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VR-Forces 4.1.1 Class Documentation
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VR-Forces 4.1.1 Class Documentation
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DtGroundMoveToDestinationControllerComponent is a controller that provides a kinematics-based model of an automotive system that converts throttle, brake, and steering into orientation, acceleration, velocity, and position. More...
Public Member Functions | |
| DtGroundMoveToDestinationControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundMoveToDestinationControllerComponent () |
| destructor | |
| virtual bool | init () |
| Initializes modifyVrfObjectCallback. | |
| virtual void | setComponentDescriptor (DtComponentDescriptor *componentDescriptor) |
| Overridden to cast and set our local pointer to the descriptor. | |
| virtual void | tick () |
| Looks at the value on myCollisionAvoidancePort, and if there is a value and the destination point is within the bounding volume of the collision object, setDestinationIsInsideObstruction(true) is called. | |
| virtual DtString | type () const |
| Returns a string identifies the class type of component. | |
| virtual void | processSetLocation (DtSimMessage *msg) |
| Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request. | |
| virtual void | processModifyVrfObject (DtSimMessage *msg) |
| Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e. | |
| virtual void | registerTaskMsgCallbacks () |
| Overridden to register interest in move to and set location commands. | |
| virtual bool | getDestination (DtVector &destination) |
| getDestination() | |
| virtual const DtVector & | destinationVector () const |
| Returns the current destination vector for the entity. | |
| virtual double | findDesiredSpeed () |
| Determines how fast we should go. | |
| virtual double | findDesiredHeading () |
| Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()). | |
| virtual DtAutoTransmissionGearEnum | determineGearSetting () |
| Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed(). | |
| virtual bool | nearDestination () |
| Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()). | |
| virtual bool | atDestination () |
| Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true. | |
| virtual bool | passedDestination () |
| Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration. | |
| virtual void | stop () |
| Set port values for stopping, and mark the task complete. | |
| virtual void | doMoving () |
| Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results. | |
 Public Member Functions inherited from DtGroundAutoControllerComponent | |
| DtGroundAutoControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundAutoControllerComponent () |
| destructor | |
| virtual void | clearTask () |
| Overridden to call deactive the port group when this controller completes a task. | |
| virtual double | approximateThrottle (double desiredSpeed) |
| Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil. | |
| virtual double | calculateSteering (double currentHeading, double desiredHeading) const |
| virtual double | calculateCurrentBrakingDistance () const |
| virtual bool | createAutomotiveControlPortGroup () |
| These are called in init to create the ports used to communicate with the actuator. | |
| virtual bool | createThrottlePort () |
| virtual bool | createSteeringPort () |
| virtual bool | createBrakePort () |
| virtual bool | createGearPort () |
| virtual bool | createParkingBrakePort () |
| virtual DtConstrainedAnalogOutputPort * | throttlePort () |
| virtual DtConstrainedAnalogOutputPort * | steeringPort () |
| virtual DtConstrainedAnalogOutputPort * | brakePort () |
| virtual DtConstrainedIntegerOutputPort * | gearPort () |
| virtual DtBooleanOutputPort * | parkingBrakePort () |
| virtual double | decelerationSoilFactor () const |
| virtual double | calcSteeringForTurnInPlace () |
| calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn. | |
| virtual double | calcThrottleForTurnInPlace () |
| calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn. | |
| virtual double | calcBrakeForTurnInPlace () |
| If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned. | |
| virtual int | calcGearForTurnInPlace () |
| calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn. | |
| virtual double | calcSteeringForPivot () |
| calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn. | |
| virtual double | calcThrottleForPivot () |
| calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn. | |
| virtual double | calcSteeringForKTurn () |
| If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn. | |
| virtual double | calcThrottleForKTurn () |
| If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn. | |
| virtual double | calcBrakeForKTurn () |
| If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop. | |
| virtual double | findSpeedForKTurn () |
| If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned. | |
| virtual double | findHeadingForKTurn () |
| If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned. | |
| virtual void | setHeadingToTurnTo (double headingToTurnTo) |
| Get/Set the heading we the entity has been tasked to turn to. | |
| virtual double | headingToTurnTo () const |
| virtual void | setKTurnReverseGoalHeading (double kTurnReverseGoalHeading) |
| Get/Set the heading that is halfway between the original heading and the heading to turn to. | |
| virtual double | kTurnReverseGoalHeading () const |
| virtual void | setKTurnReverseComplete (bool kTurnReverseComplete) |
| Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading()) | |
| virtual bool | kTurnReverseComplete () const |
| 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 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 void | preFirstTickInit () |
| This function can be overridden to initialize a component before it is ticked for the first time. | |
| 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 void | setLocationCallback (DtSimMessage *msg, void *usr) |
| Calls processSetLocation. | |
| static void | modifyVrfObjectCallback (DtSimMessage *msg, void *usr) |
| Calls processModifyVrfObject. | |
| 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 | setupDestination () |
| This function ensures that the destination stored in the process state matches the member function. | |
| virtual void | setupDestinationVector () const |
| Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location. | |
| virtual void | invalidateDestinationVector () const |
| Tells the component that any cached destination vector should be recalculated. | |
| virtual double | desiredHeadingFromDestination (const DtDcm &localToTopoDcm) |
| Given the destination, calculate the heading needed to reach that point. | |
| virtual void | moveToDestination () |
| Attempts to move to the destination location. Override to provide movement functionality. | |
| virtual double | distanceToDestination () const |
| virtual bool | decideToGiveUpTask () const |
| Checks to see if destination is inside an obstruction. | |
| virtual bool | createPortGroups () |
| Overridden to create myAutomotiveControlPortGroup. | |
| virtual bool | createPorts () |
| Overridden to create the automotive ports. | |
| virtual void | setDestinationIsInsideObstruction (bool yesNo) |
| Set whether or not current destination is inside an obstruction. | |
| virtual bool | destinationIsInsideObstruction () const |
| Returns whether or not current destination is inside an obstruction. | |
| Protected Member Functions inherited from DtGroundAutoControllerComponent | |
| 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 DtSoilFactors * | currentSoilFactors () const |
| 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. | |
Protected Attributes | |
| double | myDistanceSquared |
| DtVector | myLocalDestination |
| DtVector | myWorldDestination |
| DtVector | myDestinationVector |
| bool | myDestinationVectorIsValid |
| double | myDesiredSpeed |
| double | myCurrentSpeed |
| bool | myAtDestination |
| bool | myNearDestination |
| bool | myPassedDestination |
| const DtGroundMoveToDescriptor * | myMoveToDescriptor |
| bool | myDestinationIsInsideObstruction |
Ports and Port Groups | |
| DtCollisionInputPort * | myCollisionAvoidancePort |
| Input Port Name: potential-collision-info Input Port Description: Input Port Range: Input Port Default Value: Input Group Parent: collision-avoidance-control. | |
| DtInputPortGroup * | myCollisionAvoidancePortGroup |
| Input Port Group Name: collision-avoidance-control Input Port Group Description: | |
| Protected Attributes inherited from DtGroundAutoControllerComponent | |
| DtGroundVehicleStateRepository * | myGroundVehicleState |
| DtAutomotivePSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. | |
| double | mySpeedErrorLastTick |
| For derivative control in approximateThrottle. | |
| DtConstrainedAnalogOutputPort * | myThrottlePort |
| Output Port Name: throttle Output Port Description: Output Port Range: 0. | |
| DtConstrainedAnalogOutputPort * | mySteeringPort |
| Output Port Name: steering Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: automotive-control. | |
| DtConstrainedAnalogOutputPort * | myBrakePort |
| Output Port Name: brake Output Port Description: Output Port Range: 0. | |
| DtConstrainedIntegerOutputPort * | myGearPort |
| Output Port Name: gear Output Port Description: Output Port Range: Output Port Default Value: Output Group Parent: automotive-control. | |
| DtBooleanOutputPort * | myParkingBrakePort |
| Output Port Name: parking-brake Output Port Description: Output Port Default Value: True Output Group Parent: automotive-control. | |
| DtOutputPortGroup * | myAutomotiveControlPortGroup |
| Output Port Group Name: automotive-control Output Port Group Description: Collection of control output for automotive entity movement controllers. | |
Private Member Functions | |
| DtGroundMoveToDestinationControllerComponent () | |
| Default constructor; should not be called. | |
| DtGroundMoveToDestinationControllerComponent (const DtGroundMoveToDestinationControllerComponent &orig) | |
| copy constructor; shallow; does not copy the ports. | |
| const DtGroundMoveToDestinationControllerComponent & | operator= (const DtGroundMoveToDestinationControllerComponent &orig) |
| assignment operator; see comments on copy constructor! | |
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 |
DtGroundMoveToDestinationControllerComponent is a controller that provides a kinematics-based model of an automotive system that converts throttle, brake, and steering into orientation, acceleration, velocity, and position.
End User Description: It moves the entity of which it is a part towards a user-specified (or other controller specified) destination. Uses Descriptor Type: DtGroundMoveToDescriptor
| DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
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| DtReaderWriterRegistry * | parentRegistry = 0 |
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(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). |
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destructor
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private |
Default constructor; should not be called.
Here because the compiler will generate an unprotected one otherwise.
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private |
copy constructor; shallow; does not copy the ports.
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Initializes modifyVrfObjectCallback.
Reimplemented from DtGroundAutoControllerComponent.
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Overridden to cast and set our local pointer to the descriptor.
Reimplemented from DtSimComponent.
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Looks at the value on myCollisionAvoidancePort, and if there is a value and the destination point is within the bounding volume of the collision object, setDestinationIsInsideObstruction(true) is called.
If setupDestination() returns true, then moveToDestination() is called, otherwise an error is printed.
Reimplemented from DtSimComponent.
Reimplemented in DtGroundMoveAlongControllerComponent.
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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.
Reimplemented from DtGroundAutoControllerComponent.
Reimplemented in DtGroundMoveToControllerComponent, DtGroundPatrolRouteController, DtGroundFollowEntityController, DtGroundInterceptAndDestroyController, DtGroundPatrolBetweenController, DtGroundMoveToLocationControllerComponent, and DtGroundMoveAlongControllerComponent.
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Calls processSetLocation.
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Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.
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Calls processModifyVrfObject.
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Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.
a drag & drop in the front-end).
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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 DtGroundFollowEntityController, DtGroundMoveAlongControllerComponent, DtGroundMoveToControllerComponent, DtGroundPatrolBetweenController, DtGroundInterceptAndDestroyController, DerivedMoveToController, DtGroundPatrolRouteController, and DtGroundMoveToLocationControllerComponent.
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Overridden to register interest in move to and set location commands.
Reimplemented from DtTaskControllerComponent.
Reimplemented in DtGroundFollowEntityController, DtGroundMoveToControllerComponent, DtGroundPatrolBetweenController, DtGroundInterceptAndDestroyController, DtGroundPatrolRouteController, DtGroundMoveAlongControllerComponent, and DtGroundMoveToLocationControllerComponent.
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| destination | the position this object is trying to drive to in local coordinates. |
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Returns the current destination vector for the entity.
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Determines how fast we should go.
If the myNearDestination member variable is true (set by nearDestination()), the desired speed is the value of the approachSpeed parameter in the DtGroundMoveToDescriptor. If the entity is in reverse gear, then that approach speed is negated. If myNearDestination is false, then the entity�s ordered speed is returned.
Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundInterceptAndDestroyController, and DtGroundFollowEntityController.
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Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()).
If the myNearDestination member variable is false, it calls headingAngleTo() to find the heading from the entity to the destination. In either case, if the current gear is DtAutoGearReverse, PI is added to heading before it is returned.
Reimplemented in DtGroundInterceptAndDestroyController, and DtGroundFollowEntityController.
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Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed().
If ordered speed is negative, DtAutoGearReverse is returned. If ordered speed is positive, DtAutoGearForward is returned. In either case, the member variable myProcessState->myCurrentGear is set to the appropriate value.
Reimplemented in DtGroundInterceptAndDestroyController, and DtGroundFollowEntityController.
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Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).
nearDestination() calls calculateCurrentBrakingDistance(). If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the near-distance parameter of the DtGroundMoveToDescriptor, or if it is less than the square of the current braking distance, nearDestination() sets myNearDestination to true. If the above is not true, nearDestination() sets myNearDestination to false. myNearDestination is returned to the calling function.
Reimplemented in DtGroundInterceptAndDestroyController.
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Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.
If the myDistanceSquared !<= at-distance, atDestination() sets myAtDestination to false. myAtDestination is returned to the calling function.
Reimplemented in DtGroundInterceptAndDestroyController.
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Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.
It dead-reckons its position. It calculates the vector that points from the entity to the destination It finds the dot product between this vector and destination vector, If that dot product is greater than 0.0, the entity will pass the destinationthis tick if it does not stop. myPassedDestination is set, and the value is returned to the calling function.
Reimplemented in DtGroundInterceptAndDestroyController, and DtGroundFollowEntityController.
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Set port values for stopping, and mark the task complete.
Reimplemented in DtGroundInterceptAndDestroyController, DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, DtGroundPatrolBetweenController, and DtGroundPatrolRouteController.
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Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
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This function ensures that the destination stored in the process state matches the member function.
Also calculates the destination in local coordinates from the world coordinates.
Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, DtGroundMoveToControllerComponent, and DtGroundInterceptAndDestroyController.
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protectedvirtual |
Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.
This is done by subtracting the DtVector representing the destination's position from the one representing the entity�s position.
Reimplemented in DtGroundInterceptAndDestroyController, and DtGroundFollowEntityController.
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protectedvirtual |
Tells the component that any cached destination vector should be recalculated.
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Given the destination, calculate the heading needed to reach that point.
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protectedvirtual |
Attempts to move to the destination location. Override to provide movement functionality.
Reimplemented in DtGroundInterceptAndDestroyController.
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Checks to see if destination is inside an obstruction.
If it is, returns true. Otherwise it returns the value of DtGroundAutoControllerComponent::decideToGiveUpTask()
Reimplemented from DtGroundAutoControllerComponent.
Reimplemented in DtGroundMoveAlongControllerComponent, and DerivedMoveToController.
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protectedvirtual |
Overridden to create myAutomotiveControlPortGroup.
Reimplemented from DtGroundAutoControllerComponent.
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protectedvirtual |
Overridden to create the automotive ports.
Reimplemented from DtGroundAutoControllerComponent.
Reimplemented in DtGroundInterceptAndDestroyController, and DtGroundFollowEntityController.
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protectedvirtual |
Set whether or not current destination is inside an obstruction.
This should be reevaluated each tick.
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protectedvirtual |
Returns whether or not current destination is inside an obstruction.
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private |
assignment operator; see comments on copy constructor!
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protected |
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mutableprotected |
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mutableprotected |
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protected |
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protected |
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protected |
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protected |
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protected |
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protected |
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protected |
Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.
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protected |
Input Port Group Name: collision-avoidance-control
Input Port Group Description:
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protected |