DtSurfaceEntityMoveToController Class Reference

DtSurfaceEntityMoveToController is a controller that models the movement of a surface entity to a specific waypoint. More...

Inheritance diagram for DtSurfaceEntityMoveToController:

Public Member Functions
	DtSurfaceEntityMoveToController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtSurfaceEntityMoveToController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	clearTask ()
	Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.
virtual void	tick ()
	Takes control of the surface entity output port group and determines the progress controls required to move the ship to the destination waypoint.
virtual void	setupGoalVector (const DtVector &goalPosition)
	Updates myGoalVector.
virtual void	doMoving (double desiredSpeed)
	Calls driftTo with the value returned by getLocalDestination() and the given desired speed.
virtual bool	passedGoal ()
	Determines if the ship has sailed past myControlpoint.
virtual bool	atGoal ()
	Determines if the entity is within the at-distance parameter to the waypoint.
virtual bool	nearGoal ()
	Determines if the entity is within the near-distance parameter to the waypoint.
virtual double	findDesiredSpeed ()
virtual void	processMoveToTask (DtSimMessage *msg)
	Retrieves the name of the target waypoint from the task message.
virtual void	registerTaskMsgCallbacks ()
	Registers interest in move to tasks by calling addTaskProcessorCallback with moveToCallback as the function pointer, and the 'this' pointer as the user data.
Public Member Functions inherited from DtSurfaceEntityPilotController
	DtSurfaceEntityPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtSurfaceEntityPilotController ()
	Destructor.
virtual bool	init ()
	Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState.
virtual bool	createSurfaceControlPortGroup ()
	Creates the surface control output port group.
virtual bool	createThrottlePort ()
	Creates the throttle output port and adds it to mySurfaceControlPortGroup.
virtual bool	createRudderPort ()
	Creates the rudder output port and adds it to mySurfaceControlPortGroup.
virtual DtConstrainedAnalogOutputPort *	throttlePort () const
	Throttle port accessor.
virtual DtConstrainedAnalogOutputPort *	rudderPort () const
	Rudder port accessor.
virtual void	sailTo (const DtVector &destination, double speed)
	Sets the controls needed to sail towards the given destination at the given speed.
virtual void	driftTo (const DtVector &destination, double speed)
	Sets the controls needed to sail towards the given destination at the given speed for as long as possible until the engines are cut at a point which allows the ship to drift to the desired destination.
virtual double	calculateControlForTurn (double yawAngle)
	Calculates the rudder control for a given turn angle.
virtual double	calculateControlForThrottle (double desiredSpeed)
	Calculates the throttle control needed to reach the desired speed.
virtual double	calculateControlForThrottle (double desiredSpeed, double distance)
	Calculates the throttle control needed to reach the desired speed without overshooting the given distance.
virtual void	emergencyStop ()
	Uses the throttle to stop the vessel as quickly as possible.
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	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	The component descriptor specified in the order of battle file or parameter file that was used to create this component.
virtual const DtComponentDescriptor *	componentDescriptor () const
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug () const
virtual DtOutputStream &	objectConsoleVerbose () const
virtual DtOutputStream &	objectConsoleInfo () const
virtual DtOutputStream &	objectConsoleWarn () const
virtual DtOutputStream &	objectConsoleError () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath=DtFilename::nullFilename(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
virtual bool	isReadonly () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Static Public Member Functions
static void	moveToCallback (DtSimMessage *msg, void *user)
	Called when a move to message is received.
static void	objectAboutToBeRemovedCallback (DtVrfObject *obj, void *usr)
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual bool	setupControlPoint ()
	Updates myControlPoint.
virtual double	distanceSquaredToDestination2D (const DtVector &current) const
	Returns distance squared from destination point to current location.
virtual void	getLocalDestination (DtVector &local) const
virtual void	processObjectAboutToBeRemoved (DtVrfObject *obj)
Protected Member Functions inherited from DtSurfaceEntityPilotController
virtual bool	createPortGroups ()
	Overridden to call createSurfaceControlPortGroup().
virtual bool	createPorts ()
	Overridden to call createThrottlePort() and createRudderPort().
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 bool	decideToGiveUpTask () const
	If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class.
	DtSurfaceEntityPilotController ()
	default constructor; not implemented
	DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig)
	copy constructor; not implemented
const DtSurfaceEntityPilotController &	operator= (const DtSurfaceEntityPilotController &orig)
	assignment operator; not implemented
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 *	myControlPoint
	Pointer to the target waypoint.
DtVector	myControlPointLastLocation
	Stores last known location of the waypoint.
DtVector	myGoalVector
	Maintained by setupGoalVector()
bool	myAtGoal
bool	myNearGoal
bool	myPassedGoal
Protected Attributes inherited from DtSurfaceEntityPilotController
DtSurfaceEntityStateRepository *	mySurfaceEntityState
DtSurfaceEntityPilotControllerDescriptor *	myDescriptor
double	myLastDistanceSquared
double	myDistanceSquared
DtSurfaceMovementPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
DtBooleanInputPort *	mySmallVelocityClampedInputPort
	Input Port Name: clamp-small-vel-zero Input Port Description: Input Port Range: Input Port Default Value: True .
DtOutputPortGroup *	mySurfaceControlPortGroup
	Output Port Group Name: surface-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: surface-control.
DtConstrainedAnalogOutputPort *	myRudderPort
	Output Port Name: rudder Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: surface-control.

Private Member Functions
	DtSurfaceEntityMoveToController ()
	default constructor - not implemented
	DtSurfaceEntityMoveToController (const DtSurfaceEntityMoveToController &orig)
	copy constructor
const DtSurfaceEntityMoveToController &	operator= (const DtSurfaceEntityMoveToController &orig)
	assignment operator

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

Detailed Description

DtSurfaceEntityMoveToController is a controller that models the movement of a surface entity to a specific waypoint.

End User Description: DtSurfaceEntityMoveToController (surfEntMvToCtl.h) is derived from DtSurfaceEntityPilotController and implements the Move To Waypoint task for surface entities. It is the parent class of most of the movement controllers. It overrides DtTaskControllerComponent:: registerTaskMsgCallbacks() and registers the callback function moveToCallback() for DtMoveToType. When a move to message is received, the callback invokes processMoveToTask(), which looks up the waypoint in the object manager and stores a pointer to it in myControlPoint.

Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor

Constructor & Destructor Documentation

DtSurfaceEntityMoveToController::DtSurfaceEntityMoveToController	(	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 DtSurfaceEntityMoveToController::~DtSurfaceEntityMoveToController ( )

virtual

destructor

DtSurfaceEntityMoveToController::DtSurfaceEntityMoveToController ( )

private

default constructor - not implemented

DtSurfaceEntityMoveToController::DtSurfaceEntityMoveToController ( const DtSurfaceEntityMoveToController &  orig )

private

copy constructor

Member Function Documentation

virtual DtString DtSurfaceEntityMoveToController::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

DtSurfaceEntityMoveToType

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityPatrolRouteController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityMoveToLocationController, and DtSurfaceEntityFollowEntityController.

virtual void DtSurfaceEntityMoveToController::clearTask ( )

virtual

Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityMoveToController::tick ( )

virtual

Takes control of the surface entity output port group and determines the progress controls required to move the ship to the destination waypoint.

The steps are:

1. The tick() function calls first calls down the base class (DtSurfaceEntityPilotController::tick).
   
2. Before any real processing takes place, tick() checks to see if the controller is tasked (tasked() returns true), and if dT (the amount of simulated time since the controller was last ticked) is non-zero. If these checks pass, it attempts to activate the surface-control output port group. If it is not tasked, dT is 0, or the port group cannot be activated, tick() returns.
   
3. If tick() does not return, it calls setupControlPoint() to look the up the waypoint in the object manager.
   
4. If setupControlPoint() returns false, then tick() deactivates the port group and returns. Otherwise, tick() calculates the distance squared from the entity to the waypoint and sets the member variable myDistanceSquared to that value.
   
5. If passedGoal() returns true, DtSurfaceEntityPilotController::emergencyStop() is called. Otherwise, if atGoal() returns false doMoving() is called using the speed returned by findDesiredSpeed() to continue to provide inputs which guide the ship to the goal. If atGoal() is true and the ship has drifted to a complete stop, taskComplete() is called to signal that the move to task has been completed.

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityFollowEntityController.

virtual void DtSurfaceEntityMoveToController::setupGoalVector ( const DtVector &  goalPosition )

virtual

Updates myGoalVector.

When the move to task arrives (or when the waypoint we're following moves), set up a vector from the waypoint to the entity to use in determining when/if we pass the waypoint. This is done by subtracting the DtVector representing the control point's position from the one representing the entity's position. This vector is used by passedGoal() to determine when (or if) the entity goes to far, and should stop. The result is stored in myGoalVector.

Reimplemented in DtSurfaceEntityFollowEntityController.

virtual void DtSurfaceEntityMoveToController::doMoving ( double  desiredSpeed )

virtual

Calls driftTo with the value returned by getLocalDestination() and the given desired speed.

Reimplemented in DtSurfaceEntityFollowEntityController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolRouteController.

virtual bool DtSurfaceEntityMoveToController::passedGoal ( )

virtual

Determines if the ship has sailed past myControlpoint.

The determination is done based on an imaginary line drawn through the goal vector, perpendicular to the entity's heading. If the entity has passed that line, or will pass it during this simulation frame based on the current speed (computed last frame) passedGoal returns true.

Reimplemented in DtSurfaceEntityFollowEntityController, DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolBetweenController.

virtual bool DtSurfaceEntityMoveToController::atGoal ( )

virtual

Determines if the entity is within the at-distance parameter to the waypoint.

Returns

true if the entity is within the at-distance parameter to the waypoint.

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, atGoal() returns true. The result is stored in myAtGoal.

Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolBetweenController.

virtual bool DtSurfaceEntityMoveToController::nearGoal ( )

virtual

Determines if the entity is within the near-distance parameter to the waypoint.

Returns

true if the entity is within the at-distance parameter to the waypoint.

If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the near-distance parameter of the DtGroundMoveToDescriptor, nearGoal() returns true. This is not currently used for moving to a point, only for entity following. The result is stored in myNearGoal.

virtual double DtSurfaceEntityMoveToController::findDesiredSpeed ( )

virtual

Returns

The ordered speed from the entity's state repository

Reimplemented in DtSurfaceEntityFollowEntityController.

static void DtSurfaceEntityMoveToController::moveToCallback ( DtSimMessage *  msg, void *  user  )

static

Called when a move to message is received.

Instances of this component will register this callback in registerTaskMsgCallbacks (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of move-to tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processMoveToTask is called with the move to task message.

static void DtSurfaceEntityMoveToController::objectAboutToBeRemovedCallback ( DtVrfObject *  obj, void *  usr  )

static

Reimplemented in DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityMoveToController::processMoveToTask ( DtSimMessage *  msg )

virtual

Retrieves the name of the target waypoint from the task message.

Called by moveToCallback to lookup the control point stored in the move to message and store a pointer to it in myControlPoint. If the lookup is successful, setupGoalVector() is called. The name of the waypoint is saved as the control object name in the process state repository.

virtual void DtSurfaceEntityMoveToController::registerTaskMsgCallbacks ( )

virtual

Registers interest in move to tasks by calling addTaskProcessorCallback with moveToCallback as the function pointer, and the 'this' pointer as the user data.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityPatrolRouteController, DtSurfaceEntityFollowEntityController, and DtSurfaceEntityMoveToLocationController.

static DtSimComponent* DtSurfaceEntityMoveToController::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

A new instance of this class.

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityFollowEntityController, DtSurfaceEntityMoveAlongController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityPatrolBetweenController, and DtSurfaceEntityPatrolRouteController.

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

private

assignment operator

virtual bool DtSurfaceEntityMoveToController::setupControlPoint ( )

protectedvirtual

Updates myControlPoint.

Looks up the control point based on the control object name stored in the process state repository. If necessary the myControlPoint pointer is updated. If the control point has changed, setupGoalVector is called to reset myGoalVector.

Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityFollowEntityController, and DtSurfaceEntityMoveToLocationController.

virtual double DtSurfaceEntityMoveToController::distanceSquaredToDestination2D ( const DtVector &  current ) const

protectedvirtual

Returns distance squared from destination point to current location.

Positions are all in local coordinates.

Reimplemented in DtSurfaceEntityMoveToLocationController.

virtual void DtSurfaceEntityMoveToController::getLocalDestination ( DtVector &  local ) const

protectedvirtual

Returns

The position of myControlPoint in local coordinates

Reimplemented in DtSurfaceEntityMoveToLocationController.

virtual void DtSurfaceEntityMoveToController::processObjectAboutToBeRemoved ( DtVrfObject *  obj )

protectedvirtual

Reimplemented in DtSurfaceEntityMoveAlongController.

Member Data Documentation

DtVrfObject* DtSurfaceEntityMoveToController::myControlPoint

protected

Pointer to the target waypoint.

DtVector DtSurfaceEntityMoveToController::myControlPointLastLocation

protected

Stores last known location of the waypoint.

DtVector DtSurfaceEntityMoveToController::myGoalVector

protected

Maintained by setupGoalVector()

bool DtSurfaceEntityMoveToController::myAtGoal

protected

bool DtSurfaceEntityMoveToController::myNearGoal

protected

bool DtSurfaceEntityMoveToController::myPassedGoal

protected

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

• include/vrfmodel/surfEntMvToCtl.h