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VR-Forces 4.1 Class Documentation
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VR-Forces 4.1 Class Documentation
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DtGroundMoveAlongControllerComponent is a controller that models movement of a ground entity along a route. More...
Public Member Functions | |
| DtGroundMoveAlongControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundMoveAlongControllerComponent () |
| destructor | |
| virtual DtString | type () const |
| Returns a string identifies the class type of component. | |
| virtual void | preFirstTickInit () |
| Override to try and look up route if we start out with a move-along route task and if found register routeChangedCallback as a vertices changed callback. | |
| virtual void | tick () |
| If tasked and destinationIsInsideObstruction() but the current vertex in the route is not the last one, print a warning to the console, call setDestinationIsInsideObstruction(false) and then call stop(). | |
| virtual void | processMoveAlongTask (DtSimMessage *msg) |
| 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 () |
| Overrides so the entity will slow down when coming to large turns in the route, but not slowdown/stop if the turn is small. | |
| virtual double | findCosTurnAngle () |
| Returns the cos of the angle of the next turn in the route. | |
| virtual void | stop () |
| Overrides to advance to the next vertex rather then actually stop when a vertex is reached. | |
 Public Member Functions inherited from DtGroundMoveToDestinationControllerComponent | |
| DtGroundMoveToDestinationControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundMoveToDestinationControllerComponent () |
| destructor | |
| virtual bool | init () |
| Initializes modifyVrfObjectCallback. | |
| virtual void | setComponentDescriptor (DtComponentDescriptor *componentDescriptor) |
| Overridden to cast and set our local pointer to the descriptor. | |
| virtual void | processSetLocation (DtSimMessage *msg) |
| Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request. | |
| virtual void | processModifyVrfObject (DtSimMessage *msg) |
| Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e. | |
| virtual bool | getDestination (DtVector &destination) |
| getDestination() | |
| virtual const DtVector & | destinationVector () const |
| Returns the current destination vector for the entity. | |
| virtual double | findDesiredHeading () |
| Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()). | |
| virtual DtAutoTransmissionGearEnum | determineGearSetting () |
| Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed(). | |
| virtual bool | nearDestination () |
| Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()). | |
| virtual bool | atDestination () |
| Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true. | |
| virtual bool | passedDestination () |
| Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration. | |
| virtual void | doMoving () |
| Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results. | |
| Public Member Functions inherited from DtGroundAutoControllerComponent | |
| DtGroundAutoControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundAutoControllerComponent () |
| destructor | |
| virtual double | approximateThrottle (double desiredSpeed) |
| Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil. | |
| virtual double | calculateSteering (double currentHeading, double desiredHeading) const |
| virtual double | calculateCurrentBrakingDistance () const |
| virtual bool | createAutomotiveControlPortGroup () |
| These are called in init to create the ports used to communicate with the actuator. | |
| virtual bool | createThrottlePort () |
| virtual bool | createSteeringPort () |
| virtual bool | createBrakePort () |
| virtual bool | createGearPort () |
| virtual bool | createParkingBrakePort () |
| virtual DtConstrainedAnalogOutputPort * | throttlePort () |
| virtual DtConstrainedAnalogOutputPort * | steeringPort () |
| virtual DtConstrainedAnalogOutputPort * | brakePort () |
| virtual DtConstrainedIntegerOutputPort * | gearPort () |
| virtual DtBooleanOutputPort * | parkingBrakePort () |
| virtual double | decelerationSoilFactor () const |
| virtual double | calcSteeringForTurnInPlace () |
| calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn. | |
| virtual double | calcThrottleForTurnInPlace () |
| calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn. | |
| virtual double | calcBrakeForTurnInPlace () |
| If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned. | |
| virtual int | calcGearForTurnInPlace () |
| calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn. | |
| virtual double | calcSteeringForPivot () |
| calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn. | |
| virtual double | calcThrottleForPivot () |
| calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn. | |
| virtual double | calcSteeringForKTurn () |
| If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn. | |
| virtual double | calcThrottleForKTurn () |
| If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn. | |
| virtual double | calcBrakeForKTurn () |
| If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop. | |
| virtual double | findSpeedForKTurn () |
| If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned. | |
| virtual double | findHeadingForKTurn () |
| If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned. | |
| virtual void | setHeadingToTurnTo (double headingToTurnTo) |
| Get/Set the heading we the entity has been tasked to turn to. | |
| virtual double | headingToTurnTo () const |
| virtual void | setKTurnReverseGoalHeading (double kTurnReverseGoalHeading) |
| Get/Set the heading that is halfway between the original heading and the heading to turn to. | |
| virtual double | kTurnReverseGoalHeading () const |
| virtual void | setKTurnReverseComplete (bool kTurnReverseComplete) |
| Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading()) | |
| virtual bool | kTurnReverseComplete () const |
| Public Member Functions inherited from DtSingleTaskControllerComponent | |
| DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString& name, | |
| virtual | ~DtSingleTaskControllerComponent () |
| destructor | |
| virtual void | postTick () |
| Override to check if we're tasked and we want to give up (only performs the check if we're in play mode (dT() > 0)). | |
| virtual bool | beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState) |
| Called by the task manager when this controller should start executing the specified task. | |
| virtual void | taskNotify (const DtSimTask &task) |
| This is called to let us know when some other component receives a task In the case of this component, we don't care what the task actually is. | |
| virtual void | taskComplete (bool success=true) |
| If we are currently tasked, this will cause us to notify the entity that we're done and delete the task. | |
| virtual int | sendSubtask (DtSimTask &task) |
| Sends subtask to ourself. | |
| virtual void | clearSubtask (int subtaskId) |
| Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()). | |
| virtual void | addPendingSubtaskId (int subtaskId) |
| Adds given subtask Id to list of pending subtasks. | |
| virtual bool | findPendingSubtaskId (int subtaskId) |
| Checks to see if given subtaskId exists in our list of pending subtasks. | |
| virtual void | removePendingSubtaskId (int subtaskId) |
| Removes pending subtask from list of subtasks for this component. | |
| virtual void | removeAllPendingSubtaskIds () |
| Clear all pending subtasks from our list of subtasks. | |
| virtual std::vector< int > | currentPendingSubstaskIds () const |
| Returns the list of all currently pending subtask ids for this controller. | |
| virtual void | clearCurrentTaskMessage () |
| Returns the current subtask with the specified id. | |
| virtual DtTaskMessage * | currentTaskMessage () const |
| Get a pointer to the message that was used to task this entity. | |
| virtual DtSimTaskStatePtr | currentTaskState () const |
| virtual void | giveUpTask () |
| Called when controller is tasked and decideToGiveUp() returns true. | |
| virtual bool | taskActive (int taskId) const |
| | |
| virtual bool | clearTopLevelTasks () |
| If this controller has any top level tasks (not subtasks), they are cleared. | |
| virtual void | clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) |
| Clears any top level tasks on this controller that conflict with the conflict task type. | |
| virtual void | clearTasksByType (const DtSimTaskMessageType &taskType) |
| Clears any tasks of the specified type running in this controller. | |
| virtual void | clearTaskById (int taskId) |
| Clears any task of the specified ID running in this controller. | |
| virtual std::list < DtTaskMessage * > | currentTaskMessages () const |
| | |
| virtual DtTaskWithTaskStateListPtr | topLevelTasks () const |
| | |
| Public Member Functions inherited from DtTaskControllerComponent | |
| DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString& name, | |
| virtual | ~DtTaskControllerComponent () |
| destructor | |
| virtual bool | showCurrentTaskInGui () const |
| virtual void | setRadio (DtSimBaseRadio *radio) |
| Calls registerTaskMsgCallbacks. | |
| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| Adds a new function for processing the specified task type. | |
| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| Deprecated form of addTaskProcessorCallback. | |
| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| Undoes anything done by addTaskProcessorCallback(). | |
| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| Deprecated form of removeTaskProcessorCallback. | |
| virtual void | enable () |
| Overridden to call registerTaskMsgCallbacks(). | |
| virtual void | disable () |
| Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task. | |
| virtual void | sendTaskCanceled (DtTaskMessage *taskMsg) |
| Sends the task canceled report for the specified message. | |
| virtual void | setTasked (bool tasked) |
| The current tasked state of this controller. | |
| virtual bool | tasked () const |
| The current tasked state of this controller. | |
| Public Member Functions inherited from DtControllerComponent | |
| DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString& name, | |
| virtual | ~DtControllerComponent () |
| destructor | |
| virtual DtSimBaseRadio * | radio () |
| The radio this component is listening to. | |
| Public Member Functions inherited from DtSimComponent | |
| DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSimComponent () |
| destructor | |
| void | setParentSystem (DtComponentSystem *system) |
| Sets the parent system of this component. | |
| virtual void | timedTick () |
| This version of tick checks to see if the time to tick has arrived. | |
| virtual void | setMinTickPeriod (double minTickPeriod) |
| specifies a minimum tick period (which can also be thought of as | |
| virtual double | minTickPeriod () const |
| access the minimum tick period | |
| virtual void | setMinTickPeriodVariance (double minTickPeriodVariance) |
| set the variance in the minimum tick time | |
| virtual double | minTickPeriodVariance () const |
| access the variance in the minimum tick period | |
| virtual void | setNextTickTime (double nextTickTime) |
| The next tick time is normally calculated internally. | |
| virtual double | nextTickTime () const |
| access the next tick time | |
| virtual double | calculateNextTickTime () const |
| The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2. | |
| virtual double | calculateFirstTickTime () const |
| Returns the first time value that the component should tick at. | |
| virtual void | setEntity (DtVrfObject *entity) |
| The entity's state repository is the place that actuator components make updates and other components look to see our current state. | |
| virtual DtSimComponent * | nextComponent () |
| List management functions. | |
| virtual DtSimComponent * | prevComponent () |
| virtual void | setListItem (DtListItem *item) |
| Used by DtComponentList. | |
| virtual DtListItem * | listItem () |
| virtual void | putData (FILE *fp, int indentLevel=0) |
| putData writes our type, which is provided by the virtual type accessor of the deriving class. | |
| virtual DtlObjPtr | getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings) |
| getData is just used to get us past the type in the data stream, since it's not actual stored. | |
| virtual void | addInputPort (DtInputPort *port) |
| Adds this input port to the components input port list so that other components can look it up and attach to it. | |
| virtual void | removeInputPort (DtInputPort *port) |
| virtual DtInputPort * | lookupInputPort (const DtString &portName) |
| Returns a pointer to the input port registered on this component with the specified name. | |
| virtual DtList | inputPortList () const |
| Returns the list of DtInputPorts registered on this component. | |
| virtual void | addOutputPort (DtOutputPort *port) |
| Adds this output port to the components output port list so that other components can look it up and attach to it. | |
| virtual void | removeOutputPort (DtOutputPort *port) |
| virtual DtOutputPort * | lookupOutputPort (const DtString &portName) |
| Returns a pointer to the output port registered on this component with the specified name. | |
| virtual DtList | outputPortList () const |
| Returns the list of DtOutputPorts registered on this component. | |
| virtual void | addInputPortGroup (DtInputPortGroup *group) |
| Adds this input port to the components input port list so that other components can look it up and attach to it. | |
| virtual void | removeInputPortGroup (DtInputPortGroup *group) |
| virtual DtInputPortGroup * | lookupInputPortGroup (const DtString &groupName) |
| Returns a pointer the input port group registered on this component with the specified name. | |
| virtual DtList | inputPortGroupList () const |
| Returns the list of DtInputPortGroups registered on this component. | |
| virtual void | addOutputPortGroup (DtOutputPortGroup *group) |
| Adds this output port group to the components output port group list so that other components can look it up and attach to it. | |
| virtual void | removeOutputPortGroup (DtOutputPortGroup *group) |
| virtual DtOutputPortGroup * | lookupOutputPortGroup (const DtString &groupName) |
| Returns a pointer the output port group registered on this component with the specified name. | |
| virtual DtList | outputPortGroupList () const |
| Returns the list of DtOutputPortGroups registered on this component. | |
| virtual int | priority () const |
| Return the current connection priority for this component. | |
| virtual void | setPriority (int priority) |
| Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value. | |
| double | dT () const |
| This is the delta-t for this component, which may or may not be the same as the exerciseClock dT. | |
| virtual void | setDT (double deltaT) |
| Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary. | |
| virtual const DtComponentDescriptor * | componentDescriptor () const |
| virtual bool | tickWhileDestroyed () const |
| If the component returns true here, it will be ticked regardless of the destroyed state of the host entity. | |
| DtVrfProcessStateRepositoryManager * | psrManager () |
| virtual DtString | componentFullName () const |
| virtual bool | isEnabled () |
| Is this component enabled or not. | |
| virtual void | setIsEnabled (bool yesNo) |
| Is this component enabled or not. | |
| virtual DtOutputStream & | objectConsoleDebug () const |
| virtual DtOutputStream & | objectConsoleVerbose () const |
| virtual DtOutputStream & | objectConsoleInfo () const |
| virtual DtOutputStream & | objectConsoleWarn () const |
| virtual DtOutputStream & | objectConsoleError () const |
| virtual DtSimResourceManager & | resourceManager () |
| virtual const DtSimResourceManager & | resourceManager () const |
| Public Member Functions inherited from DtReaderWriter | |
| DtReaderWriter () | |
| default constructor | |
| DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false) | |
| real constructor Setting the readonly flag prevents object from writing itself to the stream. | |
| DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false) | |
| DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL) | |
| copy constructor | |
| DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL) | |
| const DtReaderWriter & | operator= (const DtReaderWriter &orig) |
| assignment operator | |
| virtual | ~DtReaderWriter () |
| destructor | |
| virtual void | putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename()) |
| Top level call to write itself to file. | |
| virtual void | getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference()) |
| Top level to read itself from an input stream. | |
| virtual void | writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename()) |
| Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry. | |
| virtual DtSymbolString | name () const |
| Accessor for name of this readable/writable object. | |
| virtual void | addAlias (const DtSymbolString &alias) |
| Add an alias as an alternative name for this object. | |
| virtual bool | hasAlias (const DtSymbolString &alias) |
| virtual const aliasContainer & | aliases () const |
| virtual void | setReadonly (bool flag) |
| Set read-only flag. | |
| virtual bool | isReadonly () const |
| virtual bool | variableIsBound () const |
| virtual void | unbindVariable () |
| Sets the myVariableIsBound flag to false. | |
| virtual void | setName (const DtString &) |
| Set the name of the object. | |
| virtual const char * | readerWriterType () const |
| Used to supply a string type that this reader writer type is. | |
| virtual DtString | prettyPrint () const |
| Routine to return a human readable form of the reader/writer variable. | |
| virtual void | bindVariables (DtVariableBindingsList variableBindings) |
| Runs a variable binding pass on this reader writer and any of its children. | |
| virtual std::list < DtVariableNameType > | unboundVariables () const |
| bool | invalid () const |
| virtual bool | hasChild (const DtReaderWriter *p) const |
| Returns true if this variable has a child p in it's chain. | |
| virtual void | setValueSpecified (bool specified, bool recurse=false) |
| The specified flags are used for optional values. | |
| virtual bool | valueSpecified () const |
| The specified flags are used for optional values. | |
| virtual bool | isVariableReference () const |
| Specifies whether or not this reader writer is really a variable that is specified elsewhere. | |
| virtual void | setIsVariableReference (bool value) |
| virtual DtSymbolString | variableName () const |
| The variable name, if this object is a variable reference. | |
| virtual void | setVariableName (const DtSymbolString variableName) |
| The variable name, if this object is a variable reference. | |
| const DtReaderWriterRegistry & | registry () const |
| Collection of child DtReaderWriter nodes owned by this object. | |
| DtReaderWriterRegistry & | registry () |
| Collection of child DtReaderWriter nodes owned by this object. | |
Static Public Member Functions | |
| static void | moveAlongCallback (DtSimMessage *msg, void *usr) |
| 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) |
| Handle messages that may indicate the route we're following has changed. | |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| static void | objectAddedCb (DtVrfObject *vrfObject, void *usr) |
| Calls processObjectAdded(). | |
| static void | objectAboutToBeRemovedCallback (DtVrfObject *obj, void *usr) |
| Static Public Member Functions inherited from DtGroundMoveToDestinationControllerComponent | |
| static void | setLocationCallback (DtSimMessage *msg, void *usr) |
| Calls processSetLocation. | |
| static void | modifyVrfObjectCallback (DtSimMessage *msg, void *usr) |
| Calls processModifyVrfObject. | |
Protected Member Functions | |
| DtGroundMoveAlongControllerComponent () | |
| default constructor - should not be called | |
| DtGroundMoveAlongControllerComponent (const DtGroundMoveAlongControllerComponent &orig) | |
| copy constructor | |
| DtGroundMoveAlongControllerComponent & | operator= (const DtGroundMoveAlongControllerComponent &orig) |
| assignment operator | |
| virtual void | buildLocalRoute () |
| builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices. | |
| 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 bool | decideToGiveUpTask () const |
| Checks to see if destination is inside an obstruction. | |
| virtual void | processObjectAboutToBeRemoved (DtVrfObject *obj) |
| Protected Member Functions inherited from DtGroundMoveToDestinationControllerComponent | |
| virtual void | setupDestinationVector () const |
| Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location. | |
| virtual void | invalidateDestinationVector () const |
| Tells the component that any cached destination vector should be recalculated. | |
| virtual double | desiredHeadingFromDestination (const DtDcm &localToTopoDcm) |
| Given the destination, calculate the heading needed to reach that point. | |
| virtual void | moveToDestination () |
| Attempts to move to the destination location. Override to provide movement functionality. | |
| virtual double | distanceToDestination () const |
| virtual bool | createPortGroups () |
| Overridden to create myAutomotiveControlPortGroup. | |
| virtual bool | createPorts () |
| Overridden to create the automotive ports. | |
| virtual void | setDestinationIsInsideObstruction (bool yesNo) |
| Set whether or not current destination is inside an obstruction. | |
| virtual bool | destinationIsInsideObstruction () const |
| Returns whether or not current destination is inside an obstruction. | |
| Protected Member Functions inherited from DtGroundAutoControllerComponent | |
| virtual void | lookupAndCacheProcessSR () |
| This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState. | |
| virtual bool | postAddComponentsInit () |
| Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded. | |
| virtual DtSoilFactors * | currentSoilFactors () const |
| Protected Member Functions inherited from DtSingleTaskControllerComponent | |
| virtual void | clearPendingSubtasks () |
| Iterates over collection of all pending subtasks for this controller, and calls clearSubtask() for each subtask type. | |
| virtual void | clearSubtasksByType (const DtSimTaskMessageType &taskType) |
| Clear all subtasks of a given type. | |
Protected Attributes | |
| 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 |
| int | myPreviousVertex |
| Protected Attributes inherited from DtGroundMoveToDestinationControllerComponent | |
| double | myDistanceSquared |
| DtVector | myLocalDestination |
| DtVector | myWorldDestination |
| DtVector | myDestinationVector |
| bool | myDestinationVectorIsValid |
| double | myDesiredSpeed |
| double | myCurrentSpeed |
| bool | myAtDestination |
| bool | myNearDestination |
| bool | myPassedDestination |
| const DtGroundMoveToDescriptor * | myMoveToDescriptor |
| bool | myDestinationIsInsideObstruction |
| DtCollisionInputPort * | myCollisionAvoidancePort |
| Input Port Name: potential-collision-info Input Port Description: Input Port Range: Input Port Default Value: Input Group Parent: collision-avoidance-control. | |
| DtInputPortGroup * | myCollisionAvoidancePortGroup |
| Input Port Group Name: collision-avoidance-control Input Port Group Description: | |
| Protected Attributes inherited from DtGroundAutoControllerComponent | |
| DtGroundVehicleStateRepository * | myGroundVehicleState |
| DtAutomotivePSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. | |
| double | mySpeedErrorLastTick |
| For derivative control in approximateThrottle. | |
| DtConstrainedAnalogOutputPort * | myThrottlePort |
| Output Port Name: throttle Output Port Description: Output Port Range: 0. | |
| DtConstrainedAnalogOutputPort * | mySteeringPort |
| Output Port Name: steering Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: automotive-control. | |
| DtConstrainedAnalogOutputPort * | myBrakePort |
| Output Port Name: brake Output Port Description: Output Port Range: 0. | |
| DtConstrainedIntegerOutputPort * | myGearPort |
| Output Port Name: gear Output Port Description: Output Port Range: Output Port Default Value: Output Group Parent: automotive-control. | |
| DtBooleanOutputPort * | myParkingBrakePort |
| Output Port Name: parking-brake Output Port Description: Output Port Default Value: True Output Group Parent: automotive-control. | |
| DtOutputPortGroup * | myAutomotiveControlPortGroup |
| Output Port Group Name: automotive-control Output Port Group Description: Collection of control output for automotive entity movement controllers. | |
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 |
DtGroundMoveAlongControllerComponent is a controller that models movement of a ground entity along a route.
Uses Descriptor Type: DtGroundMoveToDescriptor
| DtGroundMoveAlongControllerComponent::DtGroundMoveAlongControllerComponent | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
(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
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protected |
default constructor - should not be called
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protected |
copy constructor
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virtual |
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 DtGroundMoveToDestinationControllerComponent.
Reimplemented in DtGroundPatrolRouteController.
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virtual |
Override to try and look up route if we start out with a move-along route task and if found register routeChangedCallback as a vertices changed callback.
Otherwise register an objectAddedCallback if route not found yet.
Reimplemented from DtSimComponent.
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virtual |
If tasked and destinationIsInsideObstruction() but the current vertex in the route is not the last one, print a warning to the console, call setDestinationIsInsideObstruction(false) and then call stop().
Reimplemented from DtGroundMoveToDestinationControllerComponent.
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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.
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virtual |
Handle messages to move along a route or assume a move along task from another.
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static |
Handle messages that may indicate the route we're following has changed.
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virtual |
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virtual |
Overrides this so it can register it's interest in MoveAlong commands.
Reimplemented from DtGroundMoveToDestinationControllerComponent.
Reimplemented in DtGroundPatrolRouteController.
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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 DtGroundMoveToDestinationControllerComponent.
Reimplemented in DtGroundPatrolRouteController.
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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.
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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.
Reimplemented from DtGroundMoveToDestinationControllerComponent.
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virtual |
Overrides so the entity will slow down when coming to large turns in the route, but not slowdown/stop if the turn is small.
Checks the myNearGoal member variable. If myNearGoal is false, the desired speed is simply the ordered speed. If myNearGoal is true, findDesiredSpeed() next checks to see if the entity is moving toward the last vertex in the route. If it is, then the desired speed in the approach speed parameter specified in the DtGroundMoveToDescriptor. If myNearGoal is true and the entity is not approaching the last vertex, findDesiredSpeed() calls the function findCosTurnAngle() to get a measure of the turn that may be required when the current vertex is reached. If the turn angle is less than 30 degrees then the desired speed is the speed which the entity has been ordered to go. If the turn angle is between 30 and 45 degrees, then the desired speed is the mean of the ordered speed and the approach speed parameter. If the turn angle is greater than 45 degrees, the desired speed is the approach speed parameter. In all cases above, if the current gear is DtAutoGearReverse, the desired speed is negated before being returned.
Reimplemented from DtGroundMoveToDestinationControllerComponent.
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virtual |
Returns the cos of the angle of the next turn in the route.
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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().
Reimplemented from DtGroundMoveToDestinationControllerComponent.
Reimplemented in DtGroundPatrolRouteController.
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static |
Calls processObjectAdded().
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static |
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protected |
assignment operator
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protectedvirtual |
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()).
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protectedvirtual |
removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
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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.
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protectedvirtual |
Override to clear route name and route state data stored in myProcessState.
Reimplemented from DtGroundAutoControllerComponent.
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protectedvirtual |
Checks to see if destination is inside an obstruction.
If it is, returns true. Otherwise it returns the value of DtGroundAutoControllerComponent::decideToGiveUpTask()
Reimplemented from DtGroundMoveToDestinationControllerComponent.
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protectedvirtual |
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protected |
This is looked up once per tick - assumed unchanging while we have control.
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protected |
This gets set to true when a modifyRoute message for the route we're following is received.
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protected |
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protected |