fixedWingFollowEntityController.h

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/*******************************************************************************
** Copyright (c) 2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once


#include "vrfmodel/fixedWingMoveToController.h"

#include <vlutil/vlString.h>
#include <matrix/vlVector.h>

class DtSimManager;
class DtSimMessage;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtFixedWingFollowEntityController : public DtFixedWingMoveToController
{

public:

   DtFixedWingFollowEntityController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);
   virtual ~DtFixedWingFollowEntityController();

   virtual const char* type() const;

   virtual void tick();

   virtual void doMoving();
   virtual void doFlying();
   virtual void doTaxiing();

   static void followEntityCallback(DtSimMessage * msg, void * usrData);
   virtual void processFollowEntityTask(DtSimMessage * msg);

   virtual const DtUUID& entityToFollow() const;
   virtual void setEntityToFollow(const DtUUID& entity);

   virtual const DtVector& offsetVector() const;
   virtual void setOffsetVector(const DtVector& offsets);

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

protected:
   DtFixedWingFollowEntityController();

   DtFixedWingFollowEntityController(const DtFixedWingFollowEntityController & 
      orig);

   const DtFixedWingFollowEntityController & operator=(const 
      DtFixedWingFollowEntityController & orig);

   virtual void registerTaskMsgCallbacks();

   virtual bool setupControlPoint();

   virtual bool getCurrentLeaderState(DtVector& localPosition,
      DtVector& localVelocity, DtTaitBryan& topoOrientation,
      DtVector& topoRotationRate);

   virtual double findDesiredFlyingSpeed( 
      const double leaderSpeed,
      const double forwardPositionError);

   virtual double flyingControlSpeed(double targetSpeed,
      double targetDistance);

   virtual double calculateControlTurnRate(
      double desiredHeading, double distanceFromLine, double dt);

   virtual double calculateControlClimbRate(double altitudeDiff,
      DtVector& topoEntityCurrentVelocity,
      DtVector& topoNextTickVelocity,
      double dt);

   virtual double desiredHeading(double estimatedTurnRadius,
      DtVector& topoEntityToGoal, 
      DtVector& topoGoalHorizDirection,
      DtVector& topoEntityVelocity, DtVector& topoNextVelocity,
      double dt);

   DtVector predictedMove(const DtVector& vInitial,
      const DtVector& vFinal, double dt);

   virtual double findDesiredSpeed();

   virtual double lastHeadingError() const;
   virtual void setLastHeadingError(const double error);

   virtual double integratedHorizontalError() const;
   virtual void setIntegratedHorizontalError(const double error);
   virtual void updateIntegratedHorizontalError(const double currentError,
      const double dt, const double decayRate);

   void updateTaskVisualizations();

protected:

   const DtVrfObject * myEntityPointer;

   DtVrfObject* myWorkingControlPoint;

   DtVector myStationLocalPosition;
   DtVector myStationLocalVelocity;
   double myStationSpeed; 
   DtTaitBryan myStationTopoOrientation;
   DtVector myStationTopoRotationRate;

   double myLastHeadingError;

   double myIntegratedHorizontalError;

   bool myGaveLeaderStateWarning;

   std::vector<DtVector> myVisLine;
   enum approachRegion
   {
      unknownRegion,
      farFromGoalRegion,
      aheadFacingBackRegion,
      behindFacingBackRegion,
      farFromLineRegion,
      nearLineRegion
   };
   enum approachRegion myApproachState;
};