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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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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. | |
 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 |
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| 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 |
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| virtual DtTaskWithTaskStateListPtr | topLevelTasks () const |
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| 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 | 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 void | setComponentDescriptor (DtComponentDescriptor *componentDescriptor) |
| The component descriptor specified in the order of battle file or parameter file that was used to create this component. | |
| 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=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 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 | |
| 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. | |
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 |
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 |
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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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virtual |
Destructor.
Deletes all ports and port groups
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protected |
default constructor; not implemented
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protected |
copy constructor; not implemented
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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.
Implements DtTaskControllerComponent.
Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityPatrolRouteController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityFollowEntityController, and DtSurfaceEntityMoveToController.
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Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState.
Reimplemented from DtControllerComponent.
Reimplemented in DtSurfaceEntityMoveAlongController.
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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.
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Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.
Reimplemented from DtSingleTaskControllerComponent.
Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityMoveToController.
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Creates the surface control output port group.
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Creates the throttle output port and adds it to mySurfaceControlPortGroup.
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Creates the rudder output port and adds it to mySurfaceControlPortGroup.
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Throttle port accessor.
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Rudder port accessor.
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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.
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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.
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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.
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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.
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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.
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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.
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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 DtSurfaceEntityMoveToController, DtSurfaceEntityFollowEntityController, DtSurfaceEntityMoveAlongController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityPatrolBetweenController, and DtSurfaceEntityPatrolRouteController.
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protectedvirtual |
Overridden to call createSurfaceControlPortGroup().
Reimplemented from DtSimComponent.
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protectedvirtual |
Overridden to call createThrottlePort() and createRudderPort().
Reimplemented from DtSimComponent.
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protectedvirtual |
This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.
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.
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protectedvirtual |
Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.
Reimplemented from DtSimComponent.
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protectedvirtual |
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.
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assignment operator; not implemented
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protected |
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protected |
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Input Port Name: clamp-small-vel-zero
Input Port Description:
Input Port Range:
Input Port Default Value: True
.
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Output Port Group Name: surface-control
Output Port Group Description:
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protected |
Output Port Name: throttle
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: surface-control.
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protected |
Output Port Name: rudder
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: surface-control.
|
protected |
|
protected |
|
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).