DtAggregatedMovementActuator Class Reference

End User Description: Actuator for moving aggregated aggregates along the ground. More...

Inheritance diagram for DtAggregatedMovementActuator:

List of all members.

Public Member Functions
	DtAggregatedMovementActuator (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry=0)
	constructor
virtual	~DtAggregatedMovementActuator ()
	destructor
virtual bool	init ()
	Perform any initialization required by the actuator.
virtual DtString	type () const
	Returns a string from compTypes.h, identifying the type of component.
virtual void	tick ()
	Calculate new kinematic state, and copy it to state repository.
Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry)
	Creator function to be registered with the DtSimComponentFactory -- see main.cxx.
Protected Member Functions
virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyVelocity, double newHeading)
virtual void	calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
virtual void	groundClamp (double heading, const DtVector &location, DtAttachedTerrain &terrainDatabase, DtVector &newNormal)
virtual void	updateRepository (const DtVector &position, const DtVector &velocity, const DtVector &acceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity)
virtual bool	createPorts ()
	Overridden to create the movement control input ports.
virtual bool	createPortGroups ()
	Overridden to create the movement control input port group.
	DtAggregatedMovementActuator (const DtAggregatedMovementActuator &orig)
	copy constructor
const DtAggregatedMovementActuator &	operator= (const DtAggregatedMovementActuator &orig)
	assignment operator
Protected Attributes
const DtActuatorComponentDescriptor *	myActuatorDescriptor
Ports and Port Groups
DtAnalogInputPort *	myMovementDirectionInputPort
	Input Port Name: desired-movement-direction Input Port Description: Desired movement direction of the entity in radians.
DtAnalogInputPort *	mySpeedInputPort
	Input Port Name: desired-speed Input Port Description: Desired speed of the entity in m/s.
DtInputPortGroup *	myMovementControlPortGroupInputPortGroup
	Input Port Group Name: movement-control Input Port Group Description: Collection of inputs specifying the desired movement of the entity.
DtVrfMovingObjectStateRepository *	myMovingObjectStateRepository
	Convenience pointers to our state repository.
DtVrfAggregateStateRepository *	myAggregateStateRepository
	Convenience pointers to our state repository.

---

Detailed Description

End User Description: Actuator for moving aggregated aggregates along the ground.

This actuator places the aggregate on the ground, moving it at some speed in the given direction. The aggregate is treated as a point object when moving using this actuator. Uses Descriptor Type: DtActuatorComponentDescriptor

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Constructor & Destructor Documentation

DtAggregatedMovementActuator::DtAggregatedMovementActuator	(	const DtString &	name,
		DtVrfObject *	object,
		DtSimManager *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

constructor

virtual DtAggregatedMovementActuator::~DtAggregatedMovementActuator

(

)

[virtual]

destructor

DtAggregatedMovementActuator::DtAggregatedMovementActuator

(

const DtAggregatedMovementActuator &

orig

)

[protected]

copy constructor

---

Member Function Documentation

virtual bool DtAggregatedMovementActuator::init

(

)

[virtual]

Perform any initialization required by the actuator.

Reimplemented from DtActuatorComponent.

virtual DtString DtAggregatedMovementActuator::type

(

)

const [virtual]

Returns a string from compTypes.h, identifying the type of component.

Reimplemented from DtSimComponent.

virtual void DtAggregatedMovementActuator::tick

(

)

[virtual]

Calculate new kinematic state, and copy it to state repository.

Reimplemented from DtSimComponent.

static DtSimComponent* DtAggregatedMovementActuator::creator	(	const DtString &	name,
		DtVrfObject *	object,
		DtSimManager *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry
	)		[static]

Creator function to be registered with the DtSimComponentFactory -- see main.cxx.

virtual DtVector DtAggregatedMovementActuator::calculateProjectedLocation	(	const DtVector &	oldLocalPosition,
		const DtVector &	newBodyVelocity,
		double	newHeading
	)		[protected, virtual]

virtual void DtAggregatedMovementActuator::calculateOrientationAndPosition	(	const DtVector &	newLocalProjectedLocation,
		double	newHeading,
		DtDcm &	newLocalOrientation,
		DtVector &	newLocalPosition
	)		[protected, virtual]

virtual void DtAggregatedMovementActuator::groundClamp	(	double	heading,
		const DtVector &	location,
		DtAttachedTerrain &	terrainDatabase,
		DtVector &	newNormal
	)		[protected, virtual]

virtual void DtAggregatedMovementActuator::updateRepository	(	const DtVector &	position,
		const DtVector &	velocity,
		const DtVector &	acceleration,
		const DtTaitBryan &	localOrientation,
		const DtVector &	rotationalVelocity
	)		[protected, virtual]

virtual bool DtAggregatedMovementActuator::createPorts

(

)

[protected, virtual]

Overridden to create the movement control input ports.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMovementActuator::createPortGroups

(

)

[protected, virtual]

Overridden to create the movement control input port group.

Reimplemented from DtSimComponent.

const DtAggregatedMovementActuator& DtAggregatedMovementActuator::operator=

(

const DtAggregatedMovementActuator &

orig

)

[protected]

assignment operator

---

Member Data Documentation

DtAnalogInputPort* DtAggregatedMovementActuator::myMovementDirectionInputPort [protected]

Input Port Name: desired-movement-direction
Input Port Description: Desired movement direction of the entity in radians.

Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control

DtAnalogInputPort* DtAggregatedMovementActuator::mySpeedInputPort [protected]

Input Port Name: desired-speed
Input Port Description: Desired speed of the entity in m/s.

Input Port Range: 0 and up. Input Port Default Value: N/A
Input Group Parent: movement-control

DtInputPortGroup* DtAggregatedMovementActuator::myMovementControlPortGroupInputPortGroup [protected]

Input Port Group Name: movement-control
Input Port Group Description: Collection of inputs specifying the desired movement of the entity.

DtVrfMovingObjectStateRepository* DtAggregatedMovementActuator::myMovingObjectStateRepository [protected]

Convenience pointers to our state repository.

DtVrfAggregateStateRepository* DtAggregatedMovementActuator::myAggregateStateRepository [protected]

Convenience pointers to our state repository.

const DtActuatorComponentDescriptor* DtAggregatedMovementActuator::myActuatorDescriptor [protected]

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

• include/vrfmodel/aggregatedMovementActuator.h