include/bhaveSim/kynapseGroundPlatformCtrl.h

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/*******************************************************************************
** Copyright (c) 2009 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
* Copyright 2009 Autodesk, Inc.  All rights reserved.
* Use of this software is subject to the terms of the Autodesk license 
* agreement provided at the time of installation or download, or which otherwise
* accompanies this software in either electronic or hard copy form.
*******************************************************************************/


//
//

#ifndef KYNAPSE_GROUNDPLATFORM_CONTROLLER_H
#define KYNAPSE_GROUNDPLATFORM_CONTROLLER_H

#include <bhaveSim/bhaveSimDefines.h>
#include "bhaveSim/kynapseCtrl.h" 

#include <vrfobjcore/taskCtlrCmpnt.h>
#include <vrfobjcore/entityTargetInformation.h>
#include <vrftasks/userTask.h>

class DtAnalogOutputPort;
class DtBooleanOutputPort;
class DtConstrainedIntegerOutputPort;
class DtConstrainedAnalogOutputPort;
class DtOutputPortGroup;
class DtGroundVehicleStateRepository;
class DtKynapsePSR;
class DtScenario;
class DtAnalogOutputPort;
class DtAnalogOutputPort;
class DtOutputPortGroup;
class DtSensorContactListInputPort;
class DtSensorContactInfoList;
class DtSoilFactors;


namespace BHAVE
{

const char DtKynapseGroundPlatformControllerType[] = "kynapse-ground-platform-controller";

class DT_DLL_bhaveSim DtKynapseGroundPlatformController : public DtKynapseController
{
public:

   DtKynapseGroundPlatformController(const DtString & name, DtVrfObject* owner, 
      DtSimManager * simManager, DtComponentDescriptor* desc = NULL,
      DtReaderWriterRegistry * parentRegistry = 0);
   
   virtual ~DtKynapseGroundPlatformController();
   
   DtKynapseGroundPlatformController(const DtKynapseGroundPlatformController& orig);
   
   DtKynapseGroundPlatformController& operator=(const DtKynapseGroundPlatformController& orig);

   virtual bool init();
   
   virtual DtString type() const;

   virtual void setComponentDescriptor(DtComponentDescriptor* descriptor);

   static DtSimComponent* creator(const DtString& name, 
      DtVrfObject* owner, DtSimManager* simManager, DtComponentDescriptor* desc,
      DtReaderWriterRegistry* parentRegistry);

   
   virtual double maxAcceleration() const;
   virtual double maxDeceleration() const;

protected: 
   
   virtual DtBoolean createPorts();
   virtual DtBoolean createPortGroups();

   virtual DtBoolean applyKynapseRecommendations();

   virtual DtBoolean deactivateOutputControl();

   virtual const DtSoilFactors* soilFactors() const;
   virtual double slope() const;

   
protected: 

   DtAnalogOutputPort* myDirectionOutputPort;
   DtAnalogOutputPort* mySpeedOutputPort;
   DtBooleanOutputPort* myTurningDirectionOutputPort; 
   DtAnalogOutputPort* myFacingDirectionOutputPort; 
   DtOutputPortGroup* myMovementControlOutputPortGroup;
   
};

#endif //! KYNAPSE_GROUNDPLATFORM_CONTROLLER_H

} //namespace BHAVE