DtRailMovementController is a controller that models movement of an entity along a provided path as if it were locked on rails along each segment. More...

Inheritance diagram for DtRailMovementController:

[legend]

List of all members.

Public Member Functions
	DtRailMovementController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtRailMovementController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual bool	init ()
	Create and initialize our movement driver and updater.
virtual void	tick ()
	Determines how the entity moves along the given path.Checks if entity has completed it's task.
virtual void	clear ()
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
virtual void	processMoveAlongTask (DtSimMessage *msg)
	Handle messages to move along a generated path.
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register it's interest in RailMoveAlong commands.
virtual void	setCurrentMovementState (DtRailMovementState state)
virtual DtRailMovementState	currentMovementState () const
virtual DtRailSegment *	nextSegment ()
	Returns nextSegment in list.
virtual bool	drivingOnLeftEnabled () const
virtual const int	turnDirection () const
	Returns the direction we're turning.
virtual void	setTurnDirection (const int turn)
virtual bool	turning () const
virtual void	setTurning (bool turn)
virtual const int	currentLane () const
	Set/get current lane position.
virtual void	setCurrentLane (const int lane)
virtual const int	passingLane () const
	Set/get passing lane, the lane an entity will move into when passing.
virtual void	setPassingLane (const int lane)
virtual void	setFollowThreshold (const double)
	The maximum follow threshold.
virtual const double	followThreshold () const
virtual const double	followSpeedFactor () const
	The factor by which we should multiple our speed if we are outside the follow threshold to catch up or slow down back into the threshold.
virtual DtRailSegmentList *	pathList ()
	Returns a pointer to our path list.
virtual const DtRailSegmentList *	pathList () const
virtual bool	setUpDestination (DtRailSegment *seg, bool incrementSegmentIndex=true, bool useCurrentPos=false, DtVector pos=DtVector::zero())
	Sets myCurrentSeg to seg, this is the segment the entity is currently going to be moving along.
double	getDistanceSqAlongSeg (const DtVector &destination)
	Finds the distance squared the destination is along our current segment.
double	getDistanceBehindConvoyTarget (DtVrfObject *convoyTgt)
	Finds the distance along the rail between this entity and the entity it is following if it is following.
virtual double	travelDistanceSq ()
	This is the minimum distance squared the enity will comfortably follow another entity in the same lane This is twice the bounding radius of the entity plus if using accleration includes the braking distance.
virtual bool	ifDrawDebugRoutes () const
	Whether or not to publish debugging turn route composed of the 3 points used to generate the turn spline.
virtual void	drawDebugSplineTurnRoute (const DtVector &ee, const DtVector &md, const DtVector &ex)
virtual DtVrfObject *	getObjectFromObstruction (DtRailObstructionPtr &obs)
Static Public Member Functions
static void	settingConsumerCallback (const DtSettingsObject settingsObject, void usr)
	Callback for changing which side of the road entity is driving on. Calls processSetting.
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 rail-move-along tasks.
static void	setConvoyFollowCallback (DtSimMessage msg, void usrData)
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
Protected Member Functions
	DtRailMovementController ()
	default constructor - should not be called
	DtRailMovementController (const DtRailMovementController &orig)
	copy constructor
DtRailMovementController &	operator= (const DtRailMovementController &orig)
	assignment operator
virtual bool	createPSR ()
virtual void	processSetting (const DtBoolSetting *setting)
	Sets myDrivingOnLeftEnabled with value in setting.
virtual void	processSetConvoyFollowCallback (DtSimMessage *msg)
virtual bool	initializeCurrentState (DtRailMoveAlongTask *task)
	When loading up from a scenario we need to find out where we were on the route and initialize from our process state repository.
virtual bool	setUpRoute (const DtRwTemplatedListPtr< DtRwRailSegment > &path)
	Set up our path from the rail move along task's path.
virtual int	entryLanePosition (double heading, unsigned int numLanes)
	Determines which lane we should be starting in.
virtual void	checkMovementState (const int passingLane)
virtual void	clearTask ()
	Override to clear route name and route state data stored in myProcessState.
virtual bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
virtual int	findObstructionsAndAdjust (DtRailObstructionFinder obsFinder, const DtRailMovementDriver railDriver, const DtVrfObject entity, const DtVrfObject convoyTgt, const int drivingLane, const int passingLane, double &drivingSpeed)
	Will always return a non-zero value for the lane to switch into.
virtual void	testObstructionFinder (const int drivingLane, const double drivingSpeed)
	For debugging purposes.
Protected Attributes
DtVector	myLocalDestination
DtRailSegmentList	myPath
DtRailSegmentListIterator	myPathIterator
DtRailMovementControllerPSR *	myProcessState
bool	myFirstTick
double	myTurnDistanceSq
int	myTurnDirection
bool	myDrivingOnLeft
	Left is -1, right is 1 and 0 is straight.
DtVrfMovingObjectStateRepository *	myMovingStateRep
DtRailSegment *	myCurrentSegment
DtRailSegment *	myNextSegment
DtRailMovementDriver *	myRailDriver
	Determines how the entity should move along the given rail path.
DtRailMovementUpdater *	myRailUpdater
	Takes speed and lane input from the driver and updates the entity's position and orietation along the rail.
DtVector	myPassingPoint
bool	myNotInitialized
const DtRailMovementDescriptor *	myRailMoveDescriptor
DtRailObstructionFinder *	myObstructionFinder
std::list< DtString >	myTurnBugNameList
	List if debug "turn bug" object names created.

Detailed Description

DtRailMovementController is a controller that models movement of an entity along a provided path as if it were locked on rails along each segment.

The path consists of a list of DtRailSegments. Each segment provides the heading along which the entity should be oriented and the speed which it should travel along the segment. Other attributes can be associated with the rail segment. Registers for interest in DtRailMoveAlongTasks.

Uses Descriptor Type: DtRailMovementDescriptor

Constructor & Destructor Documentation

DtRailMovementController::DtRailMovementController	(	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 DtRailMovementController::~DtRailMovementController ( ) [virtual]

destructor

DtRailMovementController::DtRailMovementController ( ) [protected]

default constructor - should not be called

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

copy constructor

Member Function Documentation

virtual DtString DtRailMovementController::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:: DtRailMovementType

Implements DtTaskControllerComponent.

virtual bool DtRailMovementController::init ( ) [virtual]

Create and initialize our movement driver and updater.

Reimplemented from DtControllerComponent.

virtual void DtRailMovementController::tick ( ) [virtual]

Determines how the entity moves along the given path.Checks if entity has completed it's task.

The DtRailMovementDriver checks for upcoming intersections and determines appropriate behaviour. Checks for entities in the way of the path and determines if possible to pass them. Determines the speed and lane position the entity needs and passes this to the DtRailMovementUpdater.Checks if entity has completed it's task.

Reimplemented from DtSimComponent.

virtual void DtRailMovementController::clear ( ) [virtual]

virtual bool DtRailMovementController::tickWhileDestroyed ( ) const [virtual]

If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.

Otherwise, tick will only be called when the entity is alive.

Returns:: false.

Reimplemented from DtSimComponent.

static void DtRailMovementController::settingConsumerCallback	(	const DtSettingsObject *	settingsObject,
		void *	usr
	)		`[static]`

Callback for changing which side of the road entity is driving on. Calls processSetting.

static void DtRailMovementController::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 rail-move-along tasks.

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

Handle messages to move along a generated path.

These paths are generated by the DtRailPathPlanner in the DtMovementSelectorController.

virtual void DtRailMovementController::registerTaskMsgCallbacks ( ) [virtual]

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

Reimplemented from DtTaskControllerComponent.

static void DtRailMovementController::setConvoyFollowCallback	(	DtSimMessage *	msg,
		void *	usrData
	)		`[static]`

virtual void DtRailMovementController::setCurrentMovementState ( DtRailMovementState state ) [virtual]

virtual DtRailMovementState DtRailMovementController::currentMovementState ( ) const [virtual]

virtual DtRailSegment* DtRailMovementController::nextSegment ( ) [virtual]

Returns nextSegment in list.

virtual bool DtRailMovementController::drivingOnLeftEnabled ( ) const [virtual]

virtual const int DtRailMovementController::turnDirection ( ) const [virtual]

Returns the direction we're turning.

virtual void DtRailMovementController::setTurnDirection ( const int turn ) [virtual]

virtual bool DtRailMovementController::turning ( ) const [virtual]

virtual void DtRailMovementController::setTurning ( bool turn ) [virtual]

virtual const int DtRailMovementController::currentLane ( ) const [virtual]

Set/get current lane position.

virtual void DtRailMovementController::setCurrentLane ( const int lane ) [virtual]

virtual const int DtRailMovementController::passingLane ( ) const [virtual]

Set/get passing lane, the lane an entity will move into when passing.

virtual void DtRailMovementController::setPassingLane ( const int lane ) [virtual]

virtual void DtRailMovementController::setFollowThreshold ( const double ) [virtual]

The maximum follow threshold.

Initialized by the descriptor. Maximum delta off of the follow distance tolerated.

virtual const double DtRailMovementController::followThreshold ( ) const [virtual]

virtual const double DtRailMovementController::followSpeedFactor ( ) const [virtual]

The factor by which we should multiple our speed if we are outside the follow threshold to catch up or slow down back into the threshold.

virtual DtRailSegmentList* DtRailMovementController::pathList ( ) [virtual]

Returns a pointer to our path list.

virtual const DtRailSegmentList* DtRailMovementController::pathList ( ) const [virtual]

virtual bool DtRailMovementController::setUpDestination	(	DtRailSegment *	seg,
		bool	incrementSegmentIndex = `true`,
		bool	useCurrentPos = `false`,
		DtVector	pos = `DtVector::zero()`
	)		`[virtual]`

Sets myCurrentSeg to seg, this is the segment the entity is currently going to be moving along.

Uses this and the next segment to calculate the turn path if using turn smoothing. If the next segment is 0 we are on the last segment so there won't be any turning. incrementSegmentIndex indicates whether we are in fact setting up on a new segment and therefore should let the process state know we have moved to the next segment. This is the default, however if you are on the last segment or are loading up from a scenario this is not the case so pass false in.

double DtRailMovementController::getDistanceSqAlongSeg ( const DtVector & destination )

Finds the distance squared the destination is along our current segment.

double DtRailMovementController::getDistanceBehindConvoyTarget ( DtVrfObject * convoyTgt )

Finds the distance along the rail between this entity and the entity it is following if it is following.

virtual double DtRailMovementController::travelDistanceSq ( ) [virtual]

This is the minimum distance squared the enity will comfortably follow another entity in the same lane This is twice the bounding radius of the entity plus if using accleration includes the braking distance.

virtual bool DtRailMovementController::ifDrawDebugRoutes ( ) const [virtual]

Whether or not to publish debugging turn route composed of the 3 points used to generate the turn spline.

virtual void DtRailMovementController::drawDebugSplineTurnRoute	(	const DtVector &	ee,
		const DtVector &	md,
		const DtVector &	ex
	)		`[virtual]`

virtual DtVrfObject* DtRailMovementController::getObjectFromObstruction ( DtRailObstructionPtr & obs ) [virtual]

static DtSimComponent* DtRailMovementController::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.

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

assignment operator

virtual bool DtRailMovementController::createPSR ( ) [protected, virtual]

virtual void DtRailMovementController::processSetting ( const DtBoolSetting * setting ) [protected, virtual]

Sets myDrivingOnLeftEnabled with value in setting.

virtual void DtRailMovementController::processSetConvoyFollowCallback ( DtSimMessage * msg ) [protected, virtual]

virtual bool DtRailMovementController::initializeCurrentState ( DtRailMoveAlongTask * task ) [protected, virtual]

When loading up from a scenario we need to find out where we were on the route and initialize from our process state repository.

virtual bool DtRailMovementController::setUpRoute ( const DtRwTemplatedListPtr< DtRwRailSegment > & path ) [protected, virtual]

Set up our path from the rail move along task's path.

virtual int DtRailMovementController::entryLanePosition	(	double	heading,
		unsigned int	numLanes
	)		`[protected, virtual]`

Determines which lane we should be starting in.

Currently just checks if we're driving on the left( british style) or the right side of the road and puts us in the far lane, the non-passing lanes.

virtual void DtRailMovementController::checkMovementState ( const int passingLane ) [protected, virtual]

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

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

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtRailMovementController::decideToGiveUpTask ( ) const [protected, virtual]

This function is used to determine if the controller should give up trying to execute the current task.

Override this function to provide the test for determining if the task controller should give up. For example, a derived move-to-waypoint controller tasked to reach an unreachable waypoint might decide to give up after a certain amount of time, or after circling the point and failing to reach it. This function is called from within tick. If the controller is tasked and this function returns true, it calls giveUp(). The implementation in this class always returns false.

Reimplemented from DtSingleTaskControllerComponent.

virtual int DtRailMovementController::findObstructionsAndAdjust	(	DtRailObstructionFinder *	obsFinder,
		const DtRailMovementDriver *	railDriver,
		const DtVrfObject *	entity,
		const DtVrfObject *	convoyTgt,
		const int	drivingLane,
		const int	passingLane,
		double &	drivingSpeed
	)		`[protected, virtual]`