DtHumanMoveAlongController is a controller that models movement along a route for an individual human entity. More...

Inheritance diagram for DtHumanMoveAlongController:

Public Member Functions
	DtHumanMoveAlongController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtHumanMoveAlongController ()
	Destructor.
virtual bool	init ()
	Init. Call immediately after construction.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	This components simulation tick.
virtual void	processMoveAlongTask (DtSimMessage *msg)
	Handle messages to move along a route or assume a move along task from another.
virtual void	processRouteChanged (DtVrfObject *obj)
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register it's interest in MoveAlong commands.
virtual bool	setupRoute ()
	Look up the route by name, and set myRoute if found.
virtual bool	setupDestination ()
	Sets myControlPoint to the position of the route's current vertex.
virtual double	findDesiredSpeed ()
	Returns ordered speed of the entity.
virtual void	stop ()
	Overrides to advance to the next vertex rather then actually stop when a vertex is reached.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	doMoving ()
	Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
virtual double	findDesiredHeading ()
	Calls headingAngleTo() to find the heading from the entity to the destination.
virtual bool	destinationIsInsideObstruction (const DtVector &localDestination) const
	Returns whether or not current destination is inside an obstruction.
virtual bool	decideToGiveUpTask () const
	Checks to see if destination is inside an obstruction.
Static Public Member Functions
static void	moveAlongCallback (DtSimMessage msg, void usr)
	Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-along tasks.
static void	routeChangedCallback (DtVrfObject obj, void usr)
	Intended to be called only when the route has changed.
static void	objectAddedCb (DtVrfObject vrfObject, void usr)
	Calls processObjectAdded().
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	Static creator function for factory registration.
Protected Member Functions
virtual void	buildLocalRoute ()
	builds the local copy of the route by copying myRoute's vertices
virtual void	emptyVertexList ()
	removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
virtual void	processObjectAdded (DtVrfObject *vrfObject)
	Checks given vrfObject against the route we're looking for.
virtual void	clearTask ()
	Override to clear route name and route state data stored in myProcessState.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
virtual double	distanceToDestination () const
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 bool	passedDestination ()
	Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.
virtual bool	getDestination (DtVector &destination)
	getDestination()
virtual const DtVector &	destinationVector () const
	Returns the current destination vector for the entity.
virtual void	setupDestinationVector () const
	Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.
virtual double	atDistance () const
	Maximum distance at which entity is considered to be 'at' a route vertex.
virtual bool	stayOnRoute () const
	If true, will attempt to closely follow route segments as it moves along a route.
virtual double	minCorrectionDistance () const
	Maximum distance at which entity is considered to be 'at' a route vertex.
virtual double	maxCorrectionDistance () const
virtual double	maxCorrectionAngle () const
virtual bool	getCurrentRouteSegment (DtVector &routeSegmentStart, DtVector &routeSegmentEnd) const
Protected Attributes
DtHumanStateRepository *	myHumanStateRepository
DtHumanMoveAlongPSR *	myProcessState
	Container for state data associated with this component.
DtHumanMoveAlongControllerDescriptor *	myHumanMoveAlongControllerDescriptor
DtVrfObject *	myRoute
	This is looked up once per tick - assumed unchanging while we have control.
bool	myRouteHasChanged
	This gets set to true when a modifyRoute message for the route we're following is received.
bool	myResetVertex
bool	myFirstTick
int	myPreviousVertex
bool	myAtDestination
bool	myNearDestination
bool	myPassedDestination
double	myDistanceSquared
DtVector	myLocalDestination
DtVector	myWorldDestination
double	myCurrentSpeed
bool	myDestinationVectorIsValid
DtVector	myDestinationVector
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.
Private Member Functions
	DtHumanMoveAlongController ()
	Not Implemented.
	DtHumanMoveAlongController (const DtHumanMoveAlongController &orig)
	Not Implemented.
DtHumanMoveAlongController &	operator= (const DtHumanMoveAlongController &orig)
	Not Implemented.

Detailed Description

DtHumanMoveAlongController is a controller that models movement along a route for an individual human entity.

Developer Description: DtHumanMoveAlongController is a task controller that responds to DtVrfMoveAlongRouteTaskType tasks. It generates the necessary speed, facing direction, and movement direction control inputs to keep the entity moving along a route while executing a move-along <route> task.

Uses Descriptor Type: DtHumanMoveAlongControllerDescriptor

Constructor & Destructor Documentation

DtHumanMoveAlongController::DtHumanMoveAlongController ( ) [private]

Not Implemented.

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

Not Implemented.

DtHumanMoveAlongController::DtHumanMoveAlongController	(	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 DtHumanMoveAlongController::~DtHumanMoveAlongController ( ) [virtual]

Destructor.

Member Function Documentation

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

Not Implemented.

virtual bool DtHumanMoveAlongController::init ( ) [virtual]

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual DtString DtHumanMoveAlongController::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:: DtHumanMoveAlongControllerType

Implements DtTaskControllerComponent.

virtual void DtHumanMoveAlongController::tick ( ) [virtual]

This components simulation tick.

Override to try and look up route if we start out with a move-along route task. Register an objectAddedCallback if route not found yet.

Reimplemented from DtSimComponent.

static void DtHumanMoveAlongController::moveAlongCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[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-along tasks.

virtual void DtHumanMoveAlongController::processMoveAlongTask ( DtSimMessage * msg ) [virtual]

Handle messages to move along a route or assume a move along task from another.

static void DtHumanMoveAlongController::routeChangedCallback	(	DtVrfObject *	obj,
		void *	usr
	)		`[static]`

Intended to be called only when the route has changed.

Note:: Also invalidates the destination vector as the world position has changed.

virtual void DtHumanMoveAlongController::processRouteChanged ( DtVrfObject * obj ) [virtual]

virtual void DtHumanMoveAlongController::registerTaskMsgCallbacks ( ) [virtual]

Overrides this so it can register it's interest in MoveAlong commands.

Reimplemented from DtTaskControllerComponent.

virtual bool DtHumanMoveAlongController::setupRoute ( ) [virtual]

Look up the route by name, and set myRoute if found.

Looks up the route in the Control Manager. If it does not find the route, it returns false. Otherwise, it sets the myRoute member to point to the object found. setupRoute() then checks the myRouteChanged flag. If myRouteChanged is true, it calls the route object�s resyncRouteState() member function to update the current DtRouteState. setupRoute() then returns true.

virtual bool DtHumanMoveAlongController::setupDestination ( ) [virtual]

Sets myControlPoint to the position of the route's current vertex.

If setupRoute() returns false, setupControlPoint() calls taskComplete() and returns false. Otherwise, it sets the position of the myControlPoint member variable to the position of myRoute�s current vertex. If myRouteHasChanged is true, setupGoalVector() is called, and myRouteHasChanged is set to false. true is then returned.

virtual double DtHumanMoveAlongController::findDesiredSpeed ( ) [virtual]

Returns ordered speed of the entity.

virtual void DtHumanMoveAlongController::stop ( ) [virtual]

Overrides to advance to the next vertex rather then actually stop when a vertex is reached.

Checks to see if the entity is currently moving to the last vertex in the route. If so, DtGroundMoveToControllerComponent::stop() is called. Otherwise, myProcessState->routeState()->next() is called, followed by setupControlPoint() and setupGoalVector().

static void DtHumanMoveAlongController::objectAddedCb	(	DtVrfObject *	vrfObject,
		void *	usr
	)		`[static]`

Calls processObjectAdded().

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

Static creator function for factory registration.

virtual bool DtHumanMoveAlongController::createPorts ( ) [virtual]

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual bool DtHumanMoveAlongController::createPortGroups ( ) [virtual]

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtHumanMoveAlongController::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 DtHumanMoveAlongController::doMoving ( ) [virtual]

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

virtual double DtHumanMoveAlongController::findDesiredHeading ( ) [virtual]

Calls headingAngleTo() to find the heading from the entity to the destination.

virtual bool DtHumanMoveAlongController::destinationIsInsideObstruction ( const DtVector & localDestination ) const [virtual]

Returns whether or not current destination is inside an obstruction.

virtual bool DtHumanMoveAlongController::decideToGiveUpTask ( ) const [virtual]

Checks to see if destination is inside an obstruction.

If it is, returns true. Returns false otheriwise.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtHumanMoveAlongController::buildLocalRoute ( ) [protected, virtual]

builds the local copy of the route by copying myRoute's vertices

to my local storage in process state repository: myVertices. (calls process state repository's setRouteVertices()).

virtual void DtHumanMoveAlongController::emptyVertexList ( ) [protected, virtual]

removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).

virtual void DtHumanMoveAlongController::processObjectAdded ( DtVrfObject * vrfObject ) [protected, virtual]

Checks given vrfObject against the route we're looking for.

If it is ours, registers a vertices-changed callback on the object. This way we can detect if the route changes while we're trying to follow it.

virtual void DtHumanMoveAlongController::clearTask ( ) [protected, virtual]

Override to clear route name and route state data stored in myProcessState.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtHumanMoveAlongController::moveToDestination ( ) [protected, virtual]

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

virtual void DtHumanMoveAlongController::invalidateDestinationVector ( ) const [protected, virtual]

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

virtual double DtHumanMoveAlongController::distanceToDestination ( ) const [protected, virtual]

virtual bool DtHumanMoveAlongController::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 bool DtHumanMoveAlongController::passedDestination ( ) [protected, virtual]

Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.

It dead-reckons its position. It calculates the vector that points from the entity to the destination It finds the dot product between this vector and destination vector, If that dot product is greater than 0.0, the entity will pass the destinationthis tick if it does not stop. myPassedDestination is set, and the value is returned to the calling function.

virtual bool DtHumanMoveAlongController::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& DtHumanMoveAlongController::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 void DtHumanMoveAlongController::setupDestinationVector ( ) const [protected, virtual]

Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.

This is done by subtracting the DtVector representing the destination's position from the one representing the entity�s position.

Note:: Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

virtual double DtHumanMoveAlongController::atDistance ( ) const [protected, virtual]

Maximum distance at which entity is considered to be 'at' a route vertex.

Returns value stored in descriptor (if it exists), otherwise returns 1.0.

Returns:: Returns maximum distance in meters from route vertex that entity is considered to be 'at' the vertex.

virtual bool DtHumanMoveAlongController::stayOnRoute ( ) const [protected, virtual]

If true, will attempt to closely follow route segments as it moves along a route.

If false, will only attempt to reach each waypoint in turn as it moves along the route.

Returns:: Flag indicating whether or entity will attempt to closely follow route segments.

virtual double DtHumanMoveAlongController::minCorrectionDistance ( ) const [protected, virtual]

Maximum distance at which entity is considered to be 'at' a route vertex.

Returns:: Minimum distance from route that entity will attempt to correct heading to stay on route segment. If entity is within this distance from route segment, it will move directly toward the next waypoint. In meters.

virtual double DtHumanMoveAlongController::maxCorrectionDistance ( ) const [protected, virtual]

Returns:: Maximum distance from route that entity will attempt to correct heading to stay on route segment. If entity is within the min-correction-distance and max-correction-distance from the route segment, it will correct its heading toward the next waypoint in such a way that it 'pulls' the entity closer to the route as it travels. If distance from route segment is greater than this threshold, it will move directly toward the next waypoint. In meters.

virtual double DtHumanMoveAlongController::maxCorrectionAngle ( ) const [protected, virtual]

Returns:: Maximum absolute angular corrections entity will make to attempt to move the entity closer to the route segment. In radians. Default is ~45 degrees.

virtual bool DtHumanMoveAlongController::getCurrentRouteSegment	(	DtVector &	routeSegmentStart,
		DtVector &	routeSegmentEnd
	)		const `[protected, virtual]`

Returns:: True if we are currently moving along a route segment, false otherwise.

Parameters:

routeSegmentStart	Starting point of route segment in local coordinates.
routeSegmentEnd	End point of route segment in local coordinates.

Member Data Documentation

DtCollisionInputPort* DtHumanMoveAlongController::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* DtHumanMoveAlongController::myCollisionAvoidancePortGroup [protected]

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

DtHumanMovementControlOutputPortGroup* DtHumanMoveAlongController::myHumanMovementControlOutputPortGroup [protected]

Output Group Name: movement-control
.

DtVectorOutputPort* DtHumanMoveAlongController::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:

DtHumanStateRepository* DtHumanMoveAlongController::myHumanStateRepository [protected]

DtHumanMoveAlongPSR* DtHumanMoveAlongController::myProcessState [protected]

Container for state data associated with this component.

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

DtHumanMoveAlongControllerDescriptor* DtHumanMoveAlongController::myHumanMoveAlongControllerDescriptor [protected]