DtRotaryWingCollisionAvoidanceController is a controller that steers a helicopter away from another entity when the two are on a collision course. More...

Inheritance diagram for DtRotaryWingCollisionAvoidanceController:

[legend]

List of all members.

Public Member Functions
	DtRotaryWingCollisionAvoidanceController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtRotaryWingCollisionAvoidanceController ()
	destructor
virtual bool	init ()
	Overridden to initialize myRotaryWingEntityState.
virtual void	tick ()
	Calculate new desired inputs.
virtual DtVrfObject *	detectCollision ()
	Detects collisions.
virtual bool	checkEntityForCollision (DtVrfObject *collidee)
virtual void	avoidCollision (DtVrfObject *collidee)
	Take control of the port and provide heading + velocity.
virtual void	processExistingCollision ()
	Avoid obstacle detected in the previous frames.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual bool	distCleared ()
	Assesses whether or not clearance has taken place.
virtual double	timeToMinimumDistance (const DtVector &deltaVel, const DtVector &deltaPos) const
	Calculates the time until the two platforms are the minimum distance apart, assuming constant linear trajectories.
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register its interest in MoveTo commands.
virtual void	clearCollision ()
	Resets values to a noncolliding state.
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
	DtRotaryWingCollisionAvoidanceController ()
	If a copy constructor is implemented, the assignment operator should also be implemented.
	DtRotaryWingCollisionAvoidanceController (const DtRotaryWingCollisionAvoidanceController &orig)
	copy constructor
DtRotaryWingCollisionAvoidanceController &	operator= (const DtRotaryWingCollisionAvoidanceController &orig)
	assignment operator
virtual void	checkMinDiveAltitude ()
	Check for the current altitude, prevent diving to the ground.
virtual void	pilotProperties ()
	Sets the pilot properties.
Protected Attributes
DtManagedObjectListConstPtr	myPhysicalEntityList
	Shared list of entities.
DtVector	myEvadeDirection
	Parameters used for collision avoidance.
DtReal	myRelativeVelMag
DtReal	myCurrentDistanceSq
DtVector	myClearingPt
	Parameters used for clearing.
DtObjectId	myObjectId
DtObjectId	myCollidee
bool	myHavePortGroup
bool	myIsColliding
bool	myIsClearing
bool	myTooLow
DtRotaryWingColAvoidanceControllerDescriptor *	myAvoidanceControllerDescriptor

Detailed Description

DtRotaryWingCollisionAvoidanceController is a controller that steers a helicopter away from another entity when the two are on a collision course.

Uses Descriptor Type: DtRotaryWingPilotDescriptor

Constructor & Destructor Documentation

DtRotaryWingCollisionAvoidanceController::DtRotaryWingCollisionAvoidanceController	(	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 DtRotaryWingCollisionAvoidanceController::~DtRotaryWingCollisionAvoidanceController ( ) [virtual]

destructor

DtRotaryWingCollisionAvoidanceController::DtRotaryWingCollisionAvoidanceController ( ) [protected]

If a copy constructor is implemented, the assignment operator should also be implemented.

Should generally implement both of them anyway to avoid memory problems due to inappropriate compiler provided defaults. Access varies so need to put proper access keyword above these declarations. default constructor

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

copy constructor

Member Function Documentation

virtual bool DtRotaryWingCollisionAvoidanceController::init ( ) [virtual]

Overridden to initialize myRotaryWingEntityState.

Reimplemented from DtRotaryWingTaskController.

virtual void DtRotaryWingCollisionAvoidanceController::tick ( ) [virtual]

Calculate new desired inputs.

Reimplemented from DtRotaryWingMoveToControllerComponent.

virtual DtVrfObject* DtRotaryWingCollisionAvoidanceController::detectCollision ( ) [virtual]

Detects collisions.

virtual bool DtRotaryWingCollisionAvoidanceController::checkEntityForCollision ( DtVrfObject * collidee ) [virtual]

virtual void DtRotaryWingCollisionAvoidanceController::avoidCollision ( DtVrfObject * collidee ) [virtual]

Take control of the port and provide heading + velocity.

virtual void DtRotaryWingCollisionAvoidanceController::processExistingCollision ( ) [virtual]

Avoid obstacle detected in the previous frames.

virtual DtString DtRotaryWingCollisionAvoidanceController::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:: DtRotaryWingCollisionAvoidanceType

Reimplemented from DtRotaryWingMoveToControllerComponent.

static DtSimComponent* DtRotaryWingCollisionAvoidanceController::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.

Reimplemented from DtRotaryWingMoveToControllerComponent.

virtual bool DtRotaryWingCollisionAvoidanceController::distCleared ( ) [virtual]

Assesses whether or not clearance has taken place.

virtual double DtRotaryWingCollisionAvoidanceController::timeToMinimumDistance	(	const DtVector &	deltaVel,
		const DtVector &	deltaPos
	)		const `[virtual]`

Calculates the time until the two platforms are the minimum distance apart, assuming constant linear trajectories.

virtual void DtRotaryWingCollisionAvoidanceController::registerTaskMsgCallbacks ( ) [virtual]

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

Reimplemented from DtRotaryWingMoveToControllerComponent.

virtual void DtRotaryWingCollisionAvoidanceController::clearCollision ( ) [virtual]

Resets values to a noncolliding state.

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

assignment operator

virtual void DtRotaryWingCollisionAvoidanceController::checkMinDiveAltitude ( ) [protected, virtual]

Check for the current altitude, prevent diving to the ground.

virtual void DtRotaryWingCollisionAvoidanceController::pilotProperties ( ) [protected, virtual]

Sets the pilot properties.

Overridden here so that alternative values from the defaults can be set.

Reimplemented from DtRotaryWingMoveToControllerComponent.