DtRotaryWingActuatorComponent is a kinematics-based model of a rotary wing aircraft that converts collective, cyclic, and pedal into acceleration, velocity, position, rotational velocity, and orientation. More...

Inheritance diagram for DtRotaryWingActuatorComponent:

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List of all members.

Public Member Functions
	DtRotaryWingActuatorComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtRotaryWingActuatorComponent ()
	destructor Removes process state from process state manager before deleting it.
virtual bool	init ()
	to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Calculate new kinematic state.
virtual void	useFuel (double fuelUsed)
	Fuel manipulation functions.
virtual double	fuelLeft () const
virtual double	calculateFuel () const
	Calculate the fuel used in the last time step.
virtual void	fallFromSky ()
	This member function is called when an entity has been destroyed and is still in the air.
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
virtual bool	createPortGroups ()
	Creates the local port groups.
virtual bool	createPorts ()
	Creates the input ports and adds them to the component.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	clampFrameRate ()
	Clamp the frame rate if the rate is too slow.
virtual void	setLanded (const DtVector &localIntersectionPoint)
	Sets the parameters for a landed entity.
virtual bool	checkFlyingWithoutFuel ()
	Check to see if the entity is flying without fuel, and call fallFromSky if so.
virtual void	calculateYawAcceleration ()
	Find yaw acceleration and new rate.
virtual void	calculateYawRate ()
virtual void	calculatePitchAcceleration ()
	Find pitch acceleration and new rate.
virtual void	calculatePitchRate ()
virtual void	calculateRollAcceleration ()
	Find roll acceleration and new rate.
virtual void	calculateRollRate ()
virtual void	calculateOrientation ()
	Uses current local orientation, rotationRates in SR, and dT.
virtual void	calculateNormalizedBodyVelocity ()
	Put current velocity into body coordinates (AFTER rotating body).
virtual void	calculateBodyGravity ()
	Put acceleration due to gravity in body coordinates.
virtual void	calculateLiftAcceleration ()
	Calculate scalar accel in direction of lift (perpendicular to wings).
virtual void	calculateDragAcceleration ()
	Calculate scalar drag accel opposite direction of current velocity.
virtual void	calculateResultantAcceleration ()
	Sum the accelerations produced by forces acting on the body, and put the result into world coordinates.
virtual void	integrate ()
	Find the new velocity and position.
virtual void	updateRepository ()
	Sets the state to locally calculated values.
virtual void	updateDisplay () const
	Can be used to print control values in the console window.
virtual void	checkLandedOrCrashed ()
	Check if the entity landed on the ground or crashed.
virtual bool	isCrashedIntoGround (const DtVector &localPosition, DtVector &localIntersectionPoint) const
	Determines if the entity has crashed into the ground.
virtual void	sendDetonation (const DtVector &geocentricLocation) const
	Sends a detonation interaction at the specified location, in geocentric coordinates.
virtual bool	isSubsurface () const
	Determine whether or not the configured entity is a subsurface entity or not.
virtual bool	componentInitialized () const
	Determine if the component has been properly initialized.
virtual bool	engineOperational () const
Protected Attributes
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState
DtRotaryWingActuatorDescriptor *	myRotaryWingActuatorDescriptor
DtReal	myMaxDragAcceleration
DtVector	myBodyRotationalAcceleration
DtVector	myBodyRotationRates
DtTaitBryan	myOrientation
DtDcm	myBodyToLocalMatrix
DtDcm	myLocalToBodyMatrix
DtReal	mySpeedRatioSquared
DtVector	myBodyVelocity
DtVector	myNormalizedBodyVelocity
DtVector	myBodyDrag
DtVector	myBodyGravity
DtVector	myBodyLift
DtVector	myBodyAcceleration
DtVector	myRelativeAcceleration
DtVector	myRelativeVelocity
DtReal	mySpeed
DtVector	myLocalPosition
DtVector	myLocalOrientation
DtReal	myAltitude
DtVector	myPreviousGroundClampedPosition
bool	myPrintedOutOfFuelMessage
DtRotaryWingFlightPSR *	myProcessState
	Container for state data associated with this component.
Ports and Port Groups
DtInputPortGroup *	myRotaryWingControlPortGroup
	Input Port Group Name: rotary-wing-control Input Port Group Description:
DtConstrainedAnalogInputPort *	myThrottlePort
	Input Port Name: throttle Input Port Description: Input Port Range: 0.
DtConstrainedDualAxisAnalogInputPort *	myCyclicPort
	Input Port Name: cyclic Input Port Description: Input Port Range: X: -1.
DtConstrainedAnalogInputPort *	myPedalPort
	Input Port Name: pedal Input Port Description: Input Port Range: -1.
DtConstrainedAnalogInputPort *	myCollectivePort
	Input Port Name: collective Input Port Description: Input Port Range: 0.
Private Member Functions
	DtRotaryWingActuatorComponent ()
	default constructor; not implemented
	DtRotaryWingActuatorComponent (const DtRotaryWingActuatorComponent &orig)
	copy constructor; not implemented
DtRotaryWingActuatorComponent &	operator= (const DtRotaryWingActuatorComponent &orig)
	assignment operator; not implemented

Detailed Description

DtRotaryWingActuatorComponent is a kinematics-based model of a rotary wing aircraft that converts collective, cyclic, and pedal into acceleration, velocity, position, rotational velocity, and orientation.

End User Description: In addition, the actuator implements ground detection.

Uses Descriptor Type: DtRotaryWingActuatorDescriptor

Constructor & Destructor Documentation

DtRotaryWingActuatorComponent::DtRotaryWingActuatorComponent	(	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 DtRotaryWingActuatorComponent::~DtRotaryWingActuatorComponent ( ) [virtual]

destructor Removes process state from process state manager before deleting it.

DtRotaryWingActuatorComponent::DtRotaryWingActuatorComponent ( ) [private]

default constructor; not implemented

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

copy constructor; not implemented

Member Function Documentation

virtual bool DtRotaryWingActuatorComponent::init ( ) [virtual]

to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.

Reimplemented from DtActuatorComponent.

virtual DtString DtRotaryWingActuatorComponent::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:: DtRotaryWingActuatorType

Reimplemented from DtSimComponent.

virtual void DtRotaryWingActuatorComponent::tick ( ) [virtual]

Calculate new kinematic state.

Reimplemented from DtSimComponent.

virtual void DtRotaryWingActuatorComponent::useFuel ( double fuelUsed ) [virtual]

Fuel manipulation functions.

Assumes the fuel resource has resource name "fuel" If not found, fuel consumption not will not be modeled.

virtual double DtRotaryWingActuatorComponent::fuelLeft ( ) const [virtual]

virtual double DtRotaryWingActuatorComponent::calculateFuel ( ) const [virtual]

Calculate the fuel used in the last time step.

virtual void DtRotaryWingActuatorComponent::fallFromSky ( ) [virtual]

This member function is called when an entity has been destroyed and is still in the air.

The only acceleration applied is gravity. All rotation rates are set to 0.0. When the entity intersects the ground, a detonation interaction is generated at the point of impact. A munition type of <2, 0, 0, 0, 0, 0, 0> is used.

static DtSimComponent* DtRotaryWingActuatorComponent::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 bool DtRotaryWingActuatorComponent::createPortGroups ( ) [protected, virtual]

Creates the local port groups.

Reimplemented from DtSimComponent.

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

Creates the input ports and adds them to the component.

Reimplemented from DtSimComponent.

virtual bool DtRotaryWingActuatorComponent::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 DtRotaryWingActuatorComponent::clampFrameRate ( ) [protected, virtual]

Clamp the frame rate if the rate is too slow.

virtual void DtRotaryWingActuatorComponent::setLanded ( const DtVector & localIntersectionPoint ) [protected, virtual]

Sets the parameters for a landed entity.

virtual bool DtRotaryWingActuatorComponent::checkFlyingWithoutFuel ( ) [protected, virtual]

Check to see if the entity is flying without fuel, and call fallFromSky if so.

virtual void DtRotaryWingActuatorComponent::calculateYawAcceleration ( ) [protected, virtual]

Find yaw acceleration and new rate.

virtual void DtRotaryWingActuatorComponent::calculateYawRate ( ) [protected, virtual]

virtual void DtRotaryWingActuatorComponent::calculatePitchAcceleration ( ) [protected, virtual]

Find pitch acceleration and new rate.

virtual void DtRotaryWingActuatorComponent::calculatePitchRate ( ) [protected, virtual]

virtual void DtRotaryWingActuatorComponent::calculateRollAcceleration ( ) [protected, virtual]

Find roll acceleration and new rate.

virtual void DtRotaryWingActuatorComponent::calculateRollRate ( ) [protected, virtual]

virtual void DtRotaryWingActuatorComponent::calculateOrientation ( ) [protected, virtual]

Uses current local orientation, rotationRates in SR, and dT.

Results placed in object pointed to by orientation argument.

virtual void DtRotaryWingActuatorComponent::calculateNormalizedBodyVelocity ( ) [protected, virtual]

Put current velocity into body coordinates (AFTER rotating body).

virtual void DtRotaryWingActuatorComponent::calculateBodyGravity ( ) [protected, virtual]

Put acceleration due to gravity in body coordinates.

virtual void DtRotaryWingActuatorComponent::calculateLiftAcceleration ( ) [protected, virtual]

Calculate scalar accel in direction of lift (perpendicular to wings).

virtual void DtRotaryWingActuatorComponent::calculateDragAcceleration ( ) [protected, virtual]

Calculate scalar drag accel opposite direction of current velocity.

virtual void DtRotaryWingActuatorComponent::calculateResultantAcceleration ( ) [protected, virtual]

Sum the accelerations produced by forces acting on the body, and put the result into world coordinates.

virtual void DtRotaryWingActuatorComponent::integrate ( ) [protected, virtual]

Find the new velocity and position.

virtual void DtRotaryWingActuatorComponent::updateRepository ( ) [protected, virtual]

Sets the state to locally calculated values.

virtual void DtRotaryWingActuatorComponent::updateDisplay ( ) const [protected, virtual]

Can be used to print control values in the console window.

virtual void DtRotaryWingActuatorComponent::checkLandedOrCrashed ( ) [protected, virtual]

Check if the entity landed on the ground or crashed.

If landed, ground clamp the actuator. If crashed, set isDestroyed and isSmoking. Checks to see if the entity is below ground. If it is, the entity is set to destroyed, flaming, and smoking. Its velocity and acceleration vectors are set to <0.0, 0.0, 0.0>, and its Z-coordinate is set to the height of the terrain at that <X, Y> coordinate. If it is not below ground, checkLandedOrCrashed() checks to see if the following criteria are met for being in a landed state: Velocity along the (database) Z axis is greater than -3.0 meters/second, but less than 2.0 * dT meters/second Height above terrain is less than 2.0 meters Overall entity speed is less than 4.0 meters/second. If one or more of these criteria is false, checkLandedOrCrashed() sets the SR Landed flag to false and returns. Otherwise, the variables myLandPosition and myLandHeading are set to the entity�s current position and heading, and DtRotaryWingEntity::land() is called. The velocity, acceleration, and rotational velocity vectors are all set to <0.0, 0.0, 0.0>.

virtual bool DtRotaryWingActuatorComponent::isCrashedIntoGround	(	const DtVector &	localPosition,
		DtVector &	localIntersectionPoint
	)		const `[protected, virtual]`

Determines if the entity has crashed into the ground.

Returns:: A boolean indicating whether or not the entity has crashed into the ground.

Parameters:

localPosition	The position to test, in database coordinates.
physWorld	The physicalWorld to test against.
localIntersectionPoint	This parameter is filled with the results of the intersection test with the terrain database.

Note:: The localIntersectionPoint is always calculated, even if the entity has not crashed into the ground.

virtual void DtRotaryWingActuatorComponent::sendDetonation ( const DtVector & geocentricLocation ) const [protected, virtual]

Sends a detonation interaction at the specified location, in geocentric coordinates.

virtual bool DtRotaryWingActuatorComponent::isSubsurface ( ) const [protected, virtual]

Determine whether or not the configured entity is a subsurface entity or not.

Returns:: True if the configured entity is a subsurface and false if it isn't.

Note:: This is not intended for general use, as it will most likely be removed when proper subsurface components are developed.

virtual bool DtRotaryWingActuatorComponent::componentInitialized ( ) const [protected, virtual]

Determine if the component has been properly initialized.

The component must have a valid sim manager, entity state, actuator descriptor, and process state rep to be initialized properly. Additionally, it must have a valid terrain database, a valid coordinate system in the terrain database, and a valid exercise clock in order to be used. If any of these are missing, then the function returns false.