
DtAnalogOutputPort *	mySpeedOutputPort
	Output Port Name: desired-speed Output Port Description: Specifies the current speed of the entity in meters/second Output Port Range: Output Group Parent: .
DtOutputPortGroup *	myOutputPortGroup
	Output Group Name: movement-control .
DtVectorOutputPort *	myDestinationOutputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordinates.
Private Member Functions
	DtAggregatedMoveToController ()
	Not Implemented.
	DtAggregatedMoveToController (const DtAggregatedMoveToController &orig)
	Not Implemented.
DtAggregatedMoveToController &	operator= (const DtAggregatedMoveToController &orig)
	Not Implemented.

Detailed Description

DtHumanMoveAlongController is a controller that models movement to a <location> or <waypoint> for aggregated entities.

It also handles move into formation (at a location) and turn to heading (at the current location) tasks.

Developer Description: DtHumanMoveAlongController models move-to behavior for individual humans. It generates speed and heading controls that direct the entity to to its destination at the entity's current ordered speed. It responds to DtMoveToType, DtMoveToLocationTaskType, DtMoveIntoFormationTaskType and DtTurnToHeadingTask tasks. Component OPD Name: "aggregated-move-to-controller"

Uses Descriptor Type: DtAggregatedMoveToControllerDescriptor

Constructor & Destructor Documentation

DtAggregatedMoveToController::DtAggregatedMoveToController ( ) [private]

Not Implemented.

DtAggregatedMoveToController::DtAggregatedMoveToController ( const DtAggregatedMoveToController & orig ) [private]

Not Implemented.

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

Constructor.

virtual DtAggregatedMoveToController::~DtAggregatedMoveToController ( ) [virtual]

Destructor.

Member Function Documentation

DtAggregatedMoveToController& DtAggregatedMoveToController::operator= ( const DtAggregatedMoveToController & orig ) [private]

Not Implemented.

virtual bool DtAggregatedMoveToController::init ( ) [virtual]

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual DtString DtAggregatedMoveToController::type ( ) const [virtual]

Returns:: DtAggregatedMoveToControllerType

Implements DtTaskControllerComponent.

virtual void DtAggregatedMoveToController::tick ( ) [virtual]

This components simulation tick.

Reimplemented from DtSimComponent.

static void DtAggregatedMoveToController::moveToCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Callback function that handles DtMoveToType tasks.

Calls processMoveToTask().

Parameters:

msg	Message containing DtMoveToTask.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::setLocationCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Callback function that handles DtSetLocationRequest set data requests.

Calls processSetLocation().

Parameters:

msg	Message containing DtSetLocationRequest.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::moveToLocationCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Callback function that handles DtMoveToLocation tasks.

Calls processMoveToLocationTask().

Parameters:

msg	Message containing DtMoveToLocationTask.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::moveIntoFormationCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Callback function that handles DtMoveIntoFormation tasks.

Calls processMoveIntoFormationTask().

Parameters:

msg	Message containing DtMoveIntoFormationTask.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::turnToHeadingCallback	(	DtSimMessage *	msg,
		void *	usrData
	)		`[static]`

Callback function that handles DtTurnToHeading tasks.

Calls processTurnToHeadingTask().

Parameters:

msg	Message containing DtTurnToHeadingTask.
usr	Pointer to an instance of this class.

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

Static creator function for factory registration.

static void DtAggregatedMoveToController::modifyVrfObjectCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static]`

Calls processModifyVrfObject.

virtual void DtAggregatedMoveToController::processMoveToTask ( DtSimMessage * msg ) [protected, virtual]

Sets world destination from the task.

Parameters:

msg	Message containing a DtMoveToTask.

virtual void DtAggregatedMoveToController::processMoveToLocationTask ( DtSimMessage * msg ) [protected, virtual]

virtual void DtAggregatedMoveToController::processDestinationChanged ( ) [protected, virtual]

Ensures that the destination stored in the ProcessStateRepository is consistent with the location of the destination control point.

Intended to be called only when the position of the control point has changed.

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

virtual bool DtAggregatedMoveToController::setupDestination ( ) [protected, virtual]

Look up the control point by name and set the myControlPoint member to point to it.

Detects changes in the target point using myControlPointLastLocation and calls processWaypointChanged().

virtual void DtAggregatedMoveToController::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 void DtAggregatedMoveToController::invalidateDestinationVector ( ) const [protected, virtual]

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

virtual bool DtAggregatedMoveToController::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 void DtAggregatedMoveToController::doMoving ( ) [protected, virtual]

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

virtual double DtAggregatedMoveToController::findDesiredHeading ( ) [protected, virtual]

Determines the desired heading.

virtual void DtAggregatedMoveToController::moveToDestination ( ) [protected, virtual]

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

virtual void DtAggregatedMoveToController::stop ( ) [protected, virtual]

Set port values for stopping, and mark the task complete.

virtual void DtAggregatedMoveToController::registerTaskMsgCallbacks ( ) [protected, virtual]

Overridden to register interest in move to messages.

Reimplemented from DtTaskControllerComponent.

virtual void DtAggregatedMoveToController::processModifyVrfObject ( DtSimMessage * msg ) [protected, virtual]

Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.

a drag & drop in the front-end).

virtual void DtAggregatedMoveToController::processSetLocation ( DtSimMessage * msg ) [protected, virtual]

Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.

virtual bool DtAggregatedMoveToController::createPortGroups ( ) [protected, virtual]

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveToController::createPorts ( ) [protected, virtual]

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveToController::createPSR ( ) [protected, 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 double DtAggregatedMoveToController::distanceToDestination ( ) const [protected, virtual]

virtual void DtAggregatedMoveToController::clearTask ( ) [protected, virtual]

Override to deactivate myHumanMovementControlOutputPortGroup.

Reimplemented from DtSingleTaskControllerComponent.

virtual double DtAggregatedMoveToController::atDistance ( ) const [protected, virtual]

Maximum distance at which entity is considered to be 'at' goal.

Returns value stored in descriptor (if it exists), otherwise returns 10..

Returns:: Returns maximum distance in meters from goal location that entity is considered to be 'at' the goal.

virtual void DtAggregatedMoveToController::processMoveIntoFormationTask ( DtSimMessage * msg ) [protected, virtual]

Implements turn to heading task by sending a set location and set heading request to ourself.

Parameters:

msg	Message containing a DtMoveIntoFormationTask.

virtual void DtAggregatedMoveToController::processTurnToHeadingTask ( DtSimMessage * msg ) [protected, virtual]

Implements turn to heading task by sending a set heading request to ourself.

Parameters:

msg	Message containing a DtTurnToHeadingTask.

virtual void DtAggregatedMoveToController::sendRequestToSelf ( const DtSetDataRequest & request ) const [protected, virtual]

Helper function that sends given set data request to ourself.

Member Data Documentation

DtAnalogOutputPort* DtAggregatedMoveToController::myMovementDirectionOutputPort [protected]

Output Port Name: desired-movement-direction
Output Port Description: Specifies the current movement direction in radians Output Port Range:
Output Group Parent:
.

DtAnalogOutputPort* DtAggregatedMoveToController::mySpeedOutputPort [protected]

Output Port Name: desired-speed
Output Port Description: Specifies the current speed of the entity in meters/second Output Port Range:
Output Group Parent:
.

DtOutputPortGroup* DtAggregatedMoveToController::myOutputPortGroup [protected]

Output Group Name: movement-control
.

DtVectorOutputPort* DtAggregatedMoveToController::myDestinationOutputPort [protected]

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

Output Port Range:
Output Group Parent:

DtVrfObject* DtAggregatedMoveToController::myControlPoint [protected]

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

DtVector DtAggregatedMoveToController::myLocalDestination [protected]

DtVector DtAggregatedMoveToController::myWorldDestination [protected]

DtVector DtAggregatedMoveToController::myDestinationVector [mutable, protected]

bool DtAggregatedMoveToController::myDestinationVectorIsValid [mutable, protected]

bool DtAggregatedMoveToController::myAtDestination [protected]