DtHumanCollisionAvoidanceController is a controller that helps entities to avoid running into other entities and/or feature obstructions. More...

Inheritance diagram for DtHumanCollisionAvoidanceController:

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List of all members.

Public Member Functions
	DtHumanCollisionAvoidanceController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtHumanCollisionAvoidanceController ()
	Destructor.
virtual bool	init ()
	Initializes the follow controller name, the object ID, and the collisionBV (bounding volume)
virtual void	tick ()
	Calculate new control values based on potential collisions.
virtual double	distanceSquaredToDestination (DtVector offsetVector)
	Calculates the distance squared from the current location (in local coords) to the destination, minus the specified offset vector.
virtual bool	isInsideObstruction (const DtCollision *potentialCollision, double &clearingDistance)
	Determine if the entity is inside the potential obstruction.
virtual void	avoidCollision (const DtCollision &potentialCollision)
	Activates all control ports/groups and provides the necessary speed, direction, and heading values.
virtual void	clearCollision ()
	This just cleans up some state variables when it's determined that an entity is no longer potentially colliding.
virtual void	clearingCollision ()
	Moves the vehicle in a straight line for the defined clearingDistance after it is no longer at risk of colliding with the obstruction.
virtual DtString	type () const
	Returns a string identifies the class type of 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
	DtHumanCollisionAvoidanceController ()
	Default constructor; should not be called.
	DtHumanCollisionAvoidanceController (const DtHumanCollisionAvoidanceController &orig)
	copy constructor
const DtHumanCollisionAvoidanceController &	operator= (const DtHumanCollisionAvoidanceController &orig)
	assignment operator
virtual void	registerTaskMsgCallbacks ()
	Override for interest in task complete messages, we care about stopMoving tasks.
virtual void	processTaskComplete (DtSimMessage *msg)
bool	isAppreciablyMoving (DtVector velocity, double velocityTolerance) const
	If the magnitude of any component of the velocity is greater than the velocity tolerance, then the entity is considered appreciably moving.
bool	setDefaultPortValuesForAvoidance ()
	Sets the ports to appropriate default values.
bool	determineObstructionMovementDirection (DtDcm obstructionLocalOrientationMatrix, const DtVector &obstructionVelocity, int &obstructionDirectionSign) const
	Determines if the obstruction is moving forward or in reverse.
void	avoidMovingObstruction (const DtCollision &potentialCollision)
	Calculates and sets control values for avoiding a moving obstruction based on obstruction's relative movement (head-on, in front of, etc.) If the obstruction is moving in roughly the same direction, and the entity is in front, it does nothing.
void	avoidNonMovingObstruction (const DtCollision &potentialCollision)
	Calculates control values for avoiding a non-moving obstruction.
virtual void	calculateAvoidanceByVertices (const DtVector &vertex1, const DtVector &vertex2, double entityBoundingVolumeRadius, DtVector &localVectorToDestination, DtVector &localVectorToObstruciton)
	Calculates control values for avoiding using the vertices that define the obstruction.
virtual void	calculateAvoidanceUsingExtent (DtExtent &extent, double entityBoundingVolumeRadius, DtVector &localVectorToDestination, DtVector &localVectorToObstruciton)
	Calculates control values for avoiding using the extent of the obstruction-- Useful for point vector features.
virtual void	calculateAvoidanceUsingBoundingVolume (const DtCollision &potentialCollision, double entityBoundingVolumeRadius, DtVector &localVectorToDestination, DtVector &localVectorToObstruciton)
	Calculates very rough control values for avoiding using the bounding volume.
void	startClearingCollision (double clearingDistance)
	Sets state as appropriate for clearing a collision and then starts clearing the collision.
bool	calculateCollisionBV ()
	Calculates a bounding volume representing the potential collision volume occupied by the entity.
bool	createPortGroups ()
	Called by init.
bool	createPorts ()
	Called by init.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	computeClearingHeading (const DtVector &localVertex1, const DtVector &localVertex2, const DtVector &localObstaclePos, double &clearingHeading) const
virtual void	getObstructionFootprint (const DtCollision &collision, DtLocalVertexList &localObstructionFootprint) const
Static Protected Member Functions
static void	taskCompleteReportCallback (DtSimMessage msg, void usr)
	Monitor taskReportComplete callback to see when entity stops moving during an embarkation task so we can stop collision avoiding.
Protected Attributes
double	myClearingDistance
	This is only used when clearing.
bool	myAvoidingCollision
Dt3dBoundingVolume *	myCollisionBV
DtEntityIdentifier	myObjectId
bool	myHavePortGroup
DtHumanStateRepository *	myLifeformState
DtHumanCollisionAvoidancePSR *	myProcessState
	Container for state data associated with this component.
double	myTimeToCollide
	The minimum time before a collision (in seconds) which the collision avoidance controller compares to its own estimate of the time before a rear end collision to determine when to apply the brakes.
double	myLateralClearance
	The width (in meters) added to the length of the bounding volume which is checked for potential collisions.
double	myStoppingDistanceFactor
	The factor by which the collision avoidance controller multiplies the current stopping distance to determine the length of the bounding volume which is checked for potential collisions.
DtVector	myNonMvObstructionLocation
Ports and Port Groups
DtCollisionInputPort *	myCollisionAvoidancePort
	Input Port Name: potential-collision-info Input Port Description: Input Port Range: Input Port Default Value: Input Group Parent: collision-avoidance-control.
DtVectorInputPort *	myDestinationInputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordiantes.
DtInputPortGroup *	myCollisionAvoidancePortGroup
	Input Port Group Name: collision-avoidance-control Input Port Group Description:
DtHumanMovementControlOutputPortGroup *	myHumanMovementControlOutputPortGroup
	Output Group Name: movement-control .
DtBooleanOutputPort *	myCollisionPort
	Output Port Name: collision Output Port Description: Specifies if there's a collision occuring Output Port Range: Output Group Parent: .

Detailed Description

DtHumanCollisionAvoidanceController is a controller that helps entities to avoid running into other entities and/or feature obstructions.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtHumanCollisionAvoidanceController::DtHumanCollisionAvoidanceController	(	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 DtHumanCollisionAvoidanceController::~DtHumanCollisionAvoidanceController ( ) [virtual]

Destructor.

Cleans up any allocated ports/port groups, and bounding volumes.

DtHumanCollisionAvoidanceController::DtHumanCollisionAvoidanceController ( ) [protected]

Default constructor; should not be called.

Here because the compiler will generate an unprotected one otherwise.

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

copy constructor

Member Function Documentation

virtual bool DtHumanCollisionAvoidanceController::init ( ) [virtual]

Initializes the follow controller name, the object ID, and the collisionBV (bounding volume)

Returns:: A boolean indicating success or failure.

Reimplemented from DtControllerComponent.

virtual void DtHumanCollisionAvoidanceController::tick ( ) [virtual]

Calculate new control values based on potential collisions.

If the controller has received potential collision data, then it acts to avoid a collision. If it does not receive collision data, but has on the previous tick, then the controller starts clearing the collision.

See also:: avoidCollision(); clearingCollision()

Reimplemented from DtSimComponent.

virtual double DtHumanCollisionAvoidanceController::distanceSquaredToDestination ( DtVector offsetVector ) [virtual]

Calculates the distance squared from the current location (in local coords) to the destination, minus the specified offset vector.

Returns:: a double set to the distance squared.

virtual bool DtHumanCollisionAvoidanceController::isInsideObstruction	(	const DtCollision *	potentialCollision,
		double &	clearingDistance
	)		`[virtual]`

Determine if the entity is inside the potential obstruction.

Returns the necessary clearing distance if we are inside the obstruction.

virtual void DtHumanCollisionAvoidanceController::avoidCollision ( const DtCollision & potentialCollision ) [virtual]

Activates all control ports/groups and provides the necessary speed, direction, and heading values.

Parameters:

obstruction A pointer to a DtVrfObject to avoid. Assumed to be non-NULL.

See also:: avoidMovingObstruction(); avoidNonMovingObstruction()

virtual void DtHumanCollisionAvoidanceController::clearCollision ( ) [virtual]

This just cleans up some state variables when it's determined that an entity is no longer potentially colliding.

virtual void DtHumanCollisionAvoidanceController::clearingCollision ( ) [virtual]

Moves the vehicle in a straight line for the defined clearingDistance after it is no longer at risk of colliding with the obstruction.

This is done to keep the vehicle from turning back to the goal too soon, which would cause a jitter as the vehicle went in and out of the collision state.

virtual DtString DtHumanCollisionAvoidanceController::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:: DtHumanCollisionAvoidanceControllerType

Implements DtTaskControllerComponent.

static DtSimComponent* DtHumanCollisionAvoidanceController::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.

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

assignment operator

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

Override for interest in task complete messages, we care about stopMoving tasks.

Reimplemented from DtTaskControllerComponent.

static void DtHumanCollisionAvoidanceController::taskCompleteReportCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static, protected]`

Monitor taskReportComplete callback to see when entity stops moving during an embarkation task so we can stop collision avoiding.

virtual void DtHumanCollisionAvoidanceController::processTaskComplete ( DtSimMessage * msg ) [protected, virtual]

bool DtHumanCollisionAvoidanceController::isAppreciablyMoving	(	DtVector	velocity,
		double	velocityTolerance
	)		const `[protected]`

If the magnitude of any component of the velocity is greater than the velocity tolerance, then the entity is considered appreciably moving.

Returns:: A boolean signifying whether or not the entity is appreciably moving.

bool DtHumanCollisionAvoidanceController::setDefaultPortValuesForAvoidance ( ) [protected]

Sets the ports to appropriate default values.

Throttle is set to the approximate throttle for the ordered speed.
Break is set to either 0 or .5 depending on dif. between current and ordered speed
Steering is set to 0.
ParkingBrake is set to false
Returns:
A boolean signifying sucess or failure.

bool DtHumanCollisionAvoidanceController::determineObstructionMovementDirection	(	DtDcm	obstructionLocalOrientationMatrix,
		const DtVector &	obstructionVelocity,
		int &	obstructionDirectionSign
	)		const `[protected]`

Determines if the obstruction is moving forward or in reverse.

Parameters:

obstructionDirectionSign A reference to an integer representing the direction of movement: 1 for forward, -1 for reverse.

Returns:: a boolean signifying success or failure in the calculation.

void DtHumanCollisionAvoidanceController::avoidMovingObstruction ( const DtCollision & potentialCollision ) [protected]

Calculates and sets control values for avoiding a moving obstruction based on obstruction's relative movement (head-on, in front of, etc.) If the obstruction is moving in roughly the same direction, and the entity is in front, it does nothing.

If it is behind, and following the entity, then it lets the follow entity controller take over. If not following the entity, then it slows down to avoid a collision.

If the obstruction is coming head on, then the entity attempts to turn out of the way as if the obstruction was a non-moving entity.

Note:: Assumes that the obstruction is an entity, since it is moving. If the potential collision is not an entity, this function will have to be

void DtHumanCollisionAvoidanceController::avoidNonMovingObstruction ( const DtCollision & potentialCollision ) [protected]

Calculates control values for avoiding a non-moving obstruction.

If the entity is not following the obstruction, and the entity can turn, it turns to the opposite direction of the obstruction's location to the entity. (i.e. if the obstruction is on the right, the entity turns to the left.) Otherwise, the entity stops, since either the leader has stopped or it is unable to turn.

Note:: Does not assume that the obstruction is an entity, since it is not moving. Uses only the data contained in the collision object, and does not look up any other data (such as a vrfObject).

virtual void DtHumanCollisionAvoidanceController::calculateAvoidanceByVertices	(	const DtVector &	vertex1,
		const DtVector &	vertex2,
		double	entityBoundingVolumeRadius,
		DtVector &	localVectorToDestination,
		DtVector &	localVectorToObstruciton
	)		`[protected, virtual]`

Calculates control values for avoiding using the vertices that define the obstruction.

This is used with objects that have at least 2 vertices

virtual void DtHumanCollisionAvoidanceController::calculateAvoidanceUsingExtent	(	DtExtent &	extent,
		double	entityBoundingVolumeRadius,
		DtVector &	localVectorToDestination,
		DtVector &	localVectorToObstruciton
	)		`[protected, virtual]`

Calculates control values for avoiding using the extent of the obstruction-- Useful for point vector features.

virtual void DtHumanCollisionAvoidanceController::calculateAvoidanceUsingBoundingVolume	(	const DtCollision &	potentialCollision,
		double	entityBoundingVolumeRadius,
		DtVector &	localVectorToDestination,
		DtVector &	localVectorToObstruciton
	)		`[protected, virtual]`

Calculates very rough control values for avoiding using the bounding volume.

void DtHumanCollisionAvoidanceController::startClearingCollision ( double clearingDistance ) [protected]

Sets state as appropriate for clearing a collision and then starts clearing the collision.

Parameters:

clearingDistance The distance the entity will move before it considers itself of having fully avoided the collision. This is to prevent entities from immediately turning back into the path of the potential collision once initially avoided it.

See also:: clearingCollision()

bool DtHumanCollisionAvoidanceController::calculateCollisionBV ( ) [protected]

Calculates a bounding volume representing the potential collision volume occupied by the entity.

The entities oriented bounding volume is extended in the direction of travel. It represents a prediction of the entity's future movement for some period of time.

Returns:: A boolean signifying success or failure. If the function fails, the bounding volume is not defined to be valid.

Note:: Almost exact same function as in the DtObstructionSensor class.; This function assumes simplified movement, and only works for movement "forward/backward" in body coordinates (x direction). For more complicated collision bounding volumes, this function must be overridden.

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

Called by init.

Derived classes should override this method to create all their input/output port groups.

Reimplemented from DtSimComponent.

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

Called by init.

Derived classes should override this method to create all their input/output ports and port groups.

Reimplemented from DtSimComponent.

virtual bool DtHumanCollisionAvoidanceController::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 void DtHumanCollisionAvoidanceController::computeClearingHeading	(	const DtVector &	localVertex1,
		const DtVector &	localVertex2,
		const DtVector &	localObstaclePos,
		double &	clearingHeading
	)		const `[protected, virtual]`

virtual void DtHumanCollisionAvoidanceController::getObstructionFootprint	(	const DtCollision &	collision,
		DtLocalVertexList &	localObstructionFootprint
	)		const `[protected, virtual]`

Member Data Documentation

double DtHumanCollisionAvoidanceController::myClearingDistance [protected]

This is only used when clearing.

bool DtHumanCollisionAvoidanceController::myAvoidingCollision [protected]

Dt3dBoundingVolume* DtHumanCollisionAvoidanceController::myCollisionBV [protected]

DtEntityIdentifier DtHumanCollisionAvoidanceController::myObjectId [protected]

bool DtHumanCollisionAvoidanceController::myHavePortGroup [protected]

DtHumanStateRepository* DtHumanCollisionAvoidanceController::myLifeformState [protected]

DtHumanCollisionAvoidancePSR* DtHumanCollisionAvoidanceController::myProcessState [protected]

Container for state data associated with this component.

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

DtCollisionInputPort* DtHumanCollisionAvoidanceController::myCollisionAvoidancePort [protected]

Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.

DtVectorInputPort* DtHumanCollisionAvoidanceController::myDestinationInputPort [protected]

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

Output Port Range:
Output Group Parent:

DtInputPortGroup* DtHumanCollisionAvoidanceController::myCollisionAvoidancePortGroup [protected]

Input Port Group Name: collision-avoidance-control
Input Port Group Description:

DtHumanMovementControlOutputPortGroup* DtHumanCollisionAvoidanceController::myHumanMovementControlOutputPortGroup [protected]

Output Group Name: movement-control
.

DtBooleanOutputPort* DtHumanCollisionAvoidanceController::myCollisionPort [protected]

Output Port Name: collision
Output Port Description: Specifies if there's a collision occuring Output Port Range:
Output Group Parent:
.

double DtHumanCollisionAvoidanceController::myTimeToCollide [protected]

The minimum time before a collision (in seconds) which the collision avoidance controller compares to its own estimate of the time before a rear end collision to determine when to apply the brakes.

Parameter Default Value: 0.0
Parameter Units: seconds

double DtHumanCollisionAvoidanceController::myLateralClearance [protected]

The width (in meters) added to the length of the bounding volume which is checked for potential collisions.

Parameter Default Value: 0.25
Parameter Units: meters

double DtHumanCollisionAvoidanceController::myStoppingDistanceFactor [protected]

The factor by which the collision avoidance controller multiplies the current stopping distance to determine the length of the bounding volume which is checked for potential collisions.

Parameter Default Value: 1.0

DtVector DtHumanCollisionAvoidanceController::myNonMvObstructionLocation [protected]

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

include/vrfmodel/humanCollisionAvoidController.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation