DtSimpleRotaryWingPilot Class Reference

DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot. More...

Inheritance diagram for DtSimpleRotaryWingPilot:

List of all members.

Public Member Functions
	DtSimpleRotaryWingPilot (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtSimpleRotaryWingPilot ()
	destructor
virtual void	setDesiredInertialPos (DtReal localX, DtReal localY, DtReal localZ)
	Various methods to set state below.
virtual void	setDesiredInertialPos (const DtVector &localPosition)
virtual void	setDesiredInertialVel (DtReal vx, DtReal vy, DtReal vz)
	Desired inertial velocity, in local (database) coordinates.
virtual void	setDesiredInertialVel (const DtVector &vel)
virtual bool	init ()
	Calls the parent’s init() to initialize the ports.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Calculate new control values.
Static Public Member Functions
static void	vectorBound (DtVector &vec, DtReal bound)
	Return the vector bound at the specified magnitude.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
static DtReal	xyDistSquared (DtVector a, DtVector b)
	Calculate the distance squared between the projections of the points onto the x-y plane.
Protected Member Functions
virtual void	getTransformationMatrices ()
	Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.
virtual void	checkLandNoFuel ()
	Lands the entity if the fuel is used up.
void	calculateDesiredAndActualLinearVelocity (DtVector &desiredBodyVel, DtVector &topoDesiredInertialVel, DtVector &actualBodyVel)
	Calculates the desired linear velocity and actual velocity of the entity.
virtual void	calculateDesiredLinearAcceleration (const DtVector &topoDesiredInertialVel, DtVector &desiredBodyAcc)
	Calculates the desired linear acceleration of the entity.
virtual void	calculateDesiredAngularVelocity (const DtVector &desiredBodyAcc, const DtVector &desiredBodyVel, const DtVector &actualBodyVel, DtVector &desiredAngularVel)
	Calculates the desired angular velocity of the entity.
virtual void	calculateDesiredAngularAcceleration (const DtVector &desiredAngularVel, DtVector &desiredAngularAcc)
	Calculates the desired angular acceleration from the desired angular velocity of the entity.
virtual double	calculateWhiteNoiseScaleFactor ()
	Get a scale factor for the random component.
virtual void	setCyclic (const DtVector &desiredAngularAcc, double noiseFactor)
	Sets the cyclic control output value using the specified desired angular acceleration.
virtual void	setCollective (const DtVector &desiredBodyAcc, double noiseFactor)
	Sets the collective control output value.
virtual void	setPedal (const DtVector &desiredAngularAcc, double noiseFactor)
	Sets the pedal control output value using the specified desired angular acceleration.
virtual void	setThrottle ()
	Sets the throttle control output value.
virtual void	boundAcceleration (DtVector &vec)
	Caps the magnitude of the acceleration to a value found by interpolating between the maximum acceleration (along the velocity vector) and the maximum deceleration (opposite the velocity vector).
virtual DtReal	terrainAvoidanceVelocity () const
	Calculate an upward desired velocity to maintain a safe distance from the terrain.
virtual void	calculateControlAlignmentAngle (DtReal &alignmentAngle, bool &selector) const
	Calculate alignment based on controllers.
virtual void	calculateTargetAlignmentAngle (DtReal &alignmentAngle, bool &selector) const
	calculate alignment based on targets.
virtual bool	createPorts ()
	Overridden to create rotary wing ports.
Protected Attributes
DtRotaryWingPilotDescriptor *	myPilotDescriptor
	A pointer to the descriptor for this controller.
DtDcm	myBodyToRef
	The local orientation matrix.
DtDcm	myLocalToTopoDcm
	The local to topographic coordinate transformation matrix.
DtDcm	myTopoToLocalDcm
	The topographic to local coordinate transformation matrix.
Ports and Port Groups
DtVectorInputPort *	myTargetLocationInputPort
	Input Port Name: target-location Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.
Private Member Functions
	DtSimpleRotaryWingPilot ()
	default constructor not implemented
	DtSimpleRotaryWingPilot (const DtSimpleRotaryWingPilot &orig)
	copy constructor not implemented
DtSimpleRotaryWingPilot &	operator= (const DtSimpleRotaryWingPilot &orig)
	assignment operator not implemented

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Detailed Description

DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot.

End User Description: It sets the helicopter controls to achieve desired position, velocity, acceleration, and orientation. These values are provided over a set of input ports. The controller than uses these values to calculate the needed control inputs for the actuator, and sends these values on the output ports.

Uses Descriptor Type: DtRotaryWingPilotDescriptor

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Constructor & Destructor Documentation

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot	(	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 DtSimpleRotaryWingPilot::~DtSimpleRotaryWingPilot

(

)

[virtual]

destructor

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot

(

)

[private]

default constructor not implemented

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot

(

const DtSimpleRotaryWingPilot &

orig

)

[private]

copy constructor not implemented

---

Member Function Documentation

virtual void DtSimpleRotaryWingPilot::setDesiredInertialPos	(	DtReal	localX,
		DtReal	localY,
		DtReal	localZ
	)		[virtual]

Various methods to set state below.

Desired inertial position, in local (database) coordinates

virtual void DtSimpleRotaryWingPilot::setDesiredInertialPos

(

const DtVector &

localPosition

)

[virtual]

virtual void DtSimpleRotaryWingPilot::setDesiredInertialVel	(	DtReal	vx,
		DtReal	vy,
		DtReal	vz
	)		[virtual]

Desired inertial velocity, in local (database) coordinates.

virtual void DtSimpleRotaryWingPilot::setDesiredInertialVel

(

const DtVector &

vel

)

[virtual]

virtual bool DtSimpleRotaryWingPilot::init

(

)

[virtual]

Calls the parent’s init() to initialize the ports.

Returns true if initialization was successful.

Reimplemented from DtRotaryWingPilotController.

virtual DtString DtSimpleRotaryWingPilot::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 DtRotaryWingPilotController.

static void DtSimpleRotaryWingPilot::vectorBound	(	DtVector &	vec,
		DtReal	bound
	)		[static]

Return the vector bound at the specified magnitude.

virtual void DtSimpleRotaryWingPilot::tick

(

)

[virtual]

Calculate new control values.

Reimplemented from DtRotaryWingPilotController.

static DtSimComponent* DtSimpleRotaryWingPilot::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 DtRotaryWingPilotController.

DtSimpleRotaryWingPilot& DtSimpleRotaryWingPilot::operator=

(

const DtSimpleRotaryWingPilot &

orig

)

[private]

assignment operator not implemented

virtual void DtSimpleRotaryWingPilot::getTransformationMatrices

(

)

[protected, virtual]

Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.

virtual void DtSimpleRotaryWingPilot::checkLandNoFuel

(

)

[protected, virtual]

Lands the entity if the fuel is used up.

void DtSimpleRotaryWingPilot::calculateDesiredAndActualLinearVelocity	(	DtVector &	desiredBodyVel,
		DtVector &	topoDesiredInertialVel,
		DtVector &	actualBodyVel
	)		[protected]

Calculates the desired linear velocity and actual velocity of the entity.

Also provides the desired velocity in topo coordinates for use by other methods. Uses local variables: myBodyToRef, myLocalToTopoDcm, myTopoToLocalDcm

virtual void DtSimpleRotaryWingPilot::calculateDesiredLinearAcceleration	(	const DtVector &	topoDesiredInertialVel,
		DtVector &	desiredBodyAcc
	)		[protected, virtual]

Calculates the desired linear acceleration of the entity.

Uses local variables: myBodyToRef, myLocalToTopoDcm, myTopoToLocalDcm

virtual void DtSimpleRotaryWingPilot::calculateDesiredAngularVelocity	(	const DtVector &	desiredBodyAcc,
		const DtVector &	desiredBodyVel,
		const DtVector &	actualBodyVel,
		DtVector &	desiredAngularVel
	)		[protected, virtual]

Calculates the desired angular velocity of the entity.

virtual void DtSimpleRotaryWingPilot::calculateDesiredAngularAcceleration	(	const DtVector &	desiredAngularVel,
		DtVector &	desiredAngularAcc
	)		[protected, virtual]

Calculates the desired angular acceleration from the desired angular velocity of the entity.

virtual double DtSimpleRotaryWingPilot::calculateWhiteNoiseScaleFactor

(

)

[protected, virtual]

Get a scale factor for the random component.

This is scaled by the inverse of the square root of the time step to approximate Gaussian White Noise.

virtual void DtSimpleRotaryWingPilot::setCyclic	(	const DtVector &	desiredAngularAcc,
		double	noiseFactor
	)		[protected, virtual]

Sets the cyclic control output value using the specified desired angular acceleration.

virtual void DtSimpleRotaryWingPilot::setCollective	(	const DtVector &	desiredBodyAcc,
		double	noiseFactor
	)		[protected, virtual]

Sets the collective control output value.

virtual void DtSimpleRotaryWingPilot::setPedal	(	const DtVector &	desiredAngularAcc,
		double	noiseFactor
	)		[protected, virtual]

Sets the pedal control output value using the specified desired angular acceleration.

virtual void DtSimpleRotaryWingPilot::setThrottle

(

)

[protected, virtual]

Sets the throttle control output value.

virtual void DtSimpleRotaryWingPilot::boundAcceleration

(

DtVector &

vec

)

[protected, virtual]

Caps the magnitude of the acceleration to a value found by interpolating between the maximum acceleration (along the velocity vector) and the maximum deceleration (opposite the velocity vector).

virtual DtReal DtSimpleRotaryWingPilot::terrainAvoidanceVelocity

(

)

const [protected, virtual]

Calculate an upward desired velocity to maintain a safe distance from the terrain.

virtual void DtSimpleRotaryWingPilot::calculateControlAlignmentAngle	(	DtReal &	alignmentAngle,
		bool &	selector
	)		const [protected, virtual]

Calculate alignment based on controllers.

An angle and a specifier are returned. The angle value is the amount by which the helicopter should rotate about its z-axis to align with the desired heading. If the selector is True, the angle is valid. Uses local variables: myBodyToRef

virtual void DtSimpleRotaryWingPilot::calculateTargetAlignmentAngle	(	DtReal &	alignmentAngle,
		bool &	selector
	)		const [protected, virtual]

calculate alignment based on targets.

An angle and a specifier are returned. The angle is value the helicopter should rotate by about its z-axis to align with the target. If the selector is True, the angle is valid. Uses local variables: myBodyToRef

virtual bool DtSimpleRotaryWingPilot::createPorts

(

)

[protected, virtual]

Overridden to create rotary wing ports.

Reimplemented from DtRotaryWingPilotController.

static DtReal DtSimpleRotaryWingPilot::xyDistSquared	(	DtVector	a,
		DtVector	b
	)		[static]

Calculate the distance squared between the projections of the points onto the x-y plane.

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Member Data Documentation

DtVectorInputPort* DtSimpleRotaryWingPilot::myTargetLocationInputPort [protected]

Input Port Name: target-location
Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.

Input Port Range: Local database locations.

DtRotaryWingPilotDescriptor* DtSimpleRotaryWingPilot::myPilotDescriptor [protected]

A pointer to the descriptor for this controller.

DtDcm DtSimpleRotaryWingPilot::myBodyToRef [protected]

The local orientation matrix.

DtDcm DtSimpleRotaryWingPilot::myLocalToTopoDcm [protected]

The local to topographic coordinate transformation matrix.

DtDcm DtSimpleRotaryWingPilot::myTopoToLocalDcm [protected]

The topographic to local coordinate transformation matrix.

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

• include/vrfmodel/simpRotWngPlt.h