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VR-Forces 4.10 Class Documentation
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VR-Forces 4.10 Class Documentation
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DtFixedWingPilotController is a controller that models the capabilities of a fixed-wing pilot. More...
Public Member Functions | |
| DtFixedWingPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtFixedWingPilotController () |
| destructor More... | |
| virtual bool | init () |
| Initializes myFixedWingEntityState. More... | |
| virtual void | tick () |
| Only gets actuator values the first time it's called. More... | |
| virtual const char * | type () const |
| Returns a string identifies the class type of component. More... | |
| virtual void | clearTask () |
| Overridden to deactivate the port group when this controller completes a task. More... | |
| virtual void | taxiTo (const DtVector &destination, double speed) |
| The following functions assume that the FWE is on the GROUND. More... | |
| virtual void | taxi (double speed, double turnRate) |
| Call this to taxi at a given speed and turn rate. More... | |
| virtual double | calculateSteering (double turnAngle) const |
| Calculates the pedal port value for the given turn angle. More... | |
| virtual double | approximateThrottle (double speed) |
| Calculates the throttle port value for the given speed using: throttle = (slope/maxSlope + ((desiredSpeed/maxSpeed)) More... | |
| virtual double | calculateCurrentBrakingDistance () const |
| Returns the braking distance using the current speed and breaking ability to determine how long it would take to brake. More... | |
| virtual void | flyTo (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1) |
| The following functions assume that the FWE is in the AIR. More... | |
| virtual void | flyToDirect (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1) |
| Call this to fly to a specified 3D point at the given speed. More... | |
| virtual void | fly (double speed, double turnRate, double climbRate, double maxTerrainAvoidanceLookaheadDist=-1) |
| Call this to fly at a given speed, turn rate and climb rate. More... | |
| virtual void | flyFixedPitch (double speed, double turnRate, double desiredPitch, double maxTerrainAvoidanceLookaheadDist=-1) |
| Call this to fly at a given speed, turn rate and pitch. More... | |
| virtual double | terrainAvoidancePitch (double speed, double desiredPitch, double maxTerrainAvoidanceLookaheadDist) |
| Checks for upcoming terrain collision along the path defined by the current heading and desiredPitch and if found, returns a new pitch to avoid terrain collision. More... | |
| virtual bool | clearPathTo (const DtVector &localPosition) |
| Checks if there is a clear path from the entity location to the specified location. More... | |
| virtual void | circle (const DtVector ¢er, double radius, double speed, double altitude, bool clockwise=true) |
| Call this to fly in a circle. More... | |
| virtual double | calcControlForRoll (double rollRate) |
| Calculates and returns the stickY value needed to achieve the desired roll rate. More... | |
| virtual double | calcControlForThrottle (double speed, bool &deployFlaps) |
| Calculates a throttle value based on the entity's current speed, desired speed, desired body pitch rate, and current acceleration. More... | |
| virtual double | decelerationLimitedClimbRate (double altitudeError, double desiredSpeed, double finalClimbRate=0.0) |
| Estimates a limited climb rate that the entity can command this tick that will allow it to level out when the altitude error has been reduced to zero. More... | |
| virtual void | calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal) |
| The calcControlForTurnAndClimb() method determines the appropriate pitch angle to use to achieve the desired climb rate, then calls calccontrolForTurnAndPitch(). More... | |
| virtual void | calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal, double rollRate=0.0) |
| The calcControlForTurnAndClimb() method determines complementary stickX and pedal values to achieve a desired turn rate and climb rate. More... | |
| virtual double | calculateClimbRate (double altitude, double climbTime) const |
| Calculates a climb rate to achieve the specified altitude in the climbTime specified. More... | |
| virtual double | calculateTurnRate (double turnAngle, double additionalTurnRate=0) const |
| Determines the turn rate that will be used to change heading. More... | |
| virtual double | calculateRollAngle (double turnRate, double speed) const |
| Calculates a roll angle for a turn based on the turn rate desired and the entity's current speed. More... | |
| virtual double | calculateRollRate (double rollAngle, double turnRate) |
| Calculates a desired rate of roll based on the current roll and the desired roll angle. More... | |
| virtual void | calculateNormalizedBodyVelocity () |
| Put current velocity into body coordinates. More... | |
| virtual void | calculateLocalAngularVelocity () |
| The calculateLocalAngularVelocity() function calculates the entity’s current rate of heading change and stores the value in myProcessState's myLocalAngularVelocity member. More... | |
| virtual void | calculateSpeedRatioSquared () |
| Calculate the square of our current speed divided by our max speed. More... | |
| virtual void | initializeControllerForTick () |
| The initializeControllerForTick() function is called to recompute the entity's normalized body velocity, local angular velocity, and speed ratio squared. More... | |
| virtual bool | createFixedWingControlPortGroup () |
| These are called in init to create the ports used to communicate with the actuator. More... | |
| virtual bool | createThrottlePort () |
| virtual bool | createStickPort () |
| virtual bool | createPedalPort () |
| virtual bool | createBrakePort () |
| virtual bool | createFlapsDeployedPort () |
| This is not currently used. More... | |
| virtual DtConstrainedAnalogOutputPort * | throttlePort () |
| These provide access to the ports. More... | |
| virtual DtConstrainedDualAxisAnalogOutputPort * | stickPort () |
| virtual DtConstrainedAnalogOutputPort * | pedalPort () |
| virtual DtConstrainedAnalogOutputPort * | brakePort () |
| virtual DtBooleanOutputPort * | flapsDeployedPort () |
| virtual void | setMaxThrustAcceleration (double maxThrustAcceleration) |
| These are used to set values in the process state repository. More... | |
| virtual void | setTakeOffDir (const DtVector &takeOffDir) |
| The direction vector for take off. More... | |
| virtual const DtVector & | takeOffDir () const |
| virtual double | maxTurningGs () const |
| This is a reference to the entity parameters, stored in the state repository. More... | |
| virtual bool | terrainAvoidanceEnabled () |
| virtual double | terrainAvoidanceLookaheadTime () |
| virtual DtReal | maxTurningGsForTask () const |
| Parameter value from descriptor. More... | |
| virtual DtReal | maxTurnRateCutoffAngle () const |
| virtual DtReal | maxTaxiingTurnSpeed () const |
| virtual DtReal | taxiingNearDistance () const |
| virtual DtReal | taxiingAtDistance () const |
| virtual DtReal | taxiingApproachSpeed () const |
| virtual DtReal | maxPitchAngle () const |
| virtual DtReal | timeToTargetAltitude () const |
 Public Member Functions inherited from DtSingleTaskControllerComponent | |
| DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSingleTaskControllerComponent () |
| destructor More... | |
| 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)). More... | |
| virtual bool | beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState) |
| Called by the task manager when this controller should start executing the specified task. More... | |
| 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. More... | |
| 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. More... | |
| virtual void | suspendTask () |
| This method is called when the currently running task is being suspended. More... | |
| virtual int | sendSubtask (DtSimTask &task) |
| Sends subtask to ourself. More... | |
| virtual void | clearSubtask (int subtaskId) |
| Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()). More... | |
| virtual void | addPendingSubtaskId (int subtaskId) |
| Adds given subtask Id to list of pending subtasks. More... | |
| virtual bool | findPendingSubtaskId (int subtaskId) |
| Checks to see if given subtaskId exists in our list of pending subtasks. More... | |
| virtual bool | isSubtasked () const |
| Returns true if this controller is currently subtasked. More... | |
| virtual void | removePendingSubtaskId (int subtaskId) |
| Removes pending subtask from list of subtasks for this component. More... | |
| virtual void | removeAllPendingSubtaskIds () |
| Clear all pending subtasks from our list of subtasks. More... | |
| virtual std::vector< int > | currentPendingSubstaskIds () const |
| Returns the list of all currently pending subtask ids for this controller. More... | |
| virtual void | clearCurrentTaskMessage () |
| Returns the current subtask with the specified id. More... | |
| virtual DtTaskMessage * | currentTaskMessage () const |
| Get a pointer to the message that was used to task this entity. More... | |
| virtual DtSimTaskStatePtr | currentTaskState () const |
| virtual void | giveUpTask () |
| Called when controller is tasked and decideToGiveUp() returns true. More... | |
| virtual bool | taskActive (int taskId) const |
| virtual bool | clearTopLevelTasks () |
| If this controller has any top level tasks (not subtasks), they are cleared. More... | |
| virtual void | clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) |
| Clears any top level tasks on this controller that conflict with the conflict task type. More... | |
| virtual void | clearTasksByType (const DtSimTaskMessageType &taskType) |
| Clears any tasks of the specified type running in this controller. More... | |
| virtual void | clearTaskById (int taskId) |
| Clears any task of the specified ID running in this controller. More... | |
| virtual DtSuspendedTaskInfo * | suspendTaskById (int taskId) |
| virtual DtSuspendedTaskInfo * | suspendSubtaskById (int taskId, int subtaskId) |
| virtual std::list < DtTaskMessage * > | currentTaskMessages () const |
| virtual DtTaskWithTaskStateListPtr | topLevelTasks () const |
| virtual void | disable () |
| Overridden to allow tasks controllers that can be disabled to call task complete. More... | |
| Public Member Functions inherited from DtTaskControllerComponent | |
| DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtTaskControllerComponent () |
| destructor More... | |
| virtual bool | showCurrentTaskInGui () const |
| virtual void | setRadio (DtSimRadio *radio) |
| Calls registerTaskMsgCallbacks. More... | |
| virtual void | registerTaskMsgCallbacks () |
| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| Adds a new function for processing the specified task type. More... | |
| virtual void | addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| Deprecated form of addTaskProcessorCallback. More... | |
| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr) |
| Undoes anything done by addTaskProcessorCallback(). More... | |
| virtual void | removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr) |
| Deprecated form of removeTaskProcessorCallback. More... | |
| virtual void | enable () |
| Overridden to call registerTaskMsgCallbacks(). More... | |
| virtual void | sendTaskCanceled (DtTaskMessage *taskMsg) |
| Sends the task canceled report for the specified message. More... | |
| virtual bool | taskVisualizationsActive () const |
| Returns true if task visualizations are currently active for this component. More... | |
| virtual void | setTasked (bool tasked) |
| The current tasked state of this controller. More... | |
| virtual bool | tasked () const |
| Public Member Functions inherited from DtControllerComponent | |
| DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtControllerComponent () |
| destructor More... | |
| virtual DtSimRadio * | radio () |
| The radio this component is listening to. More... | |
| Public Member Functions inherited from DtSimComponent | |
| DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSimComponent () |
| destructor More... | |
| virtual void | setParentSystem (DtComponentSystem *system) |
| Sets the parent system of this component. More... | |
| DtComponentSystem * | parentSystem () const |
| virtual void | registerAttributeFunctions () |
| Called to register functions that provide system attribute values. More... | |
| virtual void | preFirstTickInit () |
| This function can be overridden to initialize a component before it is ticked for the first time. More... | |
| virtual void | timedTick () |
| This version of tick checks to see if the time to tick has arrived. More... | |
| virtual void | setMinTickPeriod (double minTickPeriod) |
| specifies a minimum tick period (which can also be thought of as More... | |
| virtual double | minTickPeriod () const |
| access the minimum tick period More... | |
| virtual void | setMinTickPeriodVariance (double minTickPeriodVariance) |
| set the variance in the minimum tick time More... | |
| virtual double | minTickPeriodVariance () const |
| access the variance in the minimum tick period More... | |
| virtual void | setNextTickTime (double nextTickTime) |
| The next tick time is normally calculated internally. More... | |
| virtual double | nextTickTime () const |
| access the next tick time More... | |
| virtual double | calculateNextTickTime () const |
| The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2. More... | |
| virtual double | calculateFirstTickTime () const |
| Returns the first time value that the component should tick at. More... | |
| 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. More... | |
| virtual DtSimComponent * | nextComponent () |
| List management functions. More... | |
| virtual DtSimComponent * | prevComponent () |
| virtual void | setListItem (DtListItem *item) |
| Used by DtComponentList. More... | |
| virtual DtListItem * | listItem () |
| virtual void | putData (std::string &fp, int indentLevel=0) |
| putData writes our type, which is provided by the virtual type accessor of the deriving class. More... | |
| virtual DtlObjPtr | getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings) |
| getData is just used to get us past the type in the data stream, since it's not actual stored. More... | |
| 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. More... | |
| 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. More... | |
| virtual DtList | inputPortList () const |
| Returns the list of DtInputPorts registered on this component. More... | |
| 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. More... | |
| 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. More... | |
| virtual DtList | outputPortList () const |
| Returns the list of DtOutputPorts registered on this component. More... | |
| 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. More... | |
| 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. More... | |
| virtual DtList | inputPortGroupList () const |
| Returns the list of DtInputPortGroups registered on this component. More... | |
| 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. More... | |
| 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. More... | |
| virtual DtList | outputPortGroupList () const |
| Returns the list of DtOutputPortGroups registered on this component. More... | |
| virtual int | priority () const |
| Return the current connection priority for this component. More... | |
| 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. More... | |
| double | dT () const |
| This is the delta-t for this component, which may or may not be the same as the exerciseClock dT. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| DtVrfProcessStateRepositoryManager * | psrManager () |
| virtual const DtSymbolString & | componentFullName () const |
| DtPhysicalWorld * | physicalWorld () |
| Gets the physical world that this component's entity exists in. More... | |
| const DtPhysicalWorld * | physicalWorld () const |
| DtAttachedTerrain * | terrainAttachedTo () |
| Gets the terrain that this component's entity is attached to, if any. More... | |
| const DtAttachedTerrain * | terrainAttachedTo () const |
| DtVrfObject * | entity () |
| Gets the entity. More... | |
| const DtVrfObject * | entity () const |
| const DtVrfObject * | const_entity () const |
| You would want to use this call if you could be either a const or non-const entity, and you wanted to be sure you only had const access. More... | |
| DtSimManager * | simManager () |
| Gets the sim manager. More... | |
| const DtSimManager * | simManager () const |
| const Coordinate_System * | coordinateSystem () const |
| Gets the coordinate system, as it should always exist if the physical world is in a valid state! More... | |
| DtVrfObjectStateRepository * | localStateRepository () |
| Gets the local state repository. More... | |
| const DtVrfObjectStateRepository * | localStateRepository () const |
| const DtVrfObjectStateRepository * | const_localStateRepository () const |
| You would want to use this call if you could be either a const or non-const local state repository, and you wanted to be sure you only had const access. More... | |
| virtual DtTaskVisualizationMap & | taskVisualizations () |
| Returns the list of task visualizations for this component. More... | |
| virtual bool | taskVisualizationsEnabled () const |
| Returns true if task visualizations are enabled for this component. More... | |
| virtual bool | isThreadSafe () const |
| Returns true if this component is marked as being thread safe. More... | |
| virtual void | addVRLinkDeferredJob (const boost::function< void()> &callback) |
| Adds a deferred job to the VRLink job queue in the DtParallelTickManager, but only if this component is marked at thread safe. More... | |
| virtual bool | isEnabled () |
| virtual void | setIsEnabled (bool yesNo) |
| virtual DtOutputStream & | objectConsoleDebug (const DtString &channel="") const |
| virtual DtOutputStream & | objectConsoleVerbose (const DtString &channel="") const |
| virtual DtOutputStream & | objectConsoleInfo (const DtString &channel="") const |
| virtual DtOutputStream & | objectConsoleWarn (const DtString &channel="") const |
| virtual DtOutputStream & | objectConsoleError (const DtString &channel="") const |
| virtual DtSimResourceManager & | resourceManager () |
| virtual const DtSimResourceManager & | resourceManager () const |
| Public Member Functions inherited from DtReaderWriter | |
| DtReaderWriter () | |
| default constructor More... | |
| DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false) | |
| real constructor Setting the readonly flag prevents object from writing itself to the stream. More... | |
| DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false) | |
| DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL) | |
| pseudo-copy constructor More... | |
| DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL) | |
| DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL) | |
| copy constructor More... | |
| const DtReaderWriter & | operator= (const DtReaderWriter &orig) |
| assignment operator More... | |
| bool | operator== (const DtReaderWriter &) const |
| Equivalence operator. More... | |
| bool | operator!= (const DtReaderWriter &rhs) |
| virtual | ~DtReaderWriter () |
| destructor More... | |
| virtual void | putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename()) |
| Top level call to write itself to file. More... | |
| virtual void | postPutSelf () |
| Called after either version of put self (file or environment). Default is no-op. More... | |
| virtual void | prePutSelf () |
| Called before either version of put self (file or environment). Default is no-op. More... | |
| virtual void | getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference()) |
| Top level to read itself from an input stream. More... | |
| virtual void | postGetSelf () |
| Called after either version of getSelf (mtl or environment). Default is no-op. More... | |
| virtual void | preGetSelf () |
| Called before either version of get self (file or environment). Default is no-op. More... | |
| virtual void | writeSelf (std::string &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. More... | |
| virtual DtSymbolString | name () const |
| Accessor for name of this readable/writable object. More... | |
| virtual void | addAlias (const DtSymbolString &alias) |
| Add an alias as an alternative name for this object. More... | |
| virtual void | addAlias (const DtString &alias) |
| virtual bool | hasAlias (const DtSymbolString &alias) |
| virtual const aliasContainer & | aliases () const |
| virtual void | setReadonly (bool flag) |
| Set read-only flag. More... | |
| bool | isReadonly () const |
| virtual void | reset () |
| For those reader/writer items that support it, resets the reader/writer value to original state Default is no-op. More... | |
| virtual int | alignment () const |
| For those items that are sent over the network via HLA, this will give the network alignment. More... | |
| virtual bool | variableIsBound () const |
| virtual void | unbindVariable () |
| Sets the myVariableIsBound flag to false. More... | |
| virtual void | setName (const DtString &) |
| Set the name of the object. More... | |
| virtual const char * | readerWriterType () const |
| Used to supply a string type that this reader writer type is. More... | |
| virtual const char * | xmlType () const |
| virtual DtString | prettyPrint () const |
| Routine to return a human readable form of the reader/writer variable. More... | |
| std::string | debugText () const |
| virtual void | bindVariables (DtVariableBindingsList variableBindings) |
| Runs a variable binding pass on this reader writer and any of its children. More... | |
| 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. More... | |
| virtual bool | hasVariableReference () const |
| Returns true if this item or any item in the registry (recursive) is a variable reference. More... | |
| 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. More... | |
| virtual void | recordUpdateTime () const |
| Can be implemented in subclasses to stamp the time when updated. More... | |
| virtual bool | wasUpdatedSince (DtTime t) const |
| Can be implemented in subclasses to return true if an update occurred after the specified time. More... | |
| virtual bool | changedSinceLastChecked () |
| Returns true if this objects value has changed since the last time this function was called. More... | |
| virtual bool | peekChangedSinceLastChecked () const |
| Returns the value that changedSinceLastChecked would return but does not reset the internal flag. More... | |
| virtual void | setValueSpecified (bool specified, bool recurse=false) |
| The specified flags are used for optional values. More... | |
| virtual bool | valueSpecified () const |
| virtual bool | isVariableReference () const |
| Specifies whether or not this reader writer is really a variable that is specified elsewhere. More... | |
| virtual void | setIsVariableReference (bool value) |
| virtual void | clearAllVariableReferenceFlags () |
| Clears out all variable reference flags from all readerwriter items in registry recursively. More... | |
| virtual DtSymbolString | variableName () const |
| The variable name, if this object is a variable reference. More... | |
| virtual void | setVariableName (const DtSymbolString variableName) |
| virtual const DtReaderWriter * | defaultRWValue () const |
| The default value to use if the reader/writer object is a variable and that variable is not specified. More... | |
| virtual DtReaderWriter * | defaultRWValue () |
| virtual void | setDefaultRWValue (DtReaderWriter *) |
| Previous default value, if exists, will be removed and replaced with a clone of the supplied variable. More... | |
| virtual bool | checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference()) |
| Give the stream, if the stream contains a default value then set it here. More... | |
| const DtReaderWriterRegistry & | registry () const |
| Collection of child DtReaderWriter nodes owned by this object. More... | |
| DtReaderWriterRegistry & | registry () |
| virtual DtPropertyInterface * | property () |
| virtual const DtPropertyInterface * | property () const |
| virtual DtString | toXml () const |
| virtual DtRwVariableBindings * | generateVariableBindings () const |
| Iterates over the registry (recursively) and returns a variable bindings object that contains all the variables that are contained in this read/writer class. More... | |
| virtual bool | toXml (const DtFilename &) const |
| Writes contents of xml result to the given filename. More... | |
| virtual bool | fromXml (const DtString &) |
| Restores object from given xml string. Returns true if valid. More... | |
| virtual bool | fromXmlFile (const DtFilename &) |
| Restores object from given xml file. More... | |
| virtual void | putSelf (DtEnvironmentSP, DtEnvValueSP parent) const |
| virtual void | putData (DtEnvironmentSP, DtEnvValueSP value) const |
| Override to add attributes of actual data. More... | |
| virtual void | putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const |
| Called when the item is a variable reference. More... | |
| virtual void | getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList()) |
| virtual void | getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList()) |
| Gets data from the environment value. More... | |
| virtual void | unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings) |
| Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op. More... | |
| virtual void | getVariableReference (DtEnvironmentSP, DtEnvValueSP value) |
| Called when the item is a variable reference. More... | |
Static Public Member Functions | |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| Static Public Member Functions inherited from DtTaskControllerComponent | |
| static void | deprecatedTaskProcessorCallbackAdapter (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState) |
| Task processor callback function that acts as an adapter for the deprecated forms of addTaskProcessorCallback and removeTaskProcessorCallback (the deprecated form is is version that. More... | |
| Static Public Member Functions inherited from DtSimComponent | |
| static DtSimComponent * | MarkThreadSafe (DtSimComponent *) |
| Marks an instance of a component as being thread safe. More... | |
| static DtSimComponentFactory * | factory () |
| A DtSimComponentFactory is allocated by the DtSimCreator, and this pointer is set. More... | |
| static void | setFactory (DtSimComponentFactory *factory) |
| static DtSimComponent * | createComponent (const DtString &name, const DtString &type, DtVrfObject *owner, DtSimManager *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| Creates a DtSimComponent using the factory, then initializes it via the MTL stream. More... | |
| static void | addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn) |
| Adds a DtSimComponent creation function to the DtSimComponentFactory, using the given type as the key. More... | |
| Static Public Member Functions inherited from DtReaderWriter | |
| static void | putIndent (std::string &fp, int indentLevel) |
| static const DtVariableBindingsList & | nullVariableReference () |
| static void | setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData) |
| static void | setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData) |
| static void | setPutIndent (bool) |
| static bool | putIndent () |
| static const char * | theXmlType () |
| The type that is used when archiving to an XML stream. More... | |
| static const DtFilename & | appPath () |
| Gets the current working directory. More... | |
| static void | setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn) |
| Sets the function to create the DtReaderWriterFactory. More... | |
| static void | createReaderWriterFactory () |
| static void | cleanupFactory () |
| static DtReaderWriterFactory * | factory () |
| static void | setOutputStream (DtOutputStream *stream) |
| static DtOutputStream & | outputStream () |
| static DtReaderWriter * | createFromXmlFile (const DtFilename &, bool createAsProperty=false) |
| Given a filename, returns a newly created reader/writer object from the object found within. More... | |
| static DtReaderWriter * | createFromXml (const DtString &, bool createAsProperty=false) |
| Given a xml string, returns a newly created reader/writer object from the object found within. More... | |
| static DtReaderWriter * | createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false) |
| Given a xml environment, returns a newly created reader/writer object from the object found within. More... | |
| static DtString | getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root) |
| Gets the named attribute from a DtEnvValueSP. More... | |
Protected Member Functions | |
| virtual bool | createPorts () |
| Overridden to create the fixed wing ports. More... | |
| virtual bool | createPortGroups () |
| Overridden to create myFixedWingControlPortGroup. More... | |
| 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. More... | |
| virtual bool | postAddComponentsInit () |
| Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded. More... | |
| virtual bool | decideToGiveUpTask () const |
| If the entity is attached and the target of the current task is not, give up on the task. More... | |
| virtual void | updateCurrentState () |
| Get the values of the current state at this sim time, integrating over the past dt. More... | |
| virtual void | processEstimatedTotCalculation () |
| calculate estimated tot More... | |
| virtual double | calculateCollisionLookAhead (const double climbRate, const double speed, const double desiredAltitude) |
| Compute a limit for the terrain collision look-ahead distance. More... | |
| virtual void | updateTaskVisualizations () |
| update visualizations More... | |
| virtual double | convertSpeedtoGroundSpeed (double speed, double currentAlt, DtAirSpeedType speedType) |
| Compute the. More... | |
| DtFixedWingPilotController () | |
| default constructor; not implemented More... | |
| DtFixedWingPilotController (const DtFixedWingPilotController &orig) | |
| copy constructor; not implemented More... | |
| const DtFixedWingPilotController & | operator= (const DtFixedWingPilotController &orig) |
| assignment operator; not implemented More... | |
| 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. More... | |
| virtual void | clearSubtasksByType (const DtSimTaskMessageType &taskType) |
| Clear all subtasks of a given type. More... | |
| virtual void | cleanupInactiveSubtaskStatus () |
| Clears out subtask status entries that are either completed or canceled which were started by this controller. More... | |
| Protected Member Functions inherited from DtTaskControllerComponent | |
| virtual void | suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo) |
| Suspends all running subtasks of taskId, and puts the suspend info for each of them as subtasks into the provided suspendInfo. More... | |
| virtual void | suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo) |
| Suspends a single running subtasks of taskId, and puts the suspend info into the provided suspendInfo. More... | |
| virtual DtSimTaskMessageType | remapScriptId (const DtSimTaskMessageType &) const |
| In case this is aliased, return the actual script id. More... | |
| Protected Member Functions inherited from DtControllerComponent | |
| DtControllerComponent () | |
| default constructor More... | |
| DtControllerComponent (const DtControllerComponent &orig) | |
| copy constructor More... | |
| const DtControllerComponent & | operator= (const DtControllerComponent &orig) |
| assignment operator More... | |
| virtual void | onRestore () |
| Override to iterate over the descriptor to see if there are any targetting control tables. More... | |
| virtual void | initializeTargetingControlTableFromDescriptor (const DtReaderWriter *) |
| Protected Member Functions inherited from DtSimComponent | |
| virtual double | computeCurrentTime () |
| Compute current time and myDT. More... | |
| bool | testInvariant () const |
| DtVrfProcessStateRepository * | createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true) |
| Creates a PSR for this component and registers it with the PSR manager. More... | |
| virtual void | destroyTaskVisualizations () |
| Destroys all task visualizations for this component. More... | |
| virtual void | destroyTaskVisualization (const DtString &name) |
| Destroys an existing task visualization. More... | |
| virtual DtPointTaskVisualizationPtr | pointTaskVisualization (const DtString &name) |
| Finds an existing or creates a new point task visualization with the given name. More... | |
| virtual DtLineTaskVisualizationPtr | lineTaskVisualization (const DtString &name) |
| Finds an existing or creates a new line task visualization with the given name. More... | |
| virtual DtAreaTaskVisualizationPtr | areaTaskVisualization (const DtString &name) |
| Finds an existing or creates a new area task visualization with the given name. More... | |
| virtual DtTextTaskVisualizationPtr | textTaskVisualization (const DtString &name) |
| Finds an existing or creates a new text task visualization with the given name. More... | |
| double | calculateNextTaskVisTickTime () const |
| Determines the next time the task visualizations should be ticked. More... | |
| Protected Member Functions inherited from DtReaderWriter | |
| virtual void | bindToRwAsVariable (const DtReaderWriter *rw) |
| Copies values from the specified DtReaderWriter. More... | |
Protected Attributes | |
| DtFixedWingEntityStateRepository * | myFixedWingEntityState |
| DtFixedWingFlightPSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. More... | |
| DtAirspeedCalculator * | myAirSpeedCalculator |
| Air Speed Calculator for updating state properties Created in init() More... | |
| const double | DtEstimatedTotCalcInterval = 5.0 |
| Interval for estimated tot calculations. More... | |
| bool | myEstimatedTotCalcEnabled |
| enabled flag for the tot calculations More... | |
| double | myEstimatedTotValue |
| the tot value More... | |
| double | myEstimatedTotLastCalcTime |
| used for tot calculation intervals More... | |
| DtVector | myEstimatedTotTextPos |
| tot text position More... | |
Ports and Port Groups | |
| DtOutputPortGroup * | myFixedWingControlPortGroup |
| Output Port Group Name: fixed-wing-control Output Port Group Description: More... | |
| DtConstrainedAnalogOutputPort * | myThrottlePort |
| Output Port Name: throttle Output Port Description: Output Port Range: 0. More... | |
| DtConstrainedDualAxisAnalogOutputPort * | myStickPort |
| Output Port Name: stick Output Port Description: Output Port Range: X: -1. More... | |
| DtConstrainedAnalogOutputPort * | myPedalPort |
| Output Port Name: pedal Output Port Description: Output Port Range: -1. More... | |
| DtConstrainedAnalogOutputPort * | myBrakePort |
| Output Port Name: brake Output Port Description: Output Port Range: 0. More... | |
| DtBooleanOutputPort * | myFlapsDeployedPort |
| Output Port Name: flaps Output Port Description: Output Port Range: Output Port Default Value: true Output Group Parent: fixed-wing-control. More... | |
| DtVector | myCurrentLocalPosition |
| State variables updated for the current time. More... | |
| DtVector | myCurrentLocalVelocity |
| double | myCurrentSpeed |
| DtDcm | myCurrentOrientationMatrix |
| double | myCurrentHeading |
| double | myCurrentTopoPitch |
| double | myCurrentTopoRoll |
| DtDcm | myLocalToTopoDcm |
| Protected Attributes inherited from DtTaskControllerComponent | |
| DtTaskCallbackMap | myTaskCallbackMap |
| std::list < DtTaskProcessorCallbackInfo * > | myTaskProcessorCallbackInfoList |
| This list stores any DtTaskProcessorCallbackInfo allocated locally so that they can be deleted when the component is deleted. More... | |
| bool | myTaskIsRunning |
| Protected Attributes inherited from DtControllerComponent | |
| DtSimRadio * | myRadio |
| Controller components can send messages. More... | |
| Protected Attributes inherited from DtSimComponent | |
| DtVrfObject * | myEntity |
| DtVrfObjectStateRepository * | myLocalStateRepository |
| DtSimManager * | mySimManager |
| DtComponentSystem * | mySystem |
| Pointer to the DtComponentSystem that this component belongs. More... | |
| 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. More... | |
| bool | myFirstTick |
| Initialized to true in the constructor, set to false by the first call to postTick. More... | |
| bool | myIsThreadSafe |
| Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false. More... | |
| const DtComponentDescriptor * | myComponentDescriptor |
| std::list < DtVrfProcessStateRepository * > | myComponentPsrs |
| List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed. More... | |
| bool | myTickEveryFrame |
| Flag indicating that tickPeriod is set to 0, and the component will tick every frame. More... | |
| DtTaskVisualizationMap | myTaskVisualizations |
| The visualization objects to be drawn for this component. More... | |
| double | myNextTaskVisTickTime |
| The next tick time for updating the task visualizations. More... | |
| DtSymbolString | myFullComponentName |
| Protected Attributes inherited from DtReaderWriter | |
| const DtSymbolString | myName |
| DtReaderWriterRegistry | myRegistry |
| DtReaderWriterRegistry * | myParentRegistry |
| bool | myValueSpecified |
| bool | myReadOnlyFlag |
| bool | myIsVariableReference |
| DtSymbolString | myVariableName |
| bool | myVariableIsBound |
| DtReaderWriter * | myDefaultValue |
| aliasContainer | myAliases |
| Container for the aliases which represent alternative names for the object. More... | |
| bool | myInvalid |
| Set to true if there is a problem reading this item. More... | |
| bool | myChangedFlag |
| Set to true when value changes Set to false when value checked with changedSinceLastChecked. More... | |
DtFixedWingPilotController is a controller that models the capabilities of a fixed-wing pilot.
Uses Descriptor Type: DtFixedWingPilotControllerDescriptor
| DtFixedWingPilotController::DtFixedWingPilotController | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
| 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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destructor
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default constructor; not implemented
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copy constructor; not implemented
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Initializes myFixedWingEntityState.
Reimplemented from DtControllerComponent.
Reimplemented in DtFixedWingMoveAlongController, DtFixedWingFlightCommandController, DtCruiseMissileDefaultController, and DtFixedWingDefaultController.
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Only gets actuator values the first time it's called.
Call lookupAndCacheProcessSR(), to look up myProcessState, if it hasn't already been found.
Reimplemented from DtSimComponent.
Reimplemented in DtFixedWingMoveAlongController, DtCruiseMissileDefaultController, DtFixedWingFlightCommandController, DtFixedWingFollowEntityController, DtFixedWingDefaultController, DtFixedWingMoveToController, and DtSimpleRadarWarningResponse.
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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. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.
Implements DtTaskControllerComponent.
Reimplemented in DtFixedWingMoveAlongController, DtCruiseMissileDefaultController, DtFixedWingFlyIntoController, DtFixedWingFlightCommandController, DtFixedWingDefaultController, DtFixedWingMoveToController, DtFixedWingPatrolRouteController, DtFixedWingFollowEntityController, DtFixedWingPatrolBetweenController, DtCruiseMissileMoveAlongController, DtFixedWingJoyFlightController, DtFixedWingMoveToLocationController, and DtSimpleRadarWarningResponse.
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Overridden to deactivate the port group when this controller completes a task.
Reimplemented from DtSingleTaskControllerComponent.
Reimplemented in DtFixedWingMoveAlongController, DtFixedWingMoveToController, and DtFixedWingFlightCommandController.
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The following functions assume that the FWE is on the GROUND.
Do NOT call the functions when the FWE is in the AIR.
Call this to taxi to a specified point at a given speed. The taxiTo() member function is called to taxi to a specified point at a specified speed. Assumes that the FWE is on the ground, and that its throttle, brake, and pedal ports all exist. Calculates the port values for braking, turning, and throttle based on the given speed and destination. NOTE: If the entity tries to turn to a heading while it is moving faster than the maximum allowed for turning, it will turn at a maximum of TURNING_SPEED_TOL, in the right direction, until it has slowed enough to turn by a greater amount.
Call this to taxi at a given speed and turn rate.
taxi() determines Assumes that the FWE is on the ground, and that its throttle, brake, and pedal ports all exist. Calculates the port values for braking, turning, and throttle based on the given speed and destination.
Calculates the pedal port value for the given turn angle.
Takes into account the turning radius of the FWE as well as current speed.
Calculates the throttle port value for the given speed using: throttle = (slope/maxSlope + ((desiredSpeed/maxSpeed))
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Returns the braking distance using the current speed and breaking ability to determine how long it would take to brake.
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The following functions assume that the FWE is in the AIR.
Do NOT call the functions when the FWE is on the GROUND.
Call this to fly to a specified point at a given speed. The aircraft will fly to the ordered altitude as soon as possible and fly to the destination. The flyTo() member function is called to fly to a specified point at a specified speed. It creates a DtSmartPoint at the destination point and uses it to find the heading from the entity’s current position to this point. It then determines a turn rate by calling calculateTurnRate(), a climb rate by calling calculateClimbRate() (constrained by the plane's maxAltitude parameter), and then calls fly().
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Call this to fly to a specified 3D point at the given speed.
This causes the aircraft to pitch and yaw itself directly toward the destination and fly at the given speed. The flyToDirect() method calculates the turn rate and pitch which will take to the destination, and calls flyFixedPitch().
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Call this to fly at a given speed, turn rate and climb rate.
fly() determines a roll angle and rate based on the specified turn rate and calls calcControlForRoll() to get a stickY value. if the current roll angle sign is different from the desired roll angle sign, it sets stickX and pedal to 0, otherwise it calls calcControlForTurnAndClimb() to determine those values. Finally, it calls calcControlForThrottle() with the desired speed to set the throttle port value.
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Call this to fly at a given speed, turn rate and pitch.
fly() determines a roll angle and rate based on the specified turn rate and calls calcControlForRoll() to get a stickY value. if the current roll angle sign is different from the desired roll angle sign, it sets stickX and pedal to 0, otherwise it calls calcControlForTurnAndPitch() to determine those values. Finally, it calls calcControlForThrottle() with the desired speed to set the throttle port value.
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Checks for upcoming terrain collision along the path defined by the current heading and desiredPitch and if found, returns a new pitch to avoid terrain collision.
If no collision is found, this returns the desiredPitch.
Checks if there is a clear path from the entity location to the specified location.
Returns true if the path is clear, or if terrain data has not yet been loaded.
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Call this to fly in a circle.
The center parameter is *no longer* ignored. The circle() member function is called to fly in a circle of a specified radius, at a specified speed, either clockwise or counter clockwise, and at a specified altitude. The circle() function:
| center | The center around which to circle. |
| radius | The radius of the desired flight circle. |
| speed | The desired flight speed. |
| altitude | The desired flight altitude. |
| clockwise | Fly in a circle clockwise(true) or counterclockwise (false). |
Calculates and returns the stickY value needed to achieve the desired roll rate.
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Calculates a throttle value based on the entity's current speed, desired speed, desired body pitch rate, and current acceleration.
First, the current speed is adjusted to be the speed in the direction of the orientation of the entity. (Other components of velocity will be decelerated to 0 by drag in the actuator.) The difference between the desired speed and the current speed is found, and the desired acceleration is chosen to be this difference over 1 second. The drag in the direction of motion is determined and added to the desired acceleration. The result is then divided by the maximum thrust acceleration parameter.
Also sets the value of deployFlaps to TRUE if the desired speed is significantly below the current speed.
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Estimates a limited climb rate that the entity can command this tick that will allow it to level out when the altitude error has been reduced to zero.
Uses the current speed, current velocity vector, and current pitch to estimate the altitude change that the entity is committed to even with a zero commanded climb rate.
| altitudeError | is target altitude - current altitude. |
| desiredSpeed | is the goal speed of the entity during this maneuver. |
| finalClimbRate | is the climb rate the entity desires when it reaches the goal altitude. I.e. if the goal is a moving point, and that point is moving vertically, this would be the vertical rate of the goal point. |
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The calcControlForTurnAndClimb() method determines the appropriate pitch angle to use to achieve the desired climb rate, then calls calccontrolForTurnAndPitch().
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The calcControlForTurnAndClimb() method determines complementary stickX and pedal values to achieve a desired turn rate and climb rate.
It returns 0.0 for both values if the plane has a roll angle outside of +/- 90 degrees.
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Calculates a climb rate to achieve the specified altitude in the climbTime specified.
This climb rate is then constrained to be no greater than the entity's max climb rate parameter. The end result is that all climbs happen at max climb rate until the altitude difference is such that the plane levels off over the last several meters
| climbTime | Specified in seconds. |
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Determines the turn rate that will be used to change heading.
If the magnitude of the heading change needed is greater than or equal to the max-turnrate-cutoff-angle parameter, then the max-pitch-rate parameter is used. Otherwise, the turn rate is calculated as: The magnitude of the calculated turn rate is then constrained to be less than or equal to the turn rate corresponding to the max-turning-gs parameter for the entity's current speed.
| additionalTurnRate | This is an additional turn rate that is desired in addition to a turn for the specified angle. The G-force constraints are applied to the combined turn rate result. |
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Calculates a roll angle for a turn based on the turn rate desired and the entity's current speed.
The angle is calculated as
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Calculates a desired rate of roll based on the current roll and the desired roll angle.
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Put current velocity into body coordinates.
The calculateNormalizedBodyVelocity() function calculates a normal vector that points in the direction of the current velocity vector in body coordinates. This is used in determining both slippage and angle of attack. It is calculated as: DtEuler_to_BodyToLocalRef(current orientation, body to local matrix) DtDcmTranspose(body to local matrix, local to body matrix) DtDcmVecMul(local to body matrix, current velocity, body velocity) DtVecNormalize(body velocity, myNormalizedBodyVelocity) If the magnitude of the velocity vector is 0.0, the normalized body velocity vector is arbitrarily set to point down the nose of the entity (<1.0, 0.0, 0.0>). myNormalizedBodyVelocity is a member variable of myProcessState.
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The calculateLocalAngularVelocity() function calculates the entity’s current rate of heading change and stores the value in myProcessState's myLocalAngularVelocity member.
It is computed as: local angular velocity = (SIN(current roll angle) * current pitch rate) + (COS(current roll angle) * current yaw rate).
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Calculate the square of our current speed divided by our max speed.
The calculateSpeedRatioSquared() function calculates this value and stores it in the process state member variable myProcessState's mySpeedRatioSquared member variable as: mySpeedRatioSquared = current speed / max speed mySpeedRatioSquared *=
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The initializeControllerForTick() function is called to recompute the entity's normalized body velocity, local angular velocity, and speed ratio squared.
It calls: updateCurrentState() calculateNormalizedBodyVelocity() calculateLocalAngularVelocity() calculateSpeedRatioSquared()
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These are called in init to create the ports used to communicate with the actuator.
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This is not currently used.
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These provide access to the ports.
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These are used to set values in the process state repository.
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The direction vector for take off.
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Parameter value from descriptor.
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This is a reference to the entity parameters, stored in the state repository.
It indicates the max G pull that the entity is capable of.
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| 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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Overridden to create the fixed wing ports.
Reimplemented from DtSimComponent.
Reimplemented in DtFixedWingMoveAlongController, and DtSimpleRadarWarningResponse.
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Overridden to create myFixedWingControlPortGroup.
Reimplemented from DtSimComponent.
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This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.
The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.
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Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.
Initializes max turning Gs and max turn rate cutoff angle in the process state repository with values from pilot controller descriptor.
Reimplemented from DtSimComponent.
Reimplemented in DtFixedWingDefaultController.
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If the entity is attached and the target of the current task is not, give up on the task.
Reimplemented from DtSingleTaskControllerComponent.
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Get the values of the current state at this sim time, integrating over the past dt.
Sets myCurrentLocalPosition, myCurrentLocalVelocity, myCurrentSpeed, myCurrentHeading, myCurrentPitch, myCurrentRoll and myLocalToTopoDcm using the rates in myFixedWingEntityState and dT().
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calculate estimated tot
Reimplemented in DtFixedWingMoveAlongController, and DtFixedWingMoveToController.
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Compute a limit for the terrain collision look-ahead distance.
It is necessary to limit this if descending to an altitude near the ground, because a small pitch down will cause the test ray to intersect the ground when it is close.
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update visualizations
Reimplemented from DtSimComponent.
Reimplemented in DtFixedWingMoveAlongController, DtFixedWingMoveToController, and DtFixedWingFollowEntityController.
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Compute the.
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assignment operator; not implemented
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Output Port Group Name: fixed-wing-control
Output Port Group Description:
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Output Port Name: throttle
Output Port Description:
Output Port Range: 0.
to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control
|
protected |
Output Port Name: stick
Output Port Description:
Output Port Range: X: -1.
to 1. Y: -1. to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control
|
protected |
Output Port Name: pedal
Output Port Description:
Output Port Range: -1.
to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control
|
protected |
Output Port Name: brake
Output Port Description:
Output Port Range: 0.
to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control
|
protected |
Output Port Name: flaps
Output Port Description:
Output Port Range:
Output Port Default Value: true
Output Group Parent: fixed-wing-control.
|
protected |
Pointer to a process state repository used to store state data associated with this component.
This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).
Referenced by DtFixedWingMoveAlongController::getPSR().
|
protected |
Air Speed Calculator for updating state properties Created in init()
|
protected |
State variables updated for the current time.
Computed at the beginning of the tick, and used only in that tick.
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
Interval for estimated tot calculations.
|
protected |
enabled flag for the tot calculations
|
protected |
the tot value
|
protected |
used for tot calculation intervals
|
protected |
tot text position