BHAVE::DtKynapseController Class Reference

Controller for tasking entity using Kynapse behaviors. More...

Inheritance diagram for BHAVE::DtKynapseController:

Classes
struct	VRFDebugInfo

Public Member Functions
	DtKynapseController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=NULL, DtReaderWriterRegistry *parentRegistry=0)
	constructor
virtual	~DtKynapseController ()
	destructor
	DtKynapseController (const DtKynapseController &orig)
	copy constructor
DtKynapseController &	operator= (const DtKynapseController &orig)
	assignment operator
virtual bool	init ()
	Initializer.
virtual DtString	type () const
	Returns the string type for this component.
virtual void	setComponentDescriptor (DtComponentDescriptor *descriptor)
	For checking the type of descriptor being set.
virtual void	registerTaskMsgCallbacks ()
	Register a callback for notification of DtUserTask messages.
virtual void	unregisterTaskMsgCallbacks ()
	Unregister a callback for notification of DtUserTask messages.
virtual void	processFleeTask (DtScriptedTaskTask *msg)
virtual void	processHideTask (DtScriptedTaskTask *msg)
virtual void	processWanderTask (DtScriptedTaskTask *msg)
virtual void	processUserTask ()
DtVrfEntityBot *	kynapseEntity ()
	Get the associated kynapse entity.
const DtSensorContactInfoList &	getSensorContacts ()
	Gives a pointer to target detection list.
virtual DtBoolean	checkTick ()
virtual void	NotifyTaskCompleted (bool success=true)
	Switch to next task if current one has completed.
virtual void	clearTask ()
	Stops any currently executing task.
virtual void	tick ()
	Call think to any agents.
virtual void	preFirstTickInit ()
	Restores state from the current task (if any), sets the initial descriptor settings.
virtual void	processSetBhaveMovementMode (DtSimMessage *msg)
	Sets the current movement mode (free/preferred) for this entity.
void	drawDebugRoutes ()
	Draw the debug information for this entity.
Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtSingleTaskControllerComponent ()
	destructor
virtual void	postTick ()
	Override to check if we're tasked and we want to give up (only performs the check if we're in play mode (dT() > 0)).
virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)
	Called by the task manager when this controller should start executing the specified task.
virtual void	taskNotify (const DtSimTask &task)
	This is called to let us know when some other component receives a task In the case of this component, we don't care what the task actually is.
virtual void	taskComplete (bool success=true)
	If we are currently tasked, this will cause us to notify the entity that we're done and delete the task.
virtual int	sendSubtask (DtSimTask &task)
	Sends subtask to ourself.
virtual void	clearSubtask (int subtaskId)
	Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()).
virtual void	addPendingSubtaskId (int subtaskId)
	Adds given subtask Id to list of pending subtasks.
virtual bool	findPendingSubtaskId (int subtaskId)
	Checks to see if given subtaskId exists in our list of pending subtasks.
virtual void	removePendingSubtaskId (int subtaskId)
	Removes pending subtask from list of subtasks for this component.
virtual void	removeAllPendingSubtaskIds ()
	Clear all pending subtasks from our list of subtasks.
virtual std::vector< int >	currentPendingSubstaskIds () const
	Returns the list of all currently pending subtask ids for this controller.
virtual void	clearCurrentTaskMessage ()
	Returns the current subtask with the specified id.
virtual DtTaskMessage *	currentTaskMessage () const
	Get a pointer to the message that was used to task this entity.
virtual DtSimTaskStatePtr	currentTaskState () const
virtual bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
virtual void	giveUpTask ()
	Called when controller is tasked and decideToGiveUp() returns true.
virtual bool	taskActive (int taskId) const
virtual bool	clearTopLevelTasks ()
	If this controller has any top level tasks (not subtasks), they are cleared.
virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
	Clears any top level tasks on this controller that conflict with the conflict task type.
virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)
	Clears any tasks of the specified type running in this controller.
virtual void	clearTaskById (int taskId)
	Clears any task of the specified ID running in this controller.
virtual std::list < DtTaskMessage * >	currentTaskMessages () const
virtual DtTaskWithTaskStateListPtr	topLevelTasks () const
Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtTaskControllerComponent ()
	destructor
virtual bool	showCurrentTaskInGui () const
virtual void	setRadio (DtSimBaseRadio *radio)
	Calls registerTaskMsgCallbacks.
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Adds a new function for processing the specified task type.
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Deprecated form of addTaskProcessorCallback.
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Undoes anything done by addTaskProcessorCallback().
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Deprecated form of removeTaskProcessorCallback.
virtual void	enable ()
	Overridden to call registerTaskMsgCallbacks().
virtual void	disable ()
	Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task.
virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)
	Sends the task canceled report for the specified message.
virtual void	setTasked (bool tasked)
	The current tasked state of this controller.
virtual bool	tasked () const
	The current tasked state of this controller.
Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtControllerComponent ()
	destructor
virtual DtSimBaseRadio *	radio ()
	The radio this component is listening to.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual const DtComponentDescriptor *	componentDescriptor () const
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug () const
virtual DtOutputStream &	objectConsoleVerbose () const
virtual DtOutputStream &	objectConsoleInfo () const
virtual DtOutputStream &	objectConsoleWarn () const
virtual DtOutputStream &	objectConsoleError () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
virtual bool	isReadonly () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc, DtReaderWriterRegistry *parentRegistry)
	This is called by the factory.
static void	userTaskCallback (DtSimMessage *msg, void *usr)
	Callback function (registered in registerTaskMsgCallbacks()) for DtUserTask messages.
static void	fleeTaskCallback (DtSimMessage *msg, void *usr)
static void	hideTaskCallback (DtSimMessage *msg, void *usr)
static void	wanderTaskCallback (DtSimMessage *msg, void *usr)
static void	setBhaveMovementModeCallback (DtSimMessage *msg, void *usr)
	Callback for processing the receipt of a movement-mode set message.

Protected Member Functions
virtual DtBoolean	createPorts ()
	methods
virtual DtBoolean	createPortGroups ()
	Called by init.
virtual bool	createKynapsePSR ()
virtual void	processAboutToSaveCheckpoint ()
	Called just before the chechpoint file is written, so the controller has a chance to put things to the PSR.
virtual void	processPostLoadCheckpoint ()
	Called after the scenario has been read, so the controller has a chance to restore data from the PSR.
virtual void	processObjectAboutToBeRemoved (DtVrfObject *object)
virtual void	processObjectDestroyed (DtVrfObject *obj)
virtual bool	updateDebugRoute ()
virtual void	clearDebugRoute ()
	Call this method to remove the debug route completely.
virtual void	setBhaveMovementMode (const DtString &movementMode)
	Sets the movement mode, from a DtSetBhaveMovementMode::DtSetBhaveMovementModeType argument.
virtual bool	IsExecutingBHAVETask ()
	returns true if the entity is tasked with a B-HAVE task
virtual DtBoolean	applyKynapseRecommendations ()
virtual DtBoolean	deactivateOutputControl ()
	Deactivate ports.
Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()
	Iterates over collection of all pending subtasks for this controller, and calls clearSubtask() for each subtask type.
virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)
	Clear all subtasks of a given type.

Static Protected Member Functions
static void	aboutToSaveCheckpointCallback (DtScenario &scn, void *usr)
static void	postLoadCheckpointCallback (const DtScenario &scn, void *usr)
static void	postRewindCallback (void *usr)
static void	objectAboutToBeRemovedCallback (DtVrfObject *object, void *usr)
static void	objectDestroyedCallback (DtVrfObject *obj, DtVrfObjectPredicateEvaluator *eval, void *usr)
	Called whenever this entity is destroyed.

Protected Attributes
DtKynapsePSR *	myKynapsePSR
	attributes
const KynapseDescriptor *	myKynapseDescriptor
	descriptor used by this Kynapse controller.
DtVrfEntityBot *	myKynapseEntity
	the associated kynapse entity.
bool	pathFindingAccidentAlreadyReported
DtUserTask *	myUserTask
struct BHAVE::DtKynapseController::VRFDebugInfo	debugView

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
Protected Types inherited from DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair
	This map stores callbacks that have been registered to processes various tasks.
typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

Controller for tasking entity using Kynapse behaviors.

This kynapse controller provides a way for Kynapse to determine how the entity should be moving. This essentially involves ticking any agents that are active and bringing the results back to VR-Forces.

Constructor & Destructor Documentation

BHAVE::DtKynapseController::DtKynapseController	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = NULL,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

constructor

virtual BHAVE::DtKynapseController::~DtKynapseController ( )

virtual

destructor

BHAVE::DtKynapseController::DtKynapseController

(

const DtKynapseController &

orig

)

copy constructor

Member Function Documentation

DtKynapseController& BHAVE::DtKynapseController::operator=

(

const DtKynapseController &

orig

)

assignment operator

virtual bool BHAVE::DtKynapseController::init ( )

virtual

Initializer.

Reimplemented from DtControllerComponent.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

virtual DtString BHAVE::DtKynapseController::type ( ) const

virtual

Returns the string type for this component.

Implements DtTaskControllerComponent.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

virtual void BHAVE::DtKynapseController::setComponentDescriptor ( DtComponentDescriptor *  descriptor )

virtual

For checking the type of descriptor being set.

Reimplemented from DtSimComponent.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

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

static

This is called by the factory.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

virtual void BHAVE::DtKynapseController::registerTaskMsgCallbacks ( )

virtual

Register a callback for notification of DtUserTask messages.

Overrides this so it can register its interest in DtUserTask* commands

Reimplemented from DtTaskControllerComponent.

virtual void BHAVE::DtKynapseController::unregisterTaskMsgCallbacks ( )

virtual

Unregister a callback for notification of DtUserTask messages.

This is used if the entity cannot process B-HAVE DtUserTasks

static void BHAVE::DtKynapseController::userTaskCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback function (registered in registerTaskMsgCallbacks()) for DtUserTask messages.

Calls processUserTask() to actually handle the task.

static void BHAVE::DtKynapseController::fleeTaskCallback ( DtSimMessage *  msg, void *  usr  )

static

virtual void BHAVE::DtKynapseController::processFleeTask ( DtScriptedTaskTask *  msg )

virtual

static void BHAVE::DtKynapseController::hideTaskCallback ( DtSimMessage *  msg, void *  usr  )

static

virtual void BHAVE::DtKynapseController::processHideTask ( DtScriptedTaskTask *  msg )

virtual

static void BHAVE::DtKynapseController::wanderTaskCallback ( DtSimMessage *  msg, void *  usr  )

static

virtual void BHAVE::DtKynapseController::processWanderTask ( DtScriptedTaskTask *  msg )

virtual

virtual void BHAVE::DtKynapseController::processUserTask ( )

virtual

Called by userTaskCallback() when a new user task message is received, and this user task is to be handled by Kynapse. In this case the user task has already been recorded as the "current user task".

DtVrfEntityBot* BHAVE::DtKynapseController::kynapseEntity

(

)

Get the associated kynapse entity.

const DtSensorContactInfoList& BHAVE::DtKynapseController::getSensorContacts

(

)

Gives a pointer to target detection list.

static void BHAVE::DtKynapseController::setBhaveMovementModeCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback for processing the receipt of a movement-mode set message.

Calls processSetBhaveMovementMode().

virtual DtBoolean BHAVE::DtKynapseController::checkTick ( )

virtual

Returns true if tick() must be completed.

virtual void BHAVE::DtKynapseController::NotifyTaskCompleted ( bool  success = true )

virtual

Switch to next task if current one has completed.

virtual void BHAVE::DtKynapseController::clearTask ( )

virtual

Stops any currently executing task.

Reimplemented from DtSingleTaskControllerComponent.

virtual void BHAVE::DtKynapseController::tick ( )

virtual

Call think to any agents.

Reimplemented from DtSimComponent.

virtual void BHAVE::DtKynapseController::preFirstTickInit ( )

virtual

Restores state from the current task (if any), sets the initial descriptor settings.

Reimplemented from DtSimComponent.

virtual void BHAVE::DtKynapseController::processSetBhaveMovementMode ( DtSimMessage *  msg )

virtual

Sets the current movement mode (free/preferred) for this entity.

void BHAVE::DtKynapseController::drawDebugRoutes

(

)

Draw the debug information for this entity.

virtual DtBoolean BHAVE::DtKynapseController::createPorts ( )

protectedvirtual

methods

Create input/output ports

Reimplemented from DtSimComponent.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

virtual DtBoolean BHAVE::DtKynapseController::createPortGroups ( )

protectedvirtual

Called by init.

Derived classes should override this method to create all their input/output port groups.

Reimplemented from DtSimComponent.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

virtual bool BHAVE::DtKynapseController::createKynapsePSR ( )

protectedvirtual

static void BHAVE::DtKynapseController::aboutToSaveCheckpointCallback ( DtScenario &  scn, void *  usr  )

staticprotected

virtual void BHAVE::DtKynapseController::processAboutToSaveCheckpoint ( )

protectedvirtual

Called just before the chechpoint file is written, so the controller has a chance to put things to the PSR.

static void BHAVE::DtKynapseController::postLoadCheckpointCallback ( const DtScenario &  scn, void *  usr  )

staticprotected

static void BHAVE::DtKynapseController::postRewindCallback ( void *  usr )

staticprotected

virtual void BHAVE::DtKynapseController::processPostLoadCheckpoint ( )

protectedvirtual

Called after the scenario has been read, so the controller has a chance to restore data from the PSR.

static void BHAVE::DtKynapseController::objectAboutToBeRemovedCallback ( DtVrfObject *  object, void *  usr  )

staticprotected

virtual void BHAVE::DtKynapseController::processObjectAboutToBeRemoved ( DtVrfObject *  object )

protectedvirtual

static void BHAVE::DtKynapseController::objectDestroyedCallback ( DtVrfObject *  obj, DtVrfObjectPredicateEvaluator *  eval, void *  usr  )

staticprotected

Called whenever this entity is destroyed.

virtual void BHAVE::DtKynapseController::processObjectDestroyed ( DtVrfObject *  obj )

protectedvirtual

virtual bool BHAVE::DtKynapseController::updateDebugRoute ( )

protectedvirtual

The debug route is a route published so that the GUI can see the path that the entity has chosen.

virtual void BHAVE::DtKynapseController::clearDebugRoute ( )

protectedvirtual

Call this method to remove the debug route completely.

virtual void BHAVE::DtKynapseController::setBhaveMovementMode ( const DtString &  movementMode )

protectedvirtual

Sets the movement mode, from a DtSetBhaveMovementMode::DtSetBhaveMovementModeType argument.

virtual bool BHAVE::DtKynapseController::IsExecutingBHAVETask ( )

protectedvirtual

returns true if the entity is tasked with a B-HAVE task

virtual DtBoolean BHAVE::DtKynapseController::applyKynapseRecommendations ( )

protectedvirtual

Applies Kynapse recommendations to move entity

Returns

DtTrue if successful, DtFalse otherwise

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

virtual DtBoolean BHAVE::DtKynapseController::deactivateOutputControl ( )

inlineprotectedvirtual

Deactivate ports.

Reimplemented in BHAVE::DtKynapseGroundPlatformController, and BHAVE::DtKynapseLifeformController.

Member Data Documentation

DtKynapsePSR* BHAVE::DtKynapseController::myKynapsePSR

protected

attributes

process state repository : records state info for this controller (movement mode, vrf debug route..)

const KynapseDescriptor* BHAVE::DtKynapseController::myKynapseDescriptor

protected

descriptor used by this Kynapse controller.

DtVrfEntityBot* BHAVE::DtKynapseController::myKynapseEntity

protected

the associated kynapse entity.

bool BHAVE::DtKynapseController::pathFindingAccidentAlreadyReported

protected

DtUserTask* BHAVE::DtKynapseController::myUserTask

protected

struct BHAVE::DtKynapseController::VRFDebugInfo BHAVE::DtKynapseController::debugView

protected

---

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

• include/bhaveSim/kynapseCtrl.h