A controller for ground automotive entities that takes a direction and speed as input, and outputs throttle, steering, etc, values for the automotive actuator. More...

Inheritance diagram for DtGroundMoveDirectionController:

[legend]

List of all members.

Public Member Functions
	DtGroundMoveDirectionController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtGroundMoveDirectionController ()
	destructor
virtual bool	init ()
	Initializes myGroundVehicleState.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	This gives the thread of control to the component.
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	createPorts ()
	Overridden to create the movement control input ports.
virtual bool	createPortGroups ()
	Overridden to create the movement control input port group.
virtual bool	createDirectionInputPort ()
virtual bool	createSpeedInputPort ()
virtual bool	movementControlInputPortGroup ()
virtual void	setControlsForNormalMove ()
	Sets the output controls for a normal forward movement while steering.
virtual void	setControlsForTurnInPlace ()
	Sets the output controls for a turn in place.
virtual bool	shouldTurnInPlace ()
	Check whether the vehicle should move normally or turn in place for this tick.
Protected Attributes
bool	myTurningLastTick
	Used only for debugging output, so not in PSR.
const DtGroundMoveDirectionControllerDescriptor *	myMoveDirectionDescriptor
Ports and Port Groups
DtAnalogInputPort *	myDirectionInputPort
	Input Port Name: desired-direction Input Port Description: Desired direction (heading) of the entity in radians.
DtAnalogInputPort *	mySpeedInputPort
	Input Port Name: desired-speed Input Port Description: Desired speed of the entity in m/s.
DtInputPortGroup *	myMovementControlInputPortGroup
	Input Port Group Name: movement-control Input Port Group Description: Collection of inputs specifying the desired movement of the entity.
Private Member Functions
	DtGroundMoveDirectionController ()
	default constructor; not implemented
	DtGroundMoveDirectionController (const DtGroundMoveDirectionController &orig)
	copy constructor; not implemented
const DtGroundMoveDirectionController &	operator= (const DtGroundMoveDirectionController &orig)
	assignment operator; not implemented

Detailed Description

A controller for ground automotive entities that takes a direction and speed as input, and outputs throttle, steering, etc, values for the automotive actuator.

This controller is intended as an intermediary controller between a controller that is carrying out a task or performing some action by providing a desired speed and heading, and the automotive actuator itself. The controller will cause the entity to stop and pivot, if configured to to so in the descriptor and if the entity is pivot-capable. Uses Descriptor Type: DtGroundMoveDirectionControllerDescriptor

Constructor & Destructor Documentation

DtGroundMoveDirectionController::DtGroundMoveDirectionController ( ) [private]

default constructor; not implemented

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

copy constructor; not implemented

DtGroundMoveDirectionController::DtGroundMoveDirectionController	(	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 DtGroundMoveDirectionController::~DtGroundMoveDirectionController ( ) [virtual]

destructor

Member Function Documentation

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

assignment operator; not implemented

virtual bool DtGroundMoveDirectionController::init ( ) [virtual]

Initializes myGroundVehicleState.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in BHAVE::DtBhaveMoveDirectionController.

virtual DtString DtGroundMoveDirectionController::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:: DtGroundMoveDirectionControllerType

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in BHAVE::DtBhaveMoveDirectionController.

virtual void DtGroundMoveDirectionController::tick ( ) [virtual]

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

static DtSimComponent* DtGroundMoveDirectionController::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 BHAVE::DtBhaveMoveDirectionController.

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

Overridden to create the movement control input ports.

Calls down to DtGroundAutoControllerComponent::createPorts().

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in BHAVE::DtBhaveMoveDirectionController.

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

Overridden to create the movement control input port group.

Calls down to DtGroundAutoControllerComponent::createPortGroups().

Reimplemented from DtGroundAutoControllerComponent.

virtual bool DtGroundMoveDirectionController::createDirectionInputPort ( ) [protected, virtual]

virtual bool DtGroundMoveDirectionController::createSpeedInputPort ( ) [protected, virtual]

virtual bool DtGroundMoveDirectionController::movementControlInputPortGroup ( ) [protected, virtual]

virtual void DtGroundMoveDirectionController::setControlsForNormalMove ( ) [protected, virtual]

Sets the output controls for a normal forward movement while steering.

Reimplemented in BHAVE::DtBhaveMoveDirectionController.

virtual void DtGroundMoveDirectionController::setControlsForTurnInPlace ( ) [protected, virtual]

Sets the output controls for a turn in place.

Either pivot, or K-Turn, depending on the capabilities of the entity.

virtual bool DtGroundMoveDirectionController::shouldTurnInPlace ( ) [protected, virtual]

Check whether the vehicle should move normally or turn in place for this tick.

Returns:: True if the entity should turn in place.

Member Data Documentation

DtAnalogInputPort* DtGroundMoveDirectionController::myDirectionInputPort [protected]

Input Port Name: desired-direction
Input Port Description: Desired direction (heading) of the entity in radians.

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

DtAnalogInputPort* DtGroundMoveDirectionController::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* DtGroundMoveDirectionController::myMovementControlInputPortGroup [protected]

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

bool DtGroundMoveDirectionController::myTurningLastTick [protected]

Used only for debugging output, so not in PSR.

const DtGroundMoveDirectionControllerDescriptor* DtGroundMoveDirectionController::myMoveDirectionDescriptor [protected]

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

include/vrfmodel/groundMoveDirectionController.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation