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VR-Forces 4.0.4 Class Documentation
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VR-Forces 4.0.4 Class Documentation
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The DtSurfaceEntityPilotController provides basic movement capabilities for surface entities and creates the ports needed to control surface entity actuators. More...
Public Member Functions | |
| DtSurfaceEntityPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSurfaceEntityPilotController () |
| Destructor. | |
| virtual DtString | type () const |
| Returns a string identifies the class type of component. | |
| virtual bool | init () |
| Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState. | |
| virtual void | tick () |
| Overridden to check for valid myProcessState pointer. | |
| virtual void | clearTask () |
| Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup. | |
| virtual bool | createSurfaceControlPortGroup () |
| Creates the surface control output port group. | |
| virtual bool | createThrottlePort () |
| Creates the throttle output port and adds it to mySurfaceControlPortGroup. | |
| virtual bool | createRudderPort () |
| Creates the rudder output port and adds it to mySurfaceControlPortGroup. | |
| virtual DtConstrainedAnalogOutputPort * | throttlePort () const |
| Throttle port accessor. | |
| virtual DtConstrainedAnalogOutputPort * | rudderPort () const |
| Rudder port accessor. | |
| virtual void | sailTo (const DtVector &destination, double speed) |
| Sets the controls needed to sail towards the given destination at the given speed. | |
| virtual void | driftTo (const DtVector &destination, double speed) |
| Sets the controls needed to sail towards the given destination at the given speed for as long as possible until the engines are cut at a point which allows the ship to drift to the desired destination. | |
| virtual double | calculateControlForTurn (double yawAngle) |
| Calculates the rudder control for a given turn angle. | |
| virtual double | calculateControlForThrottle (double desiredSpeed) |
| Calculates the throttle control needed to reach the desired speed. | |
| virtual double | calculateControlForThrottle (double desiredSpeed, double distance) |
| Calculates the throttle control needed to reach the desired speed without overshooting the given distance. | |
| virtual void | emergencyStop () |
| Uses the throttle to stop the vessel as quickly as possible. | |
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 createSurfaceControlPortGroup(). | |
| virtual bool | createPorts () |
| Overridden to call createThrottlePort() and createRudderPort(). | |
| virtual void | lookupAndCacheProcessSR () |
This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in
myProcessState. | |
| virtual bool | postAddComponentsInit () |
| Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded. | |
| virtual bool | decideToGiveUpTask () const |
| If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class. | |
| DtSurfaceEntityPilotController () | |
| default constructor; not implemented | |
| DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig) | |
| copy constructor; not implemented | |
| const DtSurfaceEntityPilotController & | operator= (const DtSurfaceEntityPilotController &orig) |
| assignment operator; not implemented | |
Protected Attributes | |
| DtSurfaceEntityStateRepository * | mySurfaceEntityState |
| DtSurfaceEntityPilotControllerDescriptor * | myDescriptor |
| double | myLastDistanceSquared |
| double | myDistanceSquared |
| DtSurfaceMovementPSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. | |
Ports and Port Groups | |
| DtBooleanInputPort * | mySmallVelocityClampedInputPort |
| Input Port Name: clamp-small-vel-zero Input Port Description: Input Port Range: Input Port Default Value: True . | |
| DtOutputPortGroup * | mySurfaceControlPortGroup |
| Output Port Group Name: surface-control Output Port Group Description: | |
| DtConstrainedAnalogOutputPort * | myThrottlePort |
| Output Port Name: throttle Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: surface-control. | |
| DtConstrainedAnalogOutputPort * | myRudderPort |
| Output Port Name: rudder Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: surface-control. | |
The DtSurfaceEntityPilotController provides basic movement capabilities for surface entities and creates the ports needed to control surface entity actuators.
End User Description: DtSurfaceEntityPilotController (surfEntPltCtl.h) provides elements that are common to all controllers which perform movement tasks for surface entities.
DtSurfaceEntityPilotController creates the throttle and rudder output ports used by all the surface entity movement controllers and provides accessors for them.
The most important control functions offered by the DtSurfaceEntityPilotController are sailTo() and driftTo(), both of which provide actuator inputs to move a ship to a given location at a given speed. The difference between the two is that driftTo() attempts to judge when to cut the throttle in order to drift to a stop at the given location, whereas sailTo() will accelerate to and maintain the given speed at all times.
DtSurfaceEntityPilotController also offers a function called emergencyStop() which will use reverse thrust in an attempt to stop the ship as quickly as possible. Some of the movement controllers will call this function when they overshoot a target.
The control functions listed in the previous paragraphs use three functions to determine the port input values they need to use. For rudder control, calculateControlForTurn() determines how much rudder to apply to turn to a given angle based on the current speed. For throttle control, there are two versions of calculateControlForThrottle(). Both use a speed parameter to determine how much throttle to apply, however one also takes a distance parameter which prevents the controller from using too much throttle when trying to drift to a stop at the given distance.
Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor
| DtSurfaceEntityPilotController::DtSurfaceEntityPilotController | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
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| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
| virtual DtSurfaceEntityPilotController::~DtSurfaceEntityPilotController | ( | ) | [virtual] |
Destructor.
Deletes all ports and port groups
| DtSurfaceEntityPilotController::DtSurfaceEntityPilotController | ( | ) | [protected] |
default constructor; not implemented
| DtSurfaceEntityPilotController::DtSurfaceEntityPilotController | ( | const DtSurfaceEntityPilotController & | orig | ) | [protected] |
copy constructor; not implemented
| virtual DtString DtSurfaceEntityPilotController::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.
Implements DtTaskControllerComponent.
Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityPatrolRouteController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityFollowEntityController, and DtSurfaceEntityMoveToController.
| virtual bool DtSurfaceEntityPilotController::init | ( | ) | [virtual] |
Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState.
Reimplemented from DtControllerComponent.
Reimplemented in DtSurfaceEntityMoveAlongController.
| virtual void DtSurfaceEntityPilotController::tick | ( | ) | [virtual] |
Overridden to check for valid myProcessState pointer.
If it is null a warning is printed to the object console.
Reimplemented from DtSimComponent.
Reimplemented in DtSurfaceEntityFollowEntityController, and DtSurfaceEntityMoveToController.
| virtual void DtSurfaceEntityPilotController::clearTask | ( | ) | [virtual] |
Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.
Reimplemented from DtSingleTaskControllerComponent.
| virtual bool DtSurfaceEntityPilotController::createSurfaceControlPortGroup | ( | ) | [virtual] |
Creates the surface control output port group.
| virtual bool DtSurfaceEntityPilotController::createThrottlePort | ( | ) | [virtual] |
Creates the throttle output port and adds it to mySurfaceControlPortGroup.
| virtual bool DtSurfaceEntityPilotController::createRudderPort | ( | ) | [virtual] |
Creates the rudder output port and adds it to mySurfaceControlPortGroup.
| virtual DtConstrainedAnalogOutputPort* DtSurfaceEntityPilotController::throttlePort | ( | ) | const [virtual] |
Throttle port accessor.
| virtual DtConstrainedAnalogOutputPort* DtSurfaceEntityPilotController::rudderPort | ( | ) | const [virtual] |
Rudder port accessor.
| virtual void DtSurfaceEntityPilotController::sailTo | ( | const DtVector & | destination, |
| double | speed | ||
| ) | [virtual] |
Sets the controls needed to sail towards the given destination at the given speed.
The rudder port is set based on the angle to the given destination by calling calculateControlForTurn and putting the result on the rudder port. The throttle port is set based on the given speed by calling calculateControlForThrottle with the desired speed, but without a target distance. This means that the ship will attempt to be moving at the given speed when it reaches the destination vector.
| virtual void DtSurfaceEntityPilotController::driftTo | ( | const DtVector & | destination, |
| double | speed | ||
| ) | [virtual] |
Sets the controls needed to sail towards the given destination at the given speed for as long as possible until the engines are cut at a point which allows the ship to drift to the desired destination.
The rudder port is set based on the angle to the given destination by calling calculateControlForTurn and putting the result on the rudder port. The throttle port is set based on the given speed by calling calculateControlForThrottle() with the desired speed and the distance from the ship to the destination vector. This means that the ship will attempt to drift to a stop at the destination vector.
| virtual double DtSurfaceEntityPilotController::calculateControlForTurn | ( | double | yawAngle | ) | [virtual] |
Calculates the rudder control for a given turn angle.
Calculates the rudder control needed to turn towards the given angle based on the current speed, current yaw rate, maximum yaw rate, and maximum yaw acceleration. The result is clamped to a range between -1.0 and 1.0.
| virtual double DtSurfaceEntityPilotController::calculateControlForThrottle | ( | double | desiredSpeed | ) | [virtual] |
Calculates the throttle control needed to reach the desired speed.
Calculates the throttle control needed to reach the desired speed based on the current speed and throttle value. The result is clamped to a range between -1.0 and 1.0.
| virtual double DtSurfaceEntityPilotController::calculateControlForThrottle | ( | double | desiredSpeed, |
| double | distance | ||
| ) | [virtual] |
Calculates the throttle control needed to reach the desired speed without overshooting the given distance.
Calculates the throttle control needed to reach the desired speed. Limits the throttle based on the given distance so the ship does not overshoot the target. The result is clamped to a range between -1.0 and 1.0.
| virtual void DtSurfaceEntityPilotController::emergencyStop | ( | ) | [virtual] |
Uses the throttle to stop the vessel as quickly as possible.
Applies thrust in the opposite direction of the vessel's movement until the actuator clamps the speed to zero.
| static DtSimComponent* DtSurfaceEntityPilotController::creator | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) | [static] |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
Reimplemented in DtSurfaceEntityMoveToController, DtSurfaceEntityFollowEntityController, DtSurfaceEntityMoveAlongController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityPatrolBetweenController, and DtSurfaceEntityPatrolRouteController.
| virtual bool DtSurfaceEntityPilotController::createPortGroups | ( | ) | [protected, virtual] |
Overridden to call createSurfaceControlPortGroup().
Reimplemented from DtSimComponent.
| virtual bool DtSurfaceEntityPilotController::createPorts | ( | ) | [protected, virtual] |
Overridden to call createThrottlePort() and createRudderPort().
Reimplemented from DtSimComponent.
| virtual void DtSurfaceEntityPilotController::lookupAndCacheProcessSR | ( | ) | [protected, virtual] |
This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in
The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.
| virtual bool DtSurfaceEntityPilotController::postAddComponentsInit | ( | ) | [protected, virtual] |
Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.
Reimplemented from DtSimComponent.
| virtual bool DtSurfaceEntityPilotController::decideToGiveUpTask | ( | ) | const [protected, virtual] |
If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class.
Reimplemented from DtSingleTaskControllerComponent.
| const DtSurfaceEntityPilotController& DtSurfaceEntityPilotController::operator= | ( | const DtSurfaceEntityPilotController & | orig | ) | [protected] |
assignment operator; not implemented
Input Port Name: clamp-small-vel-zero
Input Port Description:
Input Port Range:
Input Port Default Value: True
.
Output Port Group Name: surface-control
Output Port Group Description:
Output Port Name: throttle
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: surface-control.
Output Port Name: rudder
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: surface-control.
double DtSurfaceEntityPilotController::myLastDistanceSquared [protected] |
double DtSurfaceEntityPilotController::myDistanceSquared [protected] |
Pointer to a process state repository used to store state data associated with this component.
This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).