DtAggregatedMoveAlongController Class Reference

End User Description: Controller for executing DtMoveAlongTask for aggregated aggregates. More...

Inheritance diagram for DtAggregatedMoveAlongController:

Public Member Functions
	DtAggregatedMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Constructor.
virtual	~DtAggregatedMoveAlongController ()
	Destructor.
virtual bool	init ()
	Init. Call immediately after construction.
virtual DtString	type () const
	Returns DtAggregatedMoveAlongControllerType.
virtual void	preFirstTickInit ()
	If the entity is tasked and the route exists, a vertices changed callback is added to it.
virtual void	tick ()
	This components simulation tick.
virtual void	processMoveAlongTask (DtSimMessage *msg, DtSimTaskStatePtr taskState)
	Handle messages to move along a route or assume a move along task from another.
virtual void	processRouteChanged (DtVrfObject *obj)
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register it's interest in MoveAlong commands.
virtual bool	setupRoute ()
	Look up the route by name, and set myRoute if found.
virtual bool	setupDestination ()
	Sets myControlPoint to the position of the route's current vertex.
virtual double	findDesiredSpeed ()
	Returns ordered speed of the entity.
virtual void	stop ()
	Overrides to advance to the next vertex rather then actually stop when a vertex is reached.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	doMoving ()
	Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
virtual double	findDesiredHeading ()
	Calls headingAngleTo() to find the heading from the entity to the destination.
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 bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
virtual void	giveUpTask ()
	Called when controller is tasked and decideToGiveUp() returns true.
virtual bool	taskActive (int taskId) const
virtual bool	clearTopLevelTasks ()
	If this controller has any top level tasks (not subtasks), they are cleared.
virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
	Clears any top level tasks on this controller that conflict with the conflict task type.
virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)
	Clears any tasks of the specified type running in this controller.
virtual void	clearTaskById (int taskId)
	Clears any task of the specified ID running in this controller.
virtual std::list < DtTaskMessage * >	currentTaskMessages () const
virtual DtTaskWithTaskStateListPtr	topLevelTasks () const
Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtTaskControllerComponent ()
	destructor
virtual bool	showCurrentTaskInGui () const
virtual void	setRadio (DtSimBaseRadio *radio)
	Calls registerTaskMsgCallbacks.
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Adds a new function for processing the specified task type.
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Deprecated form of addTaskProcessorCallback.
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Undoes anything done by addTaskProcessorCallback().
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Deprecated form of removeTaskProcessorCallback.
virtual void	enable ()
	Overridden to call registerTaskMsgCallbacks().
virtual void	disable ()
	Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task.
virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)
	Sends the task canceled report for the specified message.
virtual void	setTasked (bool tasked)
	The current tasked state of this controller.
virtual bool	tasked () const
	The current tasked state of this controller.
Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtControllerComponent ()
	destructor
virtual DtSimBaseRadio *	radio ()
	The radio this component is listening to.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual 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 void	moveAlongCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
	Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-along tasks.
static void	routeChangedCallback (DtVrfObject *obj, void *usr)
	Intended to be called only when the route has changed.
static void	objectAddedCb (DtVrfObject *vrfObject, void *usr)
	Calls processObjectAdded().
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Static creator function for factory registration.

Protected Member Functions
virtual void	buildLocalRoute ()
	const DtVector& localDestination) const;
virtual void	emptyVertexList ()
	removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
virtual void	processObjectAdded (DtVrfObject *vrfObject)
	Checks given vrfObject against the route we're looking for.
virtual void	clearTask ()
	Override to clear route name and route state data stored in myProcessState.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
virtual double	distanceToDestination () const
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 bool	getDestination (DtVector &destination)
	getDestination()
virtual const DtVector &	destinationVector () const
	Returns the current destination vector for the entity.
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 double	atDistance () const
	Maximum distance at which entity is considered to be 'at' a route vertex.
virtual bool	stayOnRoute () const
	If true, will attempt to closely follow route segments as it moves along a route.
virtual double	minCorrectionDistance () const
	Maximum distance at which entity is considered to be 'at' a route vertex.
virtual double	maxCorrectionDistance () const
virtual double	maxCorrectionAngle () const
virtual bool	getCurrentRouteSegment (DtVector &routeSegmentStart, DtVector &routeSegmentEnd) const
DtSimTaskStatePtr	currentTaskState () 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
Ports and Port Groups
DtOutputPortGroup *	myMovementControlPortGroup
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtAnalogOutputPort *	mySpeedPort
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtAnalogOutputPort *	myMovementDirectionPort
	Output Port Name: desired-movement-direction Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVectorOutputPort *	myDestinationOutputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordiantes.
DtVrfAggregateStateRepository *	myTrueAggregateRepository
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtAggregatedMoveAlongPSR *	myProcessState
	Container for state data associated with this component.
DtVrfObject *	myRoute
	This is looked up once per tick - assumed unchanging while we have control.
bool	myRouteHasChanged
	This gets set to true when a modifyRoute message for the route we're following is received.
bool	myResetVertex
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
int	myPreviousVertex
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myAtDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myNearDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myPassedDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
double	myDistanceSquared
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVector	myLocalDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVector	myWorldDestination
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
double	myCurrentSpeed
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
bool	myDestinationVectorIsValid
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .
DtVector	myDestinationVector
	Output Port Name: desired-speed Output Port Description: Output Port Range: Output Group Parent: movement-control .

Private Member Functions
	DtAggregatedMoveAlongController ()
	Not Implemented.
	DtAggregatedMoveAlongController (const DtAggregatedMoveAlongController &orig)
	Not Implemented.
DtAggregatedMoveAlongController &	operator= (const DtAggregatedMoveAlongController &orig)
	Not Implemented.

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

Detailed Description

End User Description: Controller for executing DtMoveAlongTask for aggregated aggregates.

This moves the aggregate along a route. Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtAggregatedMoveAlongController::DtAggregatedMoveAlongController ( )

private

Not Implemented.

DtAggregatedMoveAlongController::DtAggregatedMoveAlongController ( const DtAggregatedMoveAlongController &  orig )

private

Not Implemented.

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

Constructor.

virtual DtAggregatedMoveAlongController::~DtAggregatedMoveAlongController ( )

virtual

Destructor.

Member Function Documentation

DtAggregatedMoveAlongController& DtAggregatedMoveAlongController::operator= ( const DtAggregatedMoveAlongController &  orig )

private

Not Implemented.

virtual bool DtAggregatedMoveAlongController::init ( )

virtual

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual DtString DtAggregatedMoveAlongController::type ( ) const

virtual

Returns DtAggregatedMoveAlongControllerType.

Implements DtTaskControllerComponent.

virtual void DtAggregatedMoveAlongController::preFirstTickInit ( )

virtual

If the entity is tasked and the route exists, a vertices changed callback is added to it.

Otherwise, an object added callback is added for objectAddedCb.

Reimplemented from DtSimComponent.

virtual void DtAggregatedMoveAlongController::tick ( )

virtual

This components simulation tick.

Reimplemented from DtSimComponent.

static void DtAggregatedMoveAlongController::moveAlongCallback ( DtSimMessage *  msg, void *  usr, DtSimTaskStatePtr  taskState  )

static

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-along tasks.

virtual void DtAggregatedMoveAlongController::processMoveAlongTask ( DtSimMessage *  msg, DtSimTaskStatePtr  taskState  )

virtual

Handle messages to move along a route or assume a move along task from another.

static void DtAggregatedMoveAlongController::routeChangedCallback ( DtVrfObject *  obj, void *  usr  )

static

Intended to be called only when the route has changed.

Note

Also invalidates the destination vector as the world position has changed.

virtual void DtAggregatedMoveAlongController::processRouteChanged ( DtVrfObject *  obj )

virtual

virtual void DtAggregatedMoveAlongController::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register it's interest in MoveAlong commands.

Reimplemented from DtTaskControllerComponent.

virtual bool DtAggregatedMoveAlongController::setupRoute ( )

virtual

Look up the route by name, and set myRoute if found.

Looks up the route in the Control Manager. If it does not find the route, it returns false. Otherwise, it sets the myRoute member to point to the object found. setupRoute() then checks the myRouteChanged flag. If myRouteChanged is true, it calls the route object’s resyncRouteState() member function to update the current DtRouteState. setupRoute() then returns true.

virtual bool DtAggregatedMoveAlongController::setupDestination ( )

virtual

Sets myControlPoint to the position of the route's current vertex.

If setupRoute() returns false, setupControlPoint() calls taskComplete() and returns false. Otherwise, it sets the position of the myControlPoint member variable to the position of myRoute’s current vertex. If myRouteHasChanged is true, setupGoalVector() is called, and myRouteHasChanged is set to false. true is then returned.

virtual double DtAggregatedMoveAlongController::findDesiredSpeed ( )

virtual

Returns ordered speed of the entity.

virtual void DtAggregatedMoveAlongController::stop ( )

virtual

Overrides to advance to the next vertex rather then actually stop when a vertex is reached.

Checks to see if the entity is currently moving to the last vertex in the route. If so, DtGroundMoveToControllerComponent::stop() is called. Otherwise, myProcessState->routeState()->next() is called, followed by setupControlPoint() and setupGoalVector().

static void DtAggregatedMoveAlongController::objectAddedCb ( DtVrfObject *  vrfObject, void *  usr  )

static

Calls processObjectAdded().

static DtSimComponent* DtAggregatedMoveAlongController::creator ( const DtString &  name, DtVrfObject *  owner, DtSimManager *  simManager, DtComponentDescriptor *  desc = 0, DtReaderWriterRegistry *  parentRegistry = 0  )

static

Static creator function for factory registration.

virtual bool DtAggregatedMoveAlongController::createPorts ( )

virtual

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveAlongController::createPortGroups ( )

virtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveAlongController::createPSR ( )

virtual

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual void DtAggregatedMoveAlongController::doMoving ( )

virtual

Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.

virtual double DtAggregatedMoveAlongController::findDesiredHeading ( )

virtual

Calls headingAngleTo() to find the heading from the entity to the destination.

virtual void DtAggregatedMoveAlongController::buildLocalRoute ( )

protectedvirtual

const DtVector& localDestination) const;

builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices. (calls process state repository's setRouteVertices()).

virtual void DtAggregatedMoveAlongController::emptyVertexList ( )

protectedvirtual

removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).

virtual void DtAggregatedMoveAlongController::processObjectAdded ( DtVrfObject *  vrfObject )

protectedvirtual

Checks given vrfObject against the route we're looking for.

If it is ours, registers a vertices-changed callback on the object. This way we can detect if the route changes while we're trying to follow it.

virtual void DtAggregatedMoveAlongController::clearTask ( )

protectedvirtual

Override to clear route name and route state data stored in myProcessState.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtAggregatedMoveAlongController::moveToDestination ( )

protectedvirtual

Attempts to move to the destination location. Override to provide movement functionality.

virtual void DtAggregatedMoveAlongController::invalidateDestinationVector ( ) const

protectedvirtual

Tells the component that any cached destination vector should be recalculated.

virtual double DtAggregatedMoveAlongController::distanceToDestination ( ) const

protectedvirtual

virtual bool DtAggregatedMoveAlongController::atDestination ( )

protectedvirtual

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.

virtual bool DtAggregatedMoveAlongController::passedDestination ( )

protectedvirtual

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.

virtual bool DtAggregatedMoveAlongController::getDestination ( DtVector &  destination )

protectedvirtual

getDestination()

Parameters

destination

the position this object is trying to drive to in local coordinates.

Returns

true if it has a valid destination () or false if it is unable to determine it's destination.

Note

Used by other areas of the simulation to determine where this object is going. (Information)

virtual const DtVector& DtAggregatedMoveAlongController::destinationVector ( ) const

protectedvirtual

Returns the current destination vector for the entity.

Note

if the destination vector is currently invalidated, it recalculates it and sets it to valid.

See Also

setupDestinationVector

virtual void DtAggregatedMoveAlongController::setupDestinationVector ( ) const

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.

Note

Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

virtual double DtAggregatedMoveAlongController::atDistance ( ) const

protectedvirtual

Maximum distance at which entity is considered to be 'at' a route vertex.

Returns value stored in descriptor (if it exists), otherwise returns 1.0.

Returns

Returns maximum distance in meters from route vertex that entity is considered to be 'at' the vertex.

virtual bool DtAggregatedMoveAlongController::stayOnRoute ( ) const

protectedvirtual

If true, will attempt to closely follow route segments as it moves along a route.

If false, will only attempt to reach each waypoint in turn as it moves along the route.

Returns

Flag indicating whether or entity will attempt to closely follow route segments.

virtual double DtAggregatedMoveAlongController::minCorrectionDistance ( ) const

protectedvirtual

Maximum distance at which entity is considered to be 'at' a route vertex.

Returns

Minimum distance from route that entity will attempt to correct heading to stay on route segment. If entity is within this distance from route segment, it will move directly toward the next waypoint. In meters.

virtual double DtAggregatedMoveAlongController::maxCorrectionDistance ( ) const

protectedvirtual

Returns

Maximum distance from route that entity will attempt to correct heading to stay on route segment. If entity is within the min-correction-distance and max-correction-distance from the route segment, it will correct its heading toward the next waypoint in such a way that it 'pulls' the entity closer to the route as it travels. If distance from route segment is greater than this threshold, it will move directly toward the next waypoint. In meters.

virtual double DtAggregatedMoveAlongController::maxCorrectionAngle ( ) const

protectedvirtual

Returns

Maximum absolute angular corrections entity will make to attempt to move the entity closer to the route segment. In radians. Default is ~45 degrees.

virtual bool DtAggregatedMoveAlongController::getCurrentRouteSegment ( DtVector &  routeSegmentStart, DtVector &  routeSegmentEnd  ) const

protectedvirtual

Returns

True if we are currently moving along a route segment, false otherwise.

Parameters

routeSegmentStart	Starting point of route segment in local coordinates.
routeSegmentEnd	End point of route segment in local coordinates.

DtSimTaskStatePtr DtAggregatedMoveAlongController::currentTaskState ( ) const

protectedvirtual

Returns

Current execution state of the task. At the base class level, returns 0. Derived classes that have tasks with DtTaskState (data associated with execution of the task) may return a new DtTaskState instance, filled out with the appropriate information about the current task execution state. Task controllers that do not need to return task state do not need to override this function.

Reimplemented from DtSingleTaskControllerComponent.

Member Data Documentation

DtOutputPortGroup* DtAggregatedMoveAlongController::myMovementControlPortGroup

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtAnalogOutputPort* DtAggregatedMoveAlongController::mySpeedPort

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtAnalogOutputPort* DtAggregatedMoveAlongController::myMovementDirectionPort

protected

Output Port Name: desired-movement-direction
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVectorOutputPort* DtAggregatedMoveAlongController::myDestinationOutputPort

protected

Output Port Name: destination
Output Port Description: Specifies the current destination of the entity in geocentric coordiantes.

Output Port Range:
Output Group Parent:

DtVrfAggregateStateRepository* DtAggregatedMoveAlongController::myTrueAggregateRepository

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtAggregatedMoveAlongPSR* DtAggregatedMoveAlongController::myProcessState

protected

Container for state data associated with this component.

This state is saved and restored as part of a scenario (or checkpoint).

DtVrfObject* DtAggregatedMoveAlongController::myRoute

protected

This is looked up once per tick - assumed unchanging while we have control.

bool DtAggregatedMoveAlongController::myRouteHasChanged

protected

This gets set to true when a modifyRoute message for the route we're following is received.

bool DtAggregatedMoveAlongController::myResetVertex

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

int DtAggregatedMoveAlongController::myPreviousVertex

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myAtDestination

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myNearDestination

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myPassedDestination

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

double DtAggregatedMoveAlongController::myDistanceSquared

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVector DtAggregatedMoveAlongController::myLocalDestination

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVector DtAggregatedMoveAlongController::myWorldDestination

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

double DtAggregatedMoveAlongController::myCurrentSpeed

protected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

bool DtAggregatedMoveAlongController::myDestinationVectorIsValid

mutableprotected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

DtVector DtAggregatedMoveAlongController::myDestinationVector

mutableprotected

Output Port Name: desired-speed
Output Port Description:
Output Port Range:
Output Group Parent: movement-control
.

---

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

• include/vrfmodel/aggregatedMoveAlongController.h