DtBaseMountingController is a controller that generates the azimuth and elevation controls needed to manipulate a weapon mount to the a desired azimuth and elevation. More...

Inheritance diagram for DtBaseMountingController:

[legend]

List of all members.

Public Member Functions
	DtBaseMountingController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtBaseMountingController ()
	destructor
virtual bool	postAddComponentsInit ()
	Overridden to activate myMountingControlPortGroup.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual DtOutputPortGroup *	mountingControlPortGroup ()
	Returns myMountingControlPortGroup.
virtual DtInputPortGroup *	azimuthInfoPortGroup ()
	Returns myAzimuthInfoPortGroup.
virtual DtInputPortGroup *	elevationInfoPortGroup ()
	Returns myAzimuthInfoPortGroup.
virtual void	tick ()
	Calculate new control values.
virtual void	reorientMounting ()
	Spin the mounting to point toward the desired targetPoint or desiredAzimuth/desiredElevation.
virtual void	findDesiredAzimuthAndElevation ()
virtual bool	desiredOrientationIsInRange (double &azimuthOutOfRangeBy, double &elevationOutOfRangeBy, double additionalAzimuthMargin=0.0, double additionalElevationMargin=0.0)
	Returns true if the desired azimuth and elevation are within the range that this mounting can do.
virtual bool	createAzimuthPort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual DtConstrainedAnalogOutputPort *	azimuthPort () const
virtual bool	createElevationPort ()
virtual DtConstrainedAnalogOutputPort *	elevationPort () const
virtual bool	createAzimuthInfoPorts ()
	creates the ports used by myAzimuthInfoPortGroup
virtual bool	createElevationInfoPorts ()
	creates the ports used by myElevationInfoPortGroup
virtual double	approximateMountSwing (double angleChange, double maxRate)
	Determine how fast a mounting should swing given the angle it must travel through (angleChange) and the maxRate of its transit.

virtual void	setDesiredAzimuth (DtReal desiredAzimuth)
virtual DtReal	desiredAzimuth ()

virtual void	setDesiredElevation (DtReal desiredElevation)
virtual DtReal	desiredElevation ()
Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
Protected Member Functions
virtual bool	createPortGroups ()
	Overridden to create mounting port groups.
virtual bool	createPorts ()
	Overridden to create mounting ports.
	DtBaseMountingController ()
	default constructor; not implemented
	DtBaseMountingController (const DtBaseMountingController &orig)
	copy constructor; not implemented
const DtBaseMountingController &	operator= (const DtBaseMountingController &orig)
	assignment operator; not implemented
Protected Attributes
DtArticulatedPartStateRepository *	myAzimuthMountPart
DtArticulatedPartStateRepository *	myElevationMountPart
DtArticulatedPartStateRepository *	myChildSimBody
DtReal	myDesiredAzimuth
	Desired azimuth angle relative to the body.
DtReal	myDesiredElevation
	Desired elevation angle relative to the body.
DtReal	myAngleApproxMargin
	To prevent endless fine adjustments to the azimuth and elevation we'll use a constant margin to determine when the azimuth and elevation are close enough.
Ports and Port Groups
DtInputPortGroup *	myAzimuthInfoPortGroup
	Input Port Group Name: azimuth-info Input Port Group Description: Used to get azimuth information from the actuator.
DtAnalogInputPort *	myNominalAzimuthPort
	Input Port Name: nominal-azimuth Input Port Description: Nominal azimuth value.
DtAnalogInputPort *	myAzimuthRangePort
	Input Port Name: azimuth-range Input Port Description: Azimuth sweep range.
DtAnalogInputPort *	myMaxAzimuthRatePort
	Input Port Name: azimuth-rate Input Port Description: Max azimuth rate.
DtIntegerInputPort *	myAzimuthPartTypePort
	Input Port Name: azimuth-part-type Input Port Description: Type of articulated part.
DtInputPortGroup *	myElevationInfoPortGroup
	Input Port Group Name: elevation-info Input Port Group Description: Used to get elevation information from the actuator.
DtAnalogInputPort *	myNominalElevationPort
	Input Port Name: nominal-elevation Input Port Description: Nominal elevation value.
DtAnalogInputPort *	myElevationRangePort
	Input Port Name: elevation-range Input Port Description: Elevation sweep range Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtAnalogInputPort *	myMaxElevationRatePort
	Input Port Name: elevation-rate Input Port Description: Max elevation rate Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtIntegerInputPort *	myElevationPartTypePort
	Input Port Name: elevation-part-type Input Port Description: Type of articulated part Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtOutputPortGroup *	myMountingControlPortGroup
	Output Port Group Name: mounting-control Output Port Group Description: Accepts output from the missile launcher controller and indirect fire controller.
DtConstrainedAnalogOutputPort *	myAzimuthPort
	Output Port Name: azimuth Output Port Description: Output Port Range: -1.
DtConstrainedAnalogOutputPort *	myElevationPort
	Output Port Name: elevation Output Port Description: Output Port Range: -1.

Detailed Description

DtBaseMountingController is a controller that generates the azimuth and elevation controls needed to manipulate a weapon mount to the a desired azimuth and elevation.

It expects to control an azimuth and/or elevation mount actuator(s).

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtBaseMountingController::~DtBaseMountingController ( ) [virtual]

destructor

DtBaseMountingController::DtBaseMountingController ( ) [protected]

default constructor; not implemented

DtBaseMountingController::DtBaseMountingController ( const DtBaseMountingController & orig ) [protected]

copy constructor; not implemented

Member Function Documentation

virtual bool DtBaseMountingController::postAddComponentsInit ( ) [virtual]

Overridden to activate myMountingControlPortGroup.

Reimplemented from DtSimComponent.

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

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key.

Returns:: DtBaseMountingControllerType

Reimplemented from DtControllerComponent.

Reimplemented in DtMountingController.

virtual DtOutputPortGroup* DtBaseMountingController::mountingControlPortGroup ( ) [virtual]

Returns myMountingControlPortGroup.

virtual DtInputPortGroup* DtBaseMountingController::azimuthInfoPortGroup ( ) [virtual]

Returns myAzimuthInfoPortGroup.

virtual DtInputPortGroup* DtBaseMountingController::elevationInfoPortGroup ( ) [virtual]

Returns myAzimuthInfoPortGroup.

virtual void DtBaseMountingController::tick ( ) [virtual]

Calculate new control values.

Reimplemented from DtSimComponent.

virtual void DtBaseMountingController::reorientMounting ( ) [virtual]

Spin the mounting to point toward the desired targetPoint or desiredAzimuth/desiredElevation.

Takes the current orientation of myChildSimBody (the DtSimBody part that has the combined azimuth and elevation orientation of the mounting), and generates the azimuth and elevation steering input needed to maneuver the mounting toward the desired azimuth and elevation. It obtains the orientation of the mount point in body coordinates of the entity, from myChildSimBody. These Euler angles give the current azimuth and elevation settings of the mount point. It then calls the static functions DtMountingAzimuthActuator::computeDeltaOutsideAzimuthRange(), and DtMountingElevationActuator::computeDeltaOutsideElevationRange(), to determine the extent to which the current orientation is off-target. If the azimuth or elevation angular extent returned is zero, the corresponding port value is set to zero. If not, the function is called to generate a control input, given the amount the angle is off approximateMountSwing() by, and the maximum angular rate at which it can swing. It sets the control input for the port with the value returned by approximateMountSwing().

virtual void DtBaseMountingController::setDesiredAzimuth ( DtReal desiredAzimuth ) [virtual]

Set an azimuth you want this mounting to point towards. This azimuth is relative to the body.

virtual DtReal DtBaseMountingController::desiredAzimuth ( ) [virtual]

Set an azimuth you want this mounting to point towards. This azimuth is relative to the body.

virtual void DtBaseMountingController::setDesiredElevation ( DtReal desiredElevation ) [virtual]

Set an elevation you want this mounting to point towards. This elevation is relative to the body.

virtual DtReal DtBaseMountingController::desiredElevation ( ) [virtual]

Set an elevation you want this mounting to point towards. This elevation is relative to the body.

virtual void DtBaseMountingController::findDesiredAzimuthAndElevation ( ) [virtual]

Reimplemented in DtMountingController.

virtual bool DtBaseMountingController::desiredOrientationIsInRange	(	double &	azimuthOutOfRangeBy,
		double &	elevationOutOfRangeBy,
		double	additionalAzimuthMargin = `0.0`,
		double	additionalElevationMargin = `0.0`
	)		`[virtual]`

Returns true if the desired azimuth and elevation are within the range that this mounting can do.

If it's out of range, the method returns false and puts the outOfRangeBy amounts into the appropriate "out" params. The params for additionalMargin allows the caller to broaden the acceptable azimuth and elevation range by the passed in values.

virtual bool DtBaseMountingController::createAzimuthPort ( ) [virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual DtConstrainedAnalogOutputPort* DtBaseMountingController::azimuthPort ( ) const [virtual]

virtual bool DtBaseMountingController::createElevationPort ( ) [virtual]

virtual DtConstrainedAnalogOutputPort* DtBaseMountingController::elevationPort ( ) const [virtual]

virtual bool DtBaseMountingController::createAzimuthInfoPorts ( ) [virtual]

creates the ports used by myAzimuthInfoPortGroup

virtual bool DtBaseMountingController::createElevationInfoPorts ( ) [virtual]

creates the ports used by myElevationInfoPortGroup

virtual double DtBaseMountingController::approximateMountSwing	(	double	angleChange,
		double	maxRate
	)		`[virtual]`

Determine how fast a mounting should swing given the angle it must travel through (angleChange) and the maxRate of its transit.

Takes as input the amount of angle to be changed and the maximum angular rate of change, and returns a value between -1.0 and 1.0, representing the scaled rate at which the angle should change. It computes this value to be the amount of angular change desired, divided by the maximum angular rate times the current frame duration, dT, for example:

Returns:: angleChange / (maxRate * dT());

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns:: New instance of this class.

Reimplemented in DtMountingController.

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

Overridden to create mounting port groups.

Reimplemented from DtSimComponent.

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

Overridden to create mounting ports.

Reimplemented from DtSimComponent.

const DtBaseMountingController& DtBaseMountingController::operator= ( const DtBaseMountingController & orig ) [protected]

assignment operator; not implemented

Member Data Documentation

DtInputPortGroup* DtBaseMountingController::myAzimuthInfoPortGroup [protected]

Input Port Group Name: azimuth-info
Input Port Group Description: Used to get azimuth information from the actuator.

DtAnalogInputPort* DtBaseMountingController::myNominalAzimuthPort [protected]

Input Port Name: nominal-azimuth
Input Port Description: Nominal azimuth value.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtAnalogInputPort* DtBaseMountingController::myAzimuthRangePort [protected]

Input Port Name: azimuth-range
Input Port Description: Azimuth sweep range.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtAnalogInputPort* DtBaseMountingController::myMaxAzimuthRatePort [protected]

Input Port Name: azimuth-rate
Input Port Description: Max azimuth rate.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtIntegerInputPort* DtBaseMountingController::myAzimuthPartTypePort [protected]

Input Port Name: azimuth-part-type
Input Port Description: Type of articulated part.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtInputPortGroup* DtBaseMountingController::myElevationInfoPortGroup [protected]

Input Port Group Name: elevation-info
Input Port Group Description: Used to get elevation information from the actuator.

DtAnalogInputPort* DtBaseMountingController::myNominalElevationPort [protected]

Input Port Name: nominal-elevation Input Port Description: Nominal elevation value.

Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info

DtAnalogInputPort* DtBaseMountingController::myElevationRangePort [protected]

Input Port Name: elevation-range Input Port Description: Elevation sweep range
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtAnalogInputPort* DtBaseMountingController::myMaxElevationRatePort [protected]

Input Port Name: elevation-rate Input Port Description: Max elevation rate
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtIntegerInputPort* DtBaseMountingController::myElevationPartTypePort [protected]

Input Port Name: elevation-part-type Input Port Description: Type of articulated part
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtOutputPortGroup* DtBaseMountingController::myMountingControlPortGroup [protected]

Output Port Group Name: mounting-control
Output Port Group Description: Accepts output from the missile launcher controller and indirect fire controller.

DtConstrainedAnalogOutputPort* DtBaseMountingController::myAzimuthPort [protected]

Output Port Name: azimuth Output Port Description:
Output Port Range: -1.

to 1.
Output Port Default Value:
Output Group Parent: mounting-control

DtConstrainedAnalogOutputPort* DtBaseMountingController::myElevationPort [protected]

Output Port Name: elevation Output Port Description:
Output Port Range: -1.

to 1.
Output Port Default Value:
Output Group Parent: mounting-control

DtArticulatedPartStateRepository* DtBaseMountingController::myAzimuthMountPart [protected]

DtArticulatedPartStateRepository* DtBaseMountingController::myElevationMountPart [protected]

DtArticulatedPartStateRepository* DtBaseMountingController::myChildSimBody [protected]

DtReal DtBaseMountingController::myDesiredAzimuth [protected]

Desired azimuth angle relative to the body.

DtReal DtBaseMountingController::myDesiredElevation [protected]

Desired elevation angle relative to the body.

DtReal DtBaseMountingController::myAngleApproxMargin [protected]

To prevent endless fine adjustments to the azimuth and elevation we'll use a constant margin to determine when the azimuth and elevation are close enough.

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

include/vrfmodel/baseMountCtlr.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation