DtRotaryWingPilotController Class Reference

The DtRotaryWingPilotController class creates the rotary-wing-control port group needed to control rotary-wing actuators. More...

Inheritance diagram for DtRotaryWingPilotController:

List of all members.

Public Member Functions
	DtRotaryWingPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtRotaryWingPilotController ()
	destructor
virtual bool	init ()
	Overridden to initialize myRotaryWingEntityState.
virtual void	tick ()
	Reads the data from the guidance ports into the state repository.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedAnalogOutputPort *	collectivePort ()
virtual DtConstrainedDualAxisAnalogOutputPort *	cyclicPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual bool	createGuidancePortGroup ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredPositionPort ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredVelocityPort ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredAccelerationPort ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredHeadingPort ()
	Create the guidance ports from the task controllers.
virtual bool	createPositionSelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createVelocitySelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createAccelerationSelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createHeadingSelectorPort ()
	Create the guidance ports from the task controllers.
virtual bool	createAggressivenessPort ()
	Create the guidance ports from the task controllers.
virtual bool	createPowerDownPort ()
	Create the guidance ports from the task controllers.
virtual DtVectorInputPort *	desiredPositionPort ()
	Accessors for guidance ports.
virtual DtVectorInputPort *	desiredVelocityPort ()
	Accessors for guidance ports.
virtual DtVectorInputPort *	desiredAccelerationPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	desiredHeadingPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	positionSelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	velocitySelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	accelerationSelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	headingSelectorPort ()
	Accessors for guidance ports.
virtual DtAnalogInputPort *	aggressivenessPort ()
	Accessors for guidance ports.
virtual DtBooleanInputPort *	powerDownPort ()
	Accessors for guidance ports.
virtual bool	createRotaryWingControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createCollectivePort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createCyclicPort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createPedalPort ()
	These are called in init to create the ports used to communicate with the actuator.
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 ()
	Overridden to call createRotaryWingControlPortGroup() and createGuidancePortGroup()
virtual bool	createPorts ()
	Overridden to create rotary wing ports.
virtual void	setStateFromPorts ()
	Sets the state repository variables from the ports.
	DtRotaryWingPilotController ()
	default constructor; not implemented
	DtRotaryWingPilotController (const DtRotaryWingPilotController &orig)
	copy constructor; not implemented
const DtRotaryWingPilotController &	operator= (const DtRotaryWingPilotController &orig)
	assignment operator; not implemented
Protected Attributes
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState
DtVector	myNormalizedBodyVelocity
Ports and Port Groups
DtOutputPortGroup *	myRotaryWingControlPortGroup
	Output Port Group Name: rotary-wing-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: The position of the throttle control.
DtConstrainedAnalogOutputPort *	myCollectivePort
	Output Port Name: collective Output Port Description: The position of the collective control.
DtConstrainedDualAxisAnalogOutputPort *	myCyclicPort
	Output Port Name: cyclic Output Port Description: The position of the collective control in X and Y.
DtConstrainedAnalogOutputPort *	myPedalPort
	Output Port Name: pedal Output Port Description: The position of the pedal controls.
DtInputPortGroup *	myGuidancePortGroup
	Input Port Group Name: guidance Input Port Group Description: Group of input ports that define the desired heading/position/velocity/acceleration and flight properties.
DtVectorInputPort *	myDesiredPositionPort
	Input Port Name: desired-position Input Port Description: The desired position of the entity.
DtVectorInputPort *	myDesiredVelocityPort
	Input Port Name: desired-velocity Input Port Description: The desired velocity of the entity Input Port Range: Database coordinates.
DtVectorInputPort *	myDesiredAccelerationPort
	Input Port Name: desired-acceleration Input Port Description: The desired acceleration of the entity Input Port Range: Database coordinates.
DtAnalogInputPort *	myDesiredHeadingPort
	Input Port Name: desired-heading Input Port Description: Input Port Range: -1.
DtAnalogInputPort *	myPositionSelectorPort
	Input Port Name: position-selector Input Port Description: Determines whether the desired-position port is used.
DtAnalogInputPort *	myVelocitySelectorPort
	Input Port Name: velocity-selector Input Port Description: Determines whether the desired-velocity port is used.
DtAnalogInputPort *	myAccelerationSelectorPort
	Input Port Name: acceleration-selector Input Port Description: Determines whether the desired-acceleration port is used.
DtAnalogInputPort *	myHeadingSelectorPort
	Input Port Name: heading-selector Input Port Description: Determines whether the desired-heading port is used.
DtAnalogInputPort *	myAggressivenessPort
	Input Port Name: aggressiveness Input Port Description: How aggressively the autopilot will move the controls to gain the desired values.
DtBooleanInputPort *	myPowerDownPort
	Input Port Name: power-down Input Port Description: Determines whether the control values will all be set to 0.

---

Detailed Description

The DtRotaryWingPilotController class creates the rotary-wing-control port group needed to control rotary-wing actuators.

Uses Descriptor Type: DtComponentDescriptor

---

Constructor & Destructor Documentation

DtRotaryWingPilotController::DtRotaryWingPilotController	(	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 DtRotaryWingPilotController::~DtRotaryWingPilotController

(

)

[virtual]

destructor

DtRotaryWingPilotController::DtRotaryWingPilotController

(

)

[protected]

default constructor; not implemented

DtRotaryWingPilotController::DtRotaryWingPilotController

(

const DtRotaryWingPilotController &

orig

)

[protected]

copy constructor; not implemented

---

Member Function Documentation

virtual bool DtRotaryWingPilotController::init

(

)

[virtual]

Overridden to initialize myRotaryWingEntityState.

Reimplemented from DtControllerComponent.

Reimplemented in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual void DtRotaryWingPilotController::tick

(

)

[virtual]

Reads the data from the guidance ports into the state repository.

Reimplemented from DtSimComponent.

Reimplemented in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual DtString DtRotaryWingPilotController::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:

DtRotaryWingPilotControllerType

Reimplemented from DtControllerComponent.

Reimplemented in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual bool DtRotaryWingPilotController::createGuidancePortGroup

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createDesiredPositionPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createDesiredVelocityPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createDesiredAccelerationPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createDesiredHeadingPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createPositionSelectorPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createVelocitySelectorPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createAccelerationSelectorPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createHeadingSelectorPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createAggressivenessPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual bool DtRotaryWingPilotController::createPowerDownPort

(

)

[virtual]

Create the guidance ports from the task controllers.

virtual DtVectorInputPort* DtRotaryWingPilotController::desiredPositionPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtVectorInputPort* DtRotaryWingPilotController::desiredVelocityPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtVectorInputPort* DtRotaryWingPilotController::desiredAccelerationPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtAnalogInputPort* DtRotaryWingPilotController::desiredHeadingPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtAnalogInputPort* DtRotaryWingPilotController::positionSelectorPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtAnalogInputPort* DtRotaryWingPilotController::velocitySelectorPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtAnalogInputPort* DtRotaryWingPilotController::accelerationSelectorPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtAnalogInputPort* DtRotaryWingPilotController::headingSelectorPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtAnalogInputPort* DtRotaryWingPilotController::aggressivenessPort

(

)

[virtual]

Accessors for guidance ports.

virtual DtBooleanInputPort* DtRotaryWingPilotController::powerDownPort

(

)

[virtual]

Accessors for guidance ports.

virtual bool DtRotaryWingPilotController::createRotaryWingControlPortGroup

(

)

[virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual bool DtRotaryWingPilotController::createThrottlePort

(

)

[virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual bool DtRotaryWingPilotController::createCollectivePort

(

)

[virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual bool DtRotaryWingPilotController::createCyclicPort

(

)

[virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual bool DtRotaryWingPilotController::createPedalPort

(

)

[virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual DtConstrainedAnalogOutputPort* DtRotaryWingPilotController::throttlePort

(

)

[virtual]

virtual DtConstrainedAnalogOutputPort* DtRotaryWingPilotController::collectivePort

(

)

[virtual]

virtual DtConstrainedDualAxisAnalogOutputPort* DtRotaryWingPilotController::cyclicPort

(

)

[virtual]

virtual DtConstrainedAnalogOutputPort* DtRotaryWingPilotController::pedalPort

(

)

[virtual]

static DtSimComponent* DtRotaryWingPilotController::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 in DtSimpleRotaryWingPilot, and DtRotaryWingJoyFlightController.

virtual bool DtRotaryWingPilotController::createPortGroups

(

)

[protected, virtual]

Overridden to call createRotaryWingControlPortGroup() and createGuidancePortGroup()

Reimplemented from DtSimComponent.

virtual bool DtRotaryWingPilotController::createPorts

(

)

[protected, virtual]

Overridden to create rotary wing ports.

Reimplemented from DtSimComponent.

Reimplemented in DtSimpleRotaryWingPilot.

virtual void DtRotaryWingPilotController::setStateFromPorts

(

)

[protected, virtual]

Sets the state repository variables from the ports.

const DtRotaryWingPilotController& DtRotaryWingPilotController::operator=

(

const DtRotaryWingPilotController &

orig

)

[protected]

assignment operator; not implemented

---

Member Data Documentation

DtRotaryWingEntityStateRepository* DtRotaryWingPilotController::myRotaryWingEntityState [protected]

DtOutputPortGroup* DtRotaryWingPilotController::myRotaryWingControlPortGroup [protected]

Output Port Group Name: rotary-wing-control
Output Port Group Description:

DtConstrainedAnalogOutputPort* DtRotaryWingPilotController::myThrottlePort [protected]

Output Port Name: throttle
Output Port Description: The position of the throttle control.

Output Port Range: 0. to 1.
Output Port Default Value:
Output Group Parent: rotary-wing-control

DtConstrainedAnalogOutputPort* DtRotaryWingPilotController::myCollectivePort [protected]

Output Port Name: collective
Output Port Description: The position of the collective control.

Output Port Range: 0. to 1.
Output Port Default Value:
Output Group Parent: rotary-wing-control

DtConstrainedDualAxisAnalogOutputPort* DtRotaryWingPilotController::myCyclicPort [protected]

Output Port Name: cyclic
Output Port Description: The position of the collective control in X and Y.

Output Port Range: X: -1. to 1. Y: -1 to 1.
Output Port Default Value:
Output Group Parent: rotary-wing-control

DtConstrainedAnalogOutputPort* DtRotaryWingPilotController::myPedalPort [protected]

Output Port Name: pedal
Output Port Description: The position of the pedal controls.

Output Port Range: -1. to 1.
Output Port Default Value:
Output Group Parent: rotary-wing-control

DtInputPortGroup* DtRotaryWingPilotController::myGuidancePortGroup [protected]

Input Port Group Name: guidance
Input Port Group Description: Group of input ports that define the desired heading/position/velocity/acceleration and flight properties.

DtVectorInputPort* DtRotaryWingPilotController::myDesiredPositionPort [protected]

Input Port Name: desired-position
Input Port Description: The desired position of the entity.

Input Port Range: Database coordinates.
Input Group Parent: guidance

DtVectorInputPort* DtRotaryWingPilotController::myDesiredVelocityPort [protected]

Input Port Name: desired-velocity
Input Port Description: The desired velocity of the entity
Input Port Range: Database coordinates.

Input Group Parent: guidance

DtVectorInputPort* DtRotaryWingPilotController::myDesiredAccelerationPort [protected]

Input Port Name: desired-acceleration
Input Port Description: The desired acceleration of the entity
Input Port Range: Database coordinates.

Input Group Parent: guidance

DtAnalogInputPort* DtRotaryWingPilotController::myDesiredHeadingPort [protected]

Input Port Name: desired-heading
Input Port Description:
Input Port Range: -1.

to 1.
Input Group Parent: guidance

DtAnalogInputPort* DtRotaryWingPilotController::myPositionSelectorPort [protected]

Input Port Name: position-selector
Input Port Description: Determines whether the desired-position port is used.

Set to 1.0 to use, otherwise 0.0.
Input Port Range: 0.0 to 1.0
Input Group Parent: guidance

DtAnalogInputPort* DtRotaryWingPilotController::myVelocitySelectorPort [protected]

Input Port Name: velocity-selector
Input Port Description: Determines whether the desired-velocity port is used.

Set to 1.0 to use, otherwise 0.0. Desired velocity will be scaled by selector.
Input Port Range: 0.0 to 1.0
Input Group Parent: guidance

DtAnalogInputPort* DtRotaryWingPilotController::myAccelerationSelectorPort [protected]

Input Port Name: acceleration-selector
Input Port Description: Determines whether the desired-acceleration port is used.

Set to 1.0 to use, otherwise 0.0.
Input Port Range: 0. to 1.
Input Group Parent: guidance

DtAnalogInputPort* DtRotaryWingPilotController::myHeadingSelectorPort [protected]

Input Port Name: heading-selector
Input Port Description: Determines whether the desired-heading port is used.

Set to 1.0 to use, otherwise 0.0.
Input Port Range: 0. to 1.
Input Group Parent: guidance

DtAnalogInputPort* DtRotaryWingPilotController::myAggressivenessPort [protected]

Input Port Name: aggressiveness
Input Port Description: How aggressively the autopilot will move the controls to gain the desired values.

0.0 will result in no movement of the controls.
Input Port Range: 0. to 1.
Input Group Parent: guidance

DtBooleanInputPort* DtRotaryWingPilotController::myPowerDownPort [protected]

Input Port Name: power-down
Input Port Description: Determines whether the control values will all be set to 0.

Set power-down to true if the entity is landed and you wish it to stay landed on the ground. Setting power-down to true while the entity is not landed will likely result in the entity crashing to the ground. Input Port Range: True/False
Input Group Parent: guidance

DtVector DtRotaryWingPilotController::myNormalizedBodyVelocity [protected]

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The documentation for this class was generated from the following file:

• include/vrfmodel/rotWngPltCtl.h