DtMountingController Class Reference

DtMountingController; models rotation of a launcher. More...

Inheritance diagram for DtMountingController:

Public Member Functions
	DtMountingController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtMountingController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	findDesiredAzimuthAndElevation ()
virtual void	setTargetPoint (const DtVector &localTargetPoint)
	Set a point you want this mounting to line up with.
virtual const DtVector &	targetPoint ()
virtual void	findBodyAzimuthElevationToTargetPoint (const DtVector &targetPointIn)
	Through the out params, this method returns the azimuth and elevation relative to the body required to point the mount at a particular targetPoint.
Public Member Functions inherited from DtBaseMountingController
	DtBaseMountingController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtBaseMountingController ()
	destructor
virtual bool	postAddComponentsInit ()
	Overridden to activate myMountingControlPortGroup.
virtual DtOutputPortGroup *	mountingControlPortGroup ()
	Returns myMountingControlPortGroup.
virtual DtInputPortGroup *	azimuthInfoPortGroup ()
	Returns myAzimuthInfoPortGroup.
virtual DtInputPortGroup *	elevationInfoPortGroup ()
	Returns myAzimuthInfoPortGroup.
virtual void	tick ()
	Calculate new control values.
virtual void	reorientMounting ()
	Spin the mounting to point toward the desired targetPoint or desiredAzimuth/desiredElevation.
virtual bool	desiredOrientationIsInRange (double &azimuthOutOfRangeBy, double &elevationOutOfRangeBy, double additionalAzimuthMargin=0.0, double additionalElevationMargin=0.0)
	Returns true if the desired azimuth and elevation are within the range that this mounting can do.
virtual bool	createAzimuthPort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual DtConstrainedAnalogOutputPort *	azimuthPort () const
virtual bool	createElevationPort ()
virtual DtConstrainedAnalogOutputPort *	elevationPort () const
virtual bool	createAzimuthInfoPorts ()
	creates the ports used by myAzimuthInfoPortGroup
virtual bool	createElevationInfoPorts ()
	creates the ports used by myElevationInfoPortGroup
virtual double	approximateMountSwing (double angleChange, double maxRate)
	Determine how fast a mounting should swing given the angle it must travel through (angleChange) and the maxRate of its transit.
virtual void	setDesiredAzimuth (DtReal desiredAzimuth)
virtual DtReal	desiredAzimuth ()
virtual void	setDesiredElevation (DtReal desiredElevation)
virtual DtReal	desiredElevation ()
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 bool	init ()
	Calls setRadio()
virtual DtSimBaseRadio *	radio ()
	The radio this component is listening to.
virtual void	taskNotify (const DtSimTask &task)
	This is used by the entity to notify all controllers that a new task has been received.
virtual void	clearTask ()
	Called when you want to clear out this component's task state.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	postTick ()
	This function is called immediately after tick() is called.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	The component descriptor specified in the order of battle file or parameter file that was used to create this component.
virtual const DtComponentDescriptor *	componentDescriptor () const
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 void	enable ()
	Is this component enabled or not.
virtual void	disable ()
	Is this component enabled or not.
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug () const
virtual DtOutputStream &	objectConsoleVerbose () const
virtual DtOutputStream &	objectConsoleInfo () const
virtual DtOutputStream &	objectConsoleWarn () const
virtual DtOutputStream &	objectConsoleError () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
virtual bool	isReadonly () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
	DtMountingController ()
	Default constructor; should not be called.
	DtMountingController (const DtMountingController &orig)
	copy constructor; shallow; does not copy the ports.
const DtMountingController &	operator= (const DtMountingController &orig)
	assignment operator; see comments on copy constructor!
Protected Member Functions inherited from DtBaseMountingController
virtual bool	createPortGroups ()
	Overridden to create mounting port groups.
virtual bool	createPorts ()
	Overridden to create mounting ports.
	DtBaseMountingController ()
	default constructor; not implemented
	DtBaseMountingController (const DtBaseMountingController &orig)
	copy constructor; not implemented
const DtBaseMountingController &	operator= (const DtBaseMountingController &orig)
	assignment operator; not implemented
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor
	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
virtual void	setRadio (DtSimBaseRadio *radio)
Protected Member Functions inherited from DtSimComponent
bool	testInvariant () const
virtual DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorld *	physicalWorld () const
virtual DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrain *	terrainAttachedTo () const
virtual DtVrfObject *	entity ()
	Gets the entity.
virtual const DtVrfObject *	entity () const
virtual DtSimManager *	simManager ()
	Gets the sim manager.
virtual const DtSimManager *	simManager () const
virtual const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_System *	coordinateSystem ()
virtual DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository.
virtual const DtVrfObjectStateRepository *	localStateRepository () const
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.

Protected Attributes
bool	myUseTargetPoint
	Where the mount is supposed to point in local database coords.
DtVector	myTargetPoint
Protected Attributes inherited from DtBaseMountingController
DtArticulatedPartStateRepository *	myAzimuthMountPart
DtArticulatedPartStateRepository *	myElevationMountPart
DtArticulatedPartStateRepository *	myChildSimBody
DtReal	myDesiredAzimuth
	Desired azimuth angle relative to the body.
DtReal	myDesiredElevation
	Desired elevation angle relative to the body.
DtReal	myAngleApproxMargin
	To prevent endless fine adjustments to the azimuth and elevation we'll use a constant margin to determine when the azimuth and elevation are close enough.
DtInputPortGroup *	myAzimuthInfoPortGroup
	Input Port Group Name: azimuth-info Input Port Group Description: Used to get azimuth information from the actuator.
DtAnalogInputPort *	myNominalAzimuthPort
	Input Port Name: nominal-azimuth Input Port Description: Nominal azimuth value.
DtAnalogInputPort *	myAzimuthRangePort
	Input Port Name: azimuth-range Input Port Description: Azimuth sweep range.
DtAnalogInputPort *	myMaxAzimuthRatePort
	Input Port Name: azimuth-rate Input Port Description: Max azimuth rate.
DtIntegerInputPort *	myAzimuthPartTypePort
	Input Port Name: azimuth-part-type Input Port Description: Type of articulated part.
DtInputPortGroup *	myElevationInfoPortGroup
	Input Port Group Name: elevation-info Input Port Group Description: Used to get elevation information from the actuator.
DtAnalogInputPort *	myNominalElevationPort
	Input Port Name: nominal-elevation Input Port Description: Nominal elevation value.
DtAnalogInputPort *	myElevationRangePort
	Input Port Name: elevation-range Input Port Description: Elevation sweep range Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtAnalogInputPort *	myMaxElevationRatePort
	Input Port Name: elevation-rate Input Port Description: Max elevation rate Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtIntegerInputPort *	myElevationPartTypePort
	Input Port Name: elevation-part-type Input Port Description: Type of articulated part Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtOutputPortGroup *	myMountingControlPortGroup
	Output Port Group Name: mounting-control Output Port Group Description: Accepts output from the missile launcher controller and indirect fire controller.
DtConstrainedAnalogOutputPort *	myAzimuthPort
	Output Port Name: azimuth Output Port Description: Output Port Range: -1.
DtConstrainedAnalogOutputPort *	myElevationPort
	Output Port Name: elevation Output Port Description: Output Port Range: -1.
Protected Attributes inherited from DtControllerComponent
DtSimBaseRadio *	myRadio
	Controller components can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
const DtComponentDescriptor *	myComponentDescriptor
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap
typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap
typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap
typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

DtMountingController; models rotation of a launcher.

DtMountingController is a controller that generates the azimuth and elevation controls needed to manipulate a launcher.

End User Description: Given a target location to aim towards, it generates the control outputs necessary to rotate a launcher into position.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

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).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtMountingController::~DtMountingController ( )

virtual

destructor

DtMountingController::DtMountingController ( )

protected

Default constructor; should not be called.

Here because the compiler will generate an unprotected one otherwise.

DtMountingController::DtMountingController ( const DtMountingController &  orig )

protected

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual DtString DtMountingController::type ( ) const

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.

Returns

DtMountingControllerType

Reimplemented from DtBaseMountingController.

virtual void DtMountingController::findDesiredAzimuthAndElevation ( )

virtual

Reimplemented from DtBaseMountingController.

virtual void DtMountingController::setTargetPoint ( const DtVector &  localTargetPoint )

virtual

Set a point you want this mounting to line up with.

The localTargetPoint is in local database coords.

virtual const DtVector& DtMountingController::targetPoint ( )

virtual

virtual void DtMountingController::findBodyAzimuthElevationToTargetPoint ( const DtVector &  targetPointIn )

virtual

Through the out params, this method returns the azimuth and elevation relative to the body required to point the mount at a particular targetPoint.

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

static

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

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).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns

New instance of this class.

Reimplemented from DtBaseMountingController.

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

protected

assignment operator; see comments on copy constructor!

Member Data Documentation

bool DtMountingController::myUseTargetPoint

protected

Where the mount is supposed to point in local database coords.

DtVector DtMountingController::myTargetPoint

protected

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

• include/vrfmodel/mountingCtlr.h