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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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Public Member Functions | |
| MyActuatorComponent (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~MyActuatorComponent () |
| virtual bool | init () |
| Calls createPSR() to create our process state repository. | |
| virtual DtString | type () const |
| Returns a string identifies the class type of component. | |
| virtual void | tick () |
| Calculate new kinematic state. | |
 Public Member Functions inherited from DtAutomotiveActuatorComponent | |
| DtAutomotiveActuatorComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtAutomotiveActuatorComponent () |
| destructor | |
| Public Member Functions inherited from DtActuatorComponent | |
| virtual | ~DtActuatorComponent () |
| destructor | |
| virtual DtSimBaseRadio * | radio () |
| virtual bool | tickWhileDestroyed () const |
| By default, all actuators tick when the entity is destroyed. | |
| 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 | preFirstTickInit () |
| This function can be overridden to initialize a component before it is ticked for the first time. | |
| virtual void | postTick () |
| This function is called immediately after tick() is called. | |
| 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 |
| DtVrfProcessStateRepositoryManager * | psrManager () |
| virtual DtString | componentFullName () const |
| virtual void | enable () |
| Is this component enabled or not. | |
| virtual void | disable () |
| Is this component enabled or not. | |
| 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 *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry) |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
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 DtSimComponent | |
| typedef std::map< DtString, DtInputPort * > | DtInputPortMap |
| typedef std::map< DtString, DtOutputPort * > | DtOutputPortMap |
| typedef std::map< DtString, DtInputPortGroup * > | DtInputPortGroupMap |
| typedef std::map< DtString, DtOutputPortGroup * > | DtOutputPortGroupMap |
| Protected Member Functions inherited from DtAutomotiveActuatorComponent | |
| virtual double | maxSpeedSoilFactor () const |
| virtual double | accelSoilFactor () const |
| virtual double | decelSoilFactor () const |
| virtual DtSoilFactors * | soilFactors () const |
| virtual bool | disableControl () |
| Checks if another components needs to disable the movement actuator Currently the DI-Guy controller does this so that it can keep the entity insynch with the animation it's DI-Guy representation is performing. | |
| virtual void | useFuel (double fuelUsed) |
| Looks up the resource named “fuel” in the entity’s Resource Manager. | |
| virtual double | fuelLeft () const |
| Looks up the resource named “fuel” in the entity’s Resource Manager. | |
| virtual void | updateRepository (const DtVector &localPosition, const DtVector &localVelocity, const DtVector &localAcceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity, double newHeading) |
| Updates the local state repository: It places the position, velocity, acceleration, and orientation arguments into the local repository. | |
| virtual double | calculateMaxDecelerationFromFriction (const DtVector &oldBodyVelocity) |
| Calculates the maximum possible deceleration resulting from friction for the current tick. | |
| virtual double | calculateMaxDecelerationFromBrake (double brake) |
| virtual double | calculateAccelerationFromEngine (double throttle, DtAutoTransmissionGear gear) |
| virtual double | calculateDecelerationFromSoilType (const DtVector &oldBodyVelocity) |
| Calculates the amount of deceleration caused by movement over the current soil type. | |
| virtual double | calculateAccelerationFromSlope (double slope) |
| virtual void | calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition) |
| Calculates the orientation and position of the entity, given a new location and heading. | |
| virtual bool | useHighFidelityGroundClamping () const |
| bool | groundClamp (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal, bool &dataAvailable) |
| Clamps the entity to the ground at the specified location, and determines the normal of the plane the entity is on at that location. | |
| void | groundClampHighFidelity (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal, bool &dataAvailable) |
| Uses all four ground interaction points to determine the plane of the entity and the soil type. | |
| void | groundClampLowFidelity (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal, bool &dataAvailable) |
| Uses only the center ground interaction point. | |
| virtual double | calculateHeading (double oldHeading, const DtVector &oldBodyVelocity, DtAutoTransmissionGear gear, double steering, double throttle, double dT) |
| Determines the new heading given the old heading, the velocity, gear, steering, throttle, and time delta. | |
| virtual DtVector | calculateBodyAcceleration (double throttle, DtAutoTransmissionGear gear, double brake, const DtVector &oldBodyVelocity, double oldPitch, double dT) |
| Calculates the linear acceleration in body coordinates of the entity in meters/second/second. | |
| virtual DtVector | calculateBodyVelocity (const DtVector &oldBodyVelocity, const DtVector &newBodyAcceleration, double dT) |
| virtual DtVector | calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyAcceleration, const DtVector &oldBodyVelocity, double newHeading) |
| virtual bool | checkForTerrainCollisions () const |
| virtual bool | foundTerrainCollision (double heading, const DtVector &oldLocalPosition, const DtVector &newLocalPosition, DtChordIntersectionRecord &collisionIntersectionRecord) const |
| Checks the terrain in between the specified old and new positions, along the specified heading for any terrain intersections. | |
| virtual bool | createMovementChord (DtChord &movementChord, double heading, const DtVector &oldLocalPosition, const DtVector &newLocalPosition) const |
| Creates a chord along the specified heading, starting at the old position and ending at the new position, but each location is increased by the half height of the entity so that the check is done along the center of the entity's movement. | |
| virtual bool | terrainPassable (double heading, const DtChordIntersectionRecord &terrainIntersectionRecord) const |
| Determines if the terrain referenced in the intersection record is "passable" by the entity. | |
| virtual double | calculateMaxSpeed () |
| Calculates the maximum speed for the entity, considering soil factors. | |
| virtual double | calculateMaxAcceleration () |
| Calculates the maximum acceleration for the entity, considering soil factors. | |
| virtual DtVector | calculateRotationalVelocity (const DtDcm &newOrientation, const DtDcm &oldOrientation, double dT) |
| Calculates rotational velocity from new and old orientation body DCMs. | |
| virtual double | calculatePitch (const DtVector &localPosition, double heading, const DtAttachedTerrain &terrain) |
| Calculates pitch at given local position and given heading. | |
| virtual void | calculateDirectionOfLinearMotion (const DtDcm &newLocalOrientation, const DtVector &newLocalPosition, DtDcm &newLocalDirectionOfLinearMotion) |
| Computes direction of linear motion. | |
| virtual double | getPitchAdjustedMaxSpeed (double maxSpeed, double pitch) const |
| Computes a new maximum speed, adjusted for the current pitch of the entity. | |
| virtual bool | createPortGroups () |
| Creates the local port groups. | |
| virtual bool | createPorts () |
| Creates the input ports and adds them to the component. | |
| virtual bool | createPSR () |
| Creates myProcessState data member, and adds it to our process state repository manager. | |
| virtual bool | rotationalVelocityShouldBeClamped (const DtVector &bodyRotationalVelocity) |
| Returns true if given magnitude of body rotational velocity is < 0.0001 radians/sec, false otherwise. | |
| virtual double | steeringControlValue () const |
| virtual double | throttleControlValue () const |
| virtual double | brakeControlValue () const |
| virtual DtAutoTransmissionGear | gearControlValue () const |
| virtual bool | parkingBrakeControlValue () const |
| Protected Attributes inherited from DtAutomotiveActuatorComponent | |
| DtGroundVehicleStateRepository * | myGroundVehicleState |
| DtAutomotivePSR * | myProcessState |
| Container for state data associated with this component. | |
| const DtAutomotiveActuatorDescriptor * | myAutomotiveDescriptor |
| DtConstrainedAnalogInputPort * | myThrottlePort |
| Input Port Name: throttle Input Port Description: Input Port Range: Input Port Default Value: 0 Input Group Parent: | |
| DtConstrainedAnalogInputPort * | mySteeringPort |
| Input Port Name: steering Input Port Description: Input Port Range: -1.0 to 1.0 Input Port Default Value: 0 Input Group Parent: | |
| DtConstrainedAnalogInputPort * | myBrakePort |
| Input Port Name: brake Input Port Description: Input Port Range: 0.0 to 1.0 Input Port Default Value: 0 Input Group Parent: automotive-control. | |
| DtConstrainedIntegerInputPort * | myGearPort |
| Input Port Name: gear Input Port Description: Input Port Default Value: 0 Input Port Range: Reverse, Neutral, Forward, Pivot Input Group Parent: automotive-control. | |
| DtBooleanInputPort * | myParkingBrakePort |
| Input Port Name: parking-brake Input Port Description: Input Port Range: Input Port Default Value: True (Brake On) Input Group Parent: automotive-control. | |
| DtInputPortGroup * | myAutomotiveControlPortGroup |
| Input Port Group Name: automotive-control Input Port Group Description: Provides input to the automotive actuator (powertrain). | |
| DtBooleanInputPort * | myMovementDisableInputPort |
| Input Port Name: movement-disable Input Port Description: Checks to see if another component is determining the movements of the entity. | |
| Static Protected Attributes inherited from DtSimComponent | |
| static DtSimComponentFactory * | myFactory |
| MyActuatorComponent::MyActuatorComponent | ( | const DtString & | name, |
| DtVrfObject * | object, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | compDescriptor, | ||
| DtReaderWriterRegistry * | parentRegistry = 0 |
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| ) |
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Calls createPSR() to create our process state repository.
Reimplemented from DtAutomotiveActuatorComponent.
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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 DtAutomotiveActuatorComponent.
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Calculate new kinematic state.
Reimplemented from DtAutomotiveActuatorComponent.
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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 from DtAutomotiveActuatorComponent.