DtHumanFollowController Class Reference

DtHumanFollowController is a controller that models following behavior for humans. More...

Inheritance diagram for DtHumanFollowController:

List of all members.

Public Member Functions
	DtHumanFollowController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtHumanFollowController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual bool	init ()
	Init. Call immediately after construction.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	tick ()
	Calculate new control values.
virtual void	processFollowEntityTask (DtSimMessage *msg)
virtual const DtString &	entityToFollow ()
	What entity are we following? This accessor has the side effect of setting myProcessState->myEntityToFollow to DtString::nullString(), if the entity is not tasked and myEntityToFollow is not already the null string.
virtual void	setEntityToFollow (const DtString &entity)
virtual const DtVector &	offsetVector () const
	The offset from the entity's position to follow at, in entity coordinates.
virtual void	setOffsetVector (const DtVector &offsets)
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register its interest in followEntity commands.
virtual bool	setupDestination ()
	Sets the world destination in the process state repository to the location of the entity we're following plus the indicated offset and then calls down to the base class.
virtual bool	passedDestination ()
	Overrides to force the entity to be near the destination as well as across the 'destination' line to be considered past the destination.
virtual double	findDesiredSpeed ()
	Overrides so we can speed up when falling behind and slow down if we get past the position we're supposed to be in.
virtual double	findDesiredHeading ()
	Overrides so the entity won't turn toward the destination point when it is close to or past the destination; rather, in these cases, it assumes the heading of the lead entity.
virtual void	setupDestinationVector () const
	Determine the destination vector for the entity out of the heading of the entity being followed.
virtual void	stop ()
	Overrides so we don't complete the task when we're at the right location with regard to the followed entity.
virtual void	clearTask ()
	If component is currently tasked, calls clearPendingSubtasks(), sets the tasked flag to false, and calls clearCurrentTaskMesage() to clear out the current task message.
Static Public Member Functions
static void	followEntityCallback (DtSimMessage *msg, void *usrData)
	Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
Protected Member Functions
	DtHumanFollowController (const DtHumanFollowController &orig)
	copy constructor; shallow; does not copy the ports.
const DtHumanFollowController &	operator= (const DtHumanFollowController &orig)
	assignment operator; see comments on copy constructor!
virtual void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
virtual bool	nearDestination ()
	Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).
virtual bool	getDestination (DtVector &destination)
	getDestination()
virtual const DtVector &	destinationVector () const
	Returns the current destination vector for the entity.
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 determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
virtual bool	destinationIsInsideObstruction (const DtVector &localDestination) const
	Returns whether or not current destination is inside an obstruction.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual double	distanceToDestination () const
Protected Attributes
DtVrfObject *	myEntityToFollow
	Set fresh each frame in setupDestination().
DtHumanStateRepository *	myHumanStateRepository
	Cache pointer to our specific type of state repository.
DtHumanFollowPSR *	myProcessState
	Container for state data associated with this component.
DtVector	myLocalDestination
DtVector	myWorldDestination
DtVector	myDestinationVector
bool	myDestinationVectorIsValid
bool	myNearDestination
bool	myPassedDestination
bool	myAtDestination
double	myDistanceSquared
bool	myDestinationIsInsideObstruction
double	myCurrentSpeed
double	myAtDistanceSquared
	Square of distance we're considered to be 'at' our destination (within 1/4 meter).
double	myNearDistanceSquared
	Square of distance we're considered to be 'near' our destination (within 3 meters).
double	myApproachSpeed
	Maximum speed to use when we are considered to be 'near' our destination.
double	myPassedSlowDownFactor
	Multiplicative factor used to compute the appropriate speed when we need to slow down relative to the entity we're following (because we've passed the point we need to be).
double	myFarCatchUpFactor
	Multiplicative factor used to compute the appropriate speed when we need to catch up to the entity we're following and we're far from where we need to be.
double	myNearCatchUpFactor
	Multiplicative factor used to compute the appropriate speed when we need to catch up to the entity we're following (because we're far from where we need to be).
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.
DtInputPortGroup *	myCollisionAvoidancePortGroup
	Input Port Group Name: collision-avoidance-control Input Port Group Description:
DtHumanMovementControlOutputPortGroup *	myHumanMovementControlOutputPortGroup
	Output Group Name: movement-control .
DtVectorOutputPort *	myDestinationOutputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordiantes.

---

Detailed Description

DtHumanFollowController is a controller that models following behavior for humans.

Developer Description: Each simulation frame the destination to which the entity moves is recalculated to be in the right place with respect to the followed entity.

Uses Descriptor Type: DtGroundMoveToDescriptor

---

Constructor & Destructor Documentation

DtHumanFollowController::DtHumanFollowController	(	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 DtHumanFollowController::~DtHumanFollowController

(

)

[virtual]

destructor

DtHumanFollowController::DtHumanFollowController

(

const DtHumanFollowController &

orig

)

[protected]

copy constructor; shallow; does not copy the ports.

---

Member Function Documentation

virtual DtString DtHumanFollowController::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:

DtHumanFollowControllerType

Implements DtTaskControllerComponent.

virtual bool DtHumanFollowController::init

(

)

[virtual]

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual bool DtHumanFollowController::createPSR

(

)

[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 DtHumanFollowController::tick

(

)

[virtual]

Calculate new control values.

Reimplemented from DtSimComponent.

static void DtHumanFollowController::followEntityCallback	(	DtSimMessage *	msg,
		void *	usrData
	)		[static]

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.

virtual void DtHumanFollowController::processFollowEntityTask

(

DtSimMessage *

msg

)

[virtual]

virtual const DtString& DtHumanFollowController::entityToFollow

(

)

[virtual]

What entity are we following? This accessor has the side effect of setting myProcessState->myEntityToFollow to DtString::nullString(), if the entity is not tasked and myEntityToFollow is not already the null string.

virtual void DtHumanFollowController::setEntityToFollow

(

const DtString &

entity

)

[virtual]

virtual const DtVector& DtHumanFollowController::offsetVector

(

)

const [virtual]

The offset from the entity's position to follow at, in entity coordinates.

This comes from the follow task message.

virtual void DtHumanFollowController::setOffsetVector

(

const DtVector &

offsets

)

[virtual]

static DtSimComponent* DtHumanFollowController::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.

virtual void DtHumanFollowController::registerTaskMsgCallbacks

(

)

[virtual]

Overrides this so it can register its interest in followEntity commands.

Reimplemented from DtTaskControllerComponent.

virtual bool DtHumanFollowController::setupDestination

(

)

[virtual]

Sets the world destination in the process state repository to the location of the entity we're following plus the indicated offset and then calls down to the base class.

virtual bool DtHumanFollowController::passedDestination

(

)

[virtual]

Overrides to force the entity to be near the destination as well as across the 'destination' line to be considered past the destination.

virtual double DtHumanFollowController::findDesiredSpeed

(

)

[virtual]

Overrides so we can speed up when falling behind and slow down if we get past the position we're supposed to be in.

virtual double DtHumanFollowController::findDesiredHeading

(

)

[virtual]

Overrides so the entity won't turn toward the destination point when it is close to or past the destination; rather, in these cases, it assumes the heading of the lead entity.

virtual void DtHumanFollowController::setupDestinationVector

(

)

const [virtual]

Determine the destination vector for the entity out of the heading of the entity being followed.

Converts the heading into topo coordinates, creates a topo destination vector, and then converts that to the entity's local coordinate system. This is used by the entity to determine if it has passed it's destination which is the entity being followed, including the specified offset.

Note:

this function is not currently used.

Assumes that the entity pointer member, the sim manager, the terrain database in the sim manager, and the coordinate system object in the terrain database are all non-NULL.

virtual void DtHumanFollowController::stop

(

)

[virtual]

Overrides so we don't complete the task when we're at the right location with regard to the followed entity.

Simply calls DtGroundMoveToControllerComponent::doMoving().

virtual void DtHumanFollowController::clearTask

(

)

[virtual]

If component is currently tasked, calls clearPendingSubtasks(), sets the tasked flag to false, and calls clearCurrentTaskMesage() to clear out the current task message.

Reimplemented from DtSingleTaskControllerComponent.

const DtHumanFollowController& DtHumanFollowController::operator=

(

const DtHumanFollowController &

orig

)

[protected]

assignment operator; see comments on copy constructor!

virtual void DtHumanFollowController::invalidateDestinationVector

(

)

const [protected, virtual]

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

virtual bool DtHumanFollowController::nearDestination

(

)

[protected, virtual]

Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).

nearDestination() calls calculateCurrentBrakingDistance(). If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the near-distance parameter of the DtGroundMoveToDescriptor, or if it is less than the square of the current braking distance, nearDestination() sets myNearDestination to true. If the above is not true, nearDestination() sets myNearDestination to false. myNearDestination is returned to the calling function.

virtual bool DtHumanFollowController::getDestination

(

DtVector &

destination

)

[protected, virtual]

getDestination()

Parameters:

destination

the position this object is trying to drive to in local coordinates.

Returns:

true if it has a valid destination () or false if it is unable to determine it's destination.

Note:

Used by other areas of the simulation to determine where this object is going. (Information)

virtual const DtVector& DtHumanFollowController::destinationVector

(

)

const [protected, virtual]

Returns the current destination vector for the entity.

Note:

if the destination vector is currently invalidated, it recalculates it and sets it to valid.

See also:

setupDestinationVector

virtual bool DtHumanFollowController::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 DtHumanFollowController::doMoving

(

)

[protected, virtual]

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

virtual bool DtHumanFollowController::destinationIsInsideObstruction

(

const DtVector &

localDestination

)

const [protected, virtual]

Returns whether or not current destination is inside an obstruction.

virtual bool DtHumanFollowController::createPortGroups

(

)

[protected, virtual]

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtHumanFollowController::createPorts

(

)

[protected, virtual]

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual void DtHumanFollowController::moveToDestination

(

)

[protected, virtual]

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

virtual double DtHumanFollowController::distanceToDestination

(

)

const [protected, virtual]

---

Member Data Documentation

DtVrfObject* DtHumanFollowController::myEntityToFollow [protected]

Set fresh each frame in setupDestination().

DtHumanStateRepository* DtHumanFollowController::myHumanStateRepository [protected]

Cache pointer to our specific type of state repository.

DtHumanFollowPSR* DtHumanFollowController::myProcessState [protected]

Container for state data associated with this component.

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

DtCollisionInputPort* DtHumanFollowController::myCollisionAvoidancePort [protected]

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

DtInputPortGroup* DtHumanFollowController::myCollisionAvoidancePortGroup [protected]

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

DtHumanMovementControlOutputPortGroup* DtHumanFollowController::myHumanMovementControlOutputPortGroup [protected]

Output Group Name: movement-control
.

DtVectorOutputPort* DtHumanFollowController::myDestinationOutputPort [protected]

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

Output Port Range:
Output Group Parent:

DtVector DtHumanFollowController::myLocalDestination [protected]

DtVector DtHumanFollowController::myWorldDestination [protected]

DtVector DtHumanFollowController::myDestinationVector [mutable, protected]

bool DtHumanFollowController::myDestinationVectorIsValid [mutable, protected]

bool DtHumanFollowController::myNearDestination [protected]

bool DtHumanFollowController::myPassedDestination [protected]

bool DtHumanFollowController::myAtDestination [protected]

double DtHumanFollowController::myDistanceSquared [protected]

bool DtHumanFollowController::myDestinationIsInsideObstruction [protected]

double DtHumanFollowController::myCurrentSpeed [protected]

double DtHumanFollowController::myAtDistanceSquared [protected]

Square of distance we're considered to be 'at' our destination (within 1/4 meter).

In meters^2. Default value: 1.0

double DtHumanFollowController::myNearDistanceSquared [protected]

Square of distance we're considered to be 'near' our destination (within 3 meters).

In meters^2. Default value: 9.0

double DtHumanFollowController::myApproachSpeed [protected]

Maximum speed to use when we are considered to be 'near' our destination.

In meters/second. Default value: 2.0

double DtHumanFollowController::myPassedSlowDownFactor [protected]

Multiplicative factor used to compute the appropriate speed when we need to slow down relative to the entity we're following (because we've passed the point we need to be).

Other entity's speed is multiplied by this factor to produce our desired speed in this case. Default value: 0.9

double DtHumanFollowController::myFarCatchUpFactor [protected]

Multiplicative factor used to compute the appropriate speed when we need to catch up to the entity we're following and we're far from where we need to be.

'Far' means we're outside of the near distance from our follow position. Our entity's ordered speed is multiplied by this factor to produce our desired speed in this case. Default value: 1.25

double DtHumanFollowController::myNearCatchUpFactor [protected]

Multiplicative factor used to compute the appropriate speed when we need to catch up to the entity we're following (because we're far from where we need to be).

'Near' means we're within of the near distance of our follow position. Other entity's speed is multiplied by this factor to produce our desired speed in this case. Default value: 1.1

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

• include/vrfmodel/humanFollowController.h