class DtMaintainFormationMonitor: More...

Public Types
enum	DtPositionStatus { DtUndefinedPosition = -1, DtInPosition, DtBehindPosition, DtAheadOfPosition }
typedef std::map< DtVrfObject *, DtPositionStatus >	DtAggregatePositionStatusMap
	Map of subordinate to its position status in an aggregate.
Public Member Functions
	DtMaintainFormationMonitor (DtVrfObject *entity)
	DtMaintainFormationMonitor (const DtMaintainFormationMonitor &orig)
DtMaintainFormationMonitor &	operator= (const DtMaintainFormationMonitor &orig)
virtual	~DtMaintainFormationMonitor ()
virtual void	tick ()
virtual void	setCatchupFactor (double catchUpFactor)
	Sets and gets the speed multiplier factor set in its subordinates when they are falling behind in formation.
virtual double	catchupFactor () const
virtual void	setSlowDownFactor (double slowDownFactor)
	Sets and gets the speed multiplier the aggregate uses to send speed control messages to a subordinate when it is ahead of where it should be in formation.
virtual double	slowDownFactor () const
virtual void	setInPositionTolerance (double tolerance)
	Tolerance about which an entity is considered to be 'in position' while moving in formation.
virtual double	inPositionTolerance () const
virtual bool	positionStatusHasChanged (DtVrfObject *subordinate, DtPositionStatus status)
	Check if give status is different from stored value.
virtual DtPositionStatus	getPositionStatus (DtVrfObject *subordinate)
	Get the stored position status for a given subordinate.
virtual void	setPositionStatus (DtVrfObject *entity, DtMaintainFormationMonitor::DtPositionStatus status)
	Set the position status for given subordinate.
virtual void	printPositionStatus ()
	Prints the position status of all subordinates.
Protected Member Functions
virtual DtPositionStatus	positionStatus (const DtVector &geocentricOrigin, const DtDcm &geocentricOrientation, const DtVector &geocentricTestPosition, const DtVector &idealBodyCoordinatesPosition, double inPositionTolerance)
virtual void	sendSpeedControl (DtVrfObject *entity, DtPositionStatus status)
virtual void	sendSetSpeedRequest (const DtVrfObject &entity, double speed)
Protected Attributes
double	myCatchupFactor
double	mySlowDownFactor
double	myInPositionTolerance
DtVrfObject *	myEntity
DtVrfAggregateStateRepository *	myAggregateStateRepository
DtFormationState *	myFormationState
DtAggregatePositionStatusMap	myAggregatePositionStatusMap

Detailed Description

class DtMaintainFormationMonitor:

Instances of DtMaintainFormationMonitor are used to monitor an aggregate moving in formation. It checks for entities out of formation position, and sends set speed requests to tell them to slow down or speed up as needed, to correct the formation.

Member Typedef Documentation

typedef std::map<DtVrfObject*, DtPositionStatus> DtMaintainFormationMonitor::DtAggregatePositionStatusMap

Map of subordinate to its position status in an aggregate.

Member Enumeration Documentation

enum DtMaintainFormationMonitor::DtPositionStatus

Enumerator:

DtUndefinedPosition
DtInPosition
DtBehindPosition
DtAheadOfPosition

Constructor & Destructor Documentation

DtMaintainFormationMonitor::DtMaintainFormationMonitor ( DtVrfObject * entity )

DtMaintainFormationMonitor::DtMaintainFormationMonitor ( const DtMaintainFormationMonitor & orig )

virtual DtMaintainFormationMonitor::~DtMaintainFormationMonitor ( ) [virtual]

Member Function Documentation

DtMaintainFormationMonitor& DtMaintainFormationMonitor::operator= ( const DtMaintainFormationMonitor & orig )

virtual void DtMaintainFormationMonitor::tick ( ) [virtual]

virtual void DtMaintainFormationMonitor::setCatchupFactor ( double catchUpFactor ) [virtual]

Sets and gets the speed multiplier factor set in its subordinates when they are falling behind in formation.

The default catchup factor is 1.5. Catchup factor is multiplied by ordered speed.

virtual double DtMaintainFormationMonitor::catchupFactor ( ) const [virtual]

virtual void DtMaintainFormationMonitor::setSlowDownFactor ( double slowDownFactor ) [virtual]

Sets and gets the speed multiplier the aggregate uses to send speed control messages to a subordinate when it is ahead of where it should be in formation.

The default slowdown factor is 0.1. times the ordered speeed. Factor is multiplied by ordered speed.

virtual double DtMaintainFormationMonitor::slowDownFactor ( ) const [virtual]

virtual void DtMaintainFormationMonitor::setInPositionTolerance ( double tolerance ) [virtual]

Tolerance about which an entity is considered to be 'in position' while moving in formation.

Expressed as a fraction of formation spacing (distance between an entity and the entity it is relative to in formation). If entity is +/- (0.5 * tolerance * formation spacing), aggregate sends a set speed message to the subordinate, indicating it should slow down or speed up, accordingly. Default is 0.2 (20 percent).

virtual double DtMaintainFormationMonitor::inPositionTolerance ( ) const [virtual]

virtual bool DtMaintainFormationMonitor::positionStatusHasChanged	(	DtVrfObject *	subordinate,
		DtPositionStatus	status
	)		`[virtual]`

Check if give status is different from stored value.

virtual DtPositionStatus DtMaintainFormationMonitor::getPositionStatus ( DtVrfObject * subordinate ) [virtual]

Get the stored position status for a given subordinate.

virtual void DtMaintainFormationMonitor::setPositionStatus	(	DtVrfObject *	entity,
		DtMaintainFormationMonitor::DtPositionStatus	status
	)		`[virtual]`

Set the position status for given subordinate.

This value will be used for comparison with a future value to determine if a 'set speed' request needs to be sent out.

virtual void DtMaintainFormationMonitor::printPositionStatus ( ) [virtual]

Prints the position status of all subordinates.

virtual DtPositionStatus DtMaintainFormationMonitor::positionStatus	(	const DtVector &	geocentricOrigin,
		const DtDcm &	geocentricOrientation,
		const DtVector &	geocentricTestPosition,
		const DtVector &	idealBodyCoordinatesPosition,
		double	inPositionTolerance
	)		`[protected, virtual]`