Public Member Functions |
| | DtFixedWingMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString&,DtVrfObject*,DtSimManager*,
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| virtual | ~DtFixedWingMoveAlongController () |
| | destructor
|
| virtual void | preFirstTickInit () |
| | If tasked and if the process state has a route name, setupRoute is called.
|
| virtual void | tick () |
| | Calculate new control values.
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| virtual DtString | type () const |
| | Returns a string identifies the class type of component.
|
| virtual void | doFinishing () |
| | Based on the current movement status of the entity, calls the appropriate doFinishing function.
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| virtual void | doFinishingForFlying () |
| | Checks to see if the entity is within two seconds of being at the waypoint, or if the entity’s distance from the waypoint is greater than it was the previous frame (by comparing myProcessState->distanceSquared() to myProcessState->lastDistanceSquared()).
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| virtual void | doFinishingForTaxiing () |
| | Only called if the entity is near its goal.
|
| virtual void | doMoving () |
| | Determines what state the entity is currently in and then calls the appropriate doMoving function for that state.
|
| virtual void | doFlying () |
| | Determines if the entity is five seconds or fewer away from being at the waypoint using the entity’s speed and myDistanceSquared.
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| virtual void | doTaxiing () |
| | Determines if the entity is near its goal.
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| virtual void | doTakeOff () |
| | Changes the ordered speed to be the max ground speed and then taxi's in the direction of the waypoint.
|
| virtual void | doLanding () |
| | Checks to see if the entity is on the ground.
|
| virtual double | findDesiredSpeed () |
| | This function returns the appropriate speed for the movement status of the FWE.
|
| virtual bool | nearGoal () |
| | Determines if the entity is close enough to the waypoint that it can be considered near its goal.
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| virtual bool | atGoal () |
| | Determines if the entity is "at" the goal.
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| virtual bool | passedGoal () |
| | Determines if the entity will move passed the control point to which it is moving this frame if it continues at its current velocity and acceleration.
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| virtual void | processFlyAlongTask (DtSimMessage *msg) |
| virtual void | processMoveAlongTask (DtSimMessage *msg) |
| virtual void | processRouteChanged (DtVrfObject *obj) |
| | Called when the route to which this entity is tasked is modified.
|
| virtual void | processSetAltitude (DtSimMessage *msg) |
| | In all of the process functions, if an altitude change occured, then the function redetermines the proper value for the movement status and any other state variables.
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| virtual void | processSetLocation (DtSimMessage *msg) |
| virtual void | processSetRestore (DtSimMessage *msg) |
| virtual void | processModifyVrfObject (DtSimMessage *msg) |
| | If the entity is tasked, the route is valid, and the object moved was the entity, then this resets the current route state to the closest point on the route.
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| virtual void | processDeleteVrfObject (DtVrfObject *msg) |
| | Makes sure to update the state of the controller appropriately if either the route or any other relevent vrfobject was deleted.
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| virtual bool | setupRoute () |
| virtual void | registerTaskMsgCallbacks () |
| | Overrides this so it can register it's interest in the radio messages defined above.
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| | DtFixedWingPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString&,DtVrfObject*,DtSimManager*,
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| virtual | ~DtFixedWingPilotController () |
| | destructor
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| virtual bool | init () |
| | Initializes myFixedWingEntityState.
|
| virtual void | taxiTo (const DtVector &destination, double speed) |
| | The following functions assume that the FWE is on the GROUND.
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| virtual void | taxi (double speed, double turnRate) |
| | Call this to taxi at a given speed and turn rate.
|
| virtual double | calculateSteering (double turnAngle) const |
| | Calculates the pedal port value for the given turn angle.
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| virtual double | approximateThrottle (double speed) |
| | Calculates the throttle port value for the given speed using: throttle = (slope/maxSlope + ((desiredSpeed/maxSpeed))
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| virtual double | calculateCurrentBrakingDistance () const |
| | Returns the braking distance using the current speed and breaking ability to determine how long it would take to brake.
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| virtual void | flyTo (const DtVector &destination, double speed) |
| | The following functions assume that the FWE is in the AIR.
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| virtual void | flyToDirect (const DtVector &destination, double speed) |
| | Call this to fly to a specified 3D point at the given speed.
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| virtual void | fly (double speed, double turnRate, double climbRate) |
| | Call this to fly at a given speed, turn rate and climb rate.
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| virtual void | flyFixedPitch (double speed, double turnRate, double desiredPitch) |
| | Call this to fly at a given speed, turn rate and pitch.
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| virtual void | circle (const DtVector ¢er, double radius, double speed, double altitude, bool clockwise=true) |
| | Call this to fly in a circle.
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| virtual double | calcControlForRoll (double rollRate) |
| | Calculates and returns the stickY value needed to achieve the desired roll rate.
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| virtual double | calcControlForThrottle (double speed, bool &deployFlaps) |
| | Calculates a throttle value based on the entity’s current speed, desired speed, and current acceleration.
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| virtual void | calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal) |
| | The calcControlForTurnAndClimb() method determines the appropriate pitch angle to use to achieve the desired climb rate, then calls calccontrolForTurnAndPitch().
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| virtual void | calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal) |
| | The calcControlForTurnAndClimb() method determines complementary stickX and pedal values to achieve a desired turn rate and climb rate.
|
| virtual double | calculateClimbRate (double altitude, double climbTime) const |
| | Calculates a climb rate to achieve the specified altitude in the climbTime specified.
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| virtual double | calculateTurnRate (double turnAngle) const |
| | Determines the turn rate that will be used to change heading.
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| virtual double | calculateRollAngle (double turnRate, double speed) const |
| | Calculates a roll angle for a turn based on the turn rate desired and the entity’s current speed.
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| virtual double | calculateRollRate (double rollAngle) |
| | Calculates a desired rate of roll based on the current roll and the desired roll angle.
|
| virtual void | calculateNormalizedBodyVelocity () |
| | Put current velocity into body coordinates.
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| virtual void | calculateLocalAngularVelocity () |
| | The calculateLocalAngularVelocity() function calculates the entity’s current rate of heading change and stores the value in myProcessState's myLocalAngularVelocity member.
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| virtual void | calculateSpeedRatioSquared () |
| | Calculate the square of our current speed divided by our max speed.
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| virtual void | initializeControllerForTick () |
| | The initializeControllerForTick() function is called to recompute the entity’s normalized body velocity, local angular velocity, and speed ratio squared.
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| virtual bool | createFixedWingControlPortGroup () |
| | These are called in init to create the ports used to communicate with the actuator.
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| virtual bool | createThrottlePort () |
| virtual bool | createStickPort () |
| virtual bool | createPedalPort () |
| virtual bool | createBrakePort () |
| virtual bool | createFlapsDeployedPort () |
| | This is not currently used.
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virtual
DtConstrainedAnalogOutputPort * | throttlePort () |
| | These provide access to the ports.
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virtual
DtConstrainedDualAxisAnalogOutputPort * | stickPort () |
virtual
DtConstrainedAnalogOutputPort * | pedalPort () |
virtual
DtConstrainedAnalogOutputPort * | brakePort () |
| virtual DtBooleanOutputPort * | flapsDeployedPort () |
| virtual void | setMaxThrustAcceleration (double maxThrustAcceleration) |
| | These are used to set values in the process state repository.
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| virtual void | setTakeOffDir (const DtVector &takeOffDir) |
| | The direction vector for take off.
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| virtual const DtVector & | takeOffDir () const |
| virtual DtReal | maxTurningGs () const |
| | Parameter value from descriptor.
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| virtual DtReal | maxTurnRateCutoffAngle () const |
| | Parameter value from descriptor.
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| virtual DtReal | maxTaxiingTurnSpeed () const |
| | Parameter value from descriptor.
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| virtual DtReal | taxiingNearDistance () const |
| | Parameter value from descriptor.
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| virtual DtReal | taxiingAtDistance () const |
| | Parameter value from descriptor.
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| virtual DtReal | taxiingApproachSpeed () const |
| | Parameter value from descriptor.
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| virtual DtReal | maxPitchAngle () const |
| | Parameter value from descriptor.
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| virtual DtReal | timeToTargetAltitude () const |
| | Parameter value from descriptor.
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| | DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString& name,
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| virtual | ~DtSingleTaskControllerComponent () |
| | destructor
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| 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)).
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| virtual bool | beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState) |
| | Called by the task manager when this controller should start executing the specified task.
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| 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.
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| 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.
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| virtual int | sendSubtask (DtSimTask &task) |
| | Sends subtask to ourself.
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| virtual void | clearSubtask (int subtaskId) |
| | Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()).
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| virtual void | addPendingSubtaskId (int subtaskId) |
| | Adds given subtask Id to list of pending subtasks.
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| virtual bool | findPendingSubtaskId (int subtaskId) |
| | Checks to see if given subtaskId exists in our list of pending subtasks.
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| virtual void | removePendingSubtaskId (int subtaskId) |
| | Removes pending subtask from list of subtasks for this component.
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| virtual void | removeAllPendingSubtaskIds () |
| | Clear all pending subtasks from our list of subtasks.
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| virtual std::vector< int > | currentPendingSubstaskIds () const |
| | Returns the list of all currently pending subtask ids for this controller.
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| virtual void | clearCurrentTaskMessage () |
| | Returns the current subtask with the specified id.
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| virtual DtTaskMessage * | currentTaskMessage () const |
| | Get a pointer to the message that was used to task this entity.
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| virtual DtSimTaskStatePtr | currentTaskState () const |
| virtual void | giveUpTask () |
| | Called when controller is tasked and decideToGiveUp() returns true.
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| virtual bool | taskActive (int taskId) const |
| |
|
| virtual bool | clearTopLevelTasks () |
| | If this controller has any top level tasks (not subtasks), they are cleared.
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| virtual void | clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) |
| | Clears any top level tasks on this controller that conflict with the conflict task type.
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| 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.
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virtual std::list
< DtTaskMessage * > | currentTaskMessages () const |
| |
|
| virtual DtTaskWithTaskStateListPtr | topLevelTasks () const |
| |
|
| | DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString& name,
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| virtual | ~DtTaskControllerComponent () |
| | destructor
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| virtual bool | showCurrentTaskInGui () const |
| virtual void | setRadio (DtSimBaseRadio *radio) |
| | Calls registerTaskMsgCallbacks.
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| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| | Adds a new function for processing the specified task type.
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| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| | Deprecated form of addTaskProcessorCallback.
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| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| | Undoes anything done by addTaskProcessorCallback().
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| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| | Deprecated form of removeTaskProcessorCallback.
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| virtual void | enable () |
| | Overridden to call registerTaskMsgCallbacks().
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| virtual void | disable () |
| | Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task.
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| virtual void | sendTaskCanceled (DtTaskMessage *taskMsg) |
| | Sends the task canceled report for the specified message.
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| virtual void | setTasked (bool tasked) |
| | The current tasked state of this controller.
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| virtual bool | tasked () const |
| | The current tasked state of this controller.
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| | DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| | (const DtString& name,
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| virtual | ~DtControllerComponent () |
| | destructor
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| virtual DtSimBaseRadio * | radio () |
| | The radio this component is listening to.
|
| | DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| virtual | ~DtSimComponent () |
| | destructor
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| void | setParentSystem (DtComponentSystem *system) |
| | Sets the parent system of this component.
|
| 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
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| virtual void | setMinTickPeriodVariance (double minTickPeriodVariance) |
| | set the variance in the minimum tick time
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| virtual double | minTickPeriodVariance () const |
| | access the variance in the minimum tick period
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| virtual void | setNextTickTime (double nextTickTime) |
| | The next tick time is normally calculated internally.
|
| virtual double | nextTickTime () const |
| | access the next tick time
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| virtual double | calculateNextTickTime () const |
| | The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
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| 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.
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| 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.
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| 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.
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| 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.
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| 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.
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| virtual DtList | outputPortList () const |
| | Returns the list of DtOutputPorts registered on this component.
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| 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.
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| virtual DtList | inputPortGroupList () const |
| | Returns the list of DtInputPortGroups registered on this component.
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| 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.
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| virtual int | priority () const |
| | Return the current connection priority for this component.
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| 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 |
| | 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.
|
Public Member Functions inherited from DtFixedWingPilotController