DtAggregatedMovementActuator Class Reference

End User Description: Actuator for moving aggregated aggregates along the ground. More...

Inheritance diagram for DtAggregatedMovementActuator:

Public Member Functions
	DtAggregatedMovementActuator (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry=0)
	constructor
virtual	~DtAggregatedMovementActuator ()
	destructor
virtual bool	init ()
	Perform any initialization required by the actuator.
virtual DtString	type () const
	Returns a string from compTypes.h, identifying the type of component.
virtual void	tick ()
	Calculate new kinematic state, and copy it to state repository.
Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent ()
	destructor
virtual DtSimBaseRadio *	radio ()
virtual bool	tickWhileDestroyed () const
	By default, all actuators tick when the entity is destroyed.
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 bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values.
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	postTick ()
	This function is called immediately after tick() is called.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	The component descriptor specified in the order of battle file or parameter file that was used to create this component.
virtual const DtComponentDescriptor *	componentDescriptor () const
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorld *	physicalWorld () const
virtual DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrain *	terrainAttachedTo () const
virtual DtVrfObject *	entity ()
	Gets the entity.
virtual const DtVrfObject *	entity () const
virtual DtSimManager *	simManager ()
	Gets the sim manager.
virtual const DtSimManager *	simManager () const
virtual const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_System *	coordinateSystem ()
virtual DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository.
virtual const DtVrfObjectStateRepository *	localStateRepository () const
virtual void	enable ()
	Is this component enabled or not.
virtual void	disable ()
	Is this component enabled or not.
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug () const
virtual DtOutputStream &	objectConsoleVerbose () const
virtual DtOutputStream &	objectConsoleInfo () const
virtual DtOutputStream &	objectConsoleWarn () const
virtual DtOutputStream &	objectConsoleError () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
bool	operator== (const DtReaderWriter &) const
	Equivalence operator.
bool	operator!= (const DtReaderWriter &rhs)
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 void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively.
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry)
	Creator function to be registered with the DtSimComponentFactory – see main.cxx.

Protected Member Functions
virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyVelocity, double newHeading)
virtual void	calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
virtual void	groundClamp (double heading, const DtVector &location, DtAttachedTerrain &terrainDatabase, DtVector &newNormal)
virtual void	updateRepository (const DtVector &position, const DtVector &velocity, const DtVector &acceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity)
virtual bool	createPorts ()
	Overridden to create the movement control input ports.
virtual bool	createPortGroups ()
	Overridden to create the movement control input port group.
	DtAggregatedMovementActuator (const DtAggregatedMovementActuator &orig)
	copy constructor
const DtAggregatedMovementActuator &	operator= (const DtAggregatedMovementActuator &orig)
	assignment operator
Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
	DtActuatorComponent (const DtActuatorComponent &orig)
	copy constructor
const DtActuatorComponent &	operator= (const DtActuatorComponent &orig)
	assignment operator
virtual void	setRadio (DtSimBaseRadio *radio)
	DtActuatorComponent ()
	Default constructor; should not be called.
Protected Member Functions inherited from DtSimComponent
bool	testInvariant () const
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.

Protected Attributes
const DtActuatorComponentDescriptor *	myActuatorDescriptor
Ports and Port Groups
DtAnalogInputPort *	myMovementDirectionInputPort
	Input Port Name: desired-movement-direction Input Port Description: Desired movement direction of the entity in radians.
DtAnalogInputPort *	mySpeedInputPort
	Input Port Name: desired-speed Input Port Description: Desired speed of the entity in m/s.
DtInputPortGroup *	myMovementControlPortGroupInputPortGroup
	Input Port Group Name: movement-control Input Port Group Description: Collection of inputs specifying the desired movement of the entity.
DtVrfMovingObjectStateRepository *	myMovingObjectStateRepository
	Convenience pointers to our state repository.
DtVrfAggregateStateRepository *	myAggregateStateRepository
	Convenience pointers to our state repository.
Protected Attributes inherited from DtActuatorComponent
DtSimBaseRadio *	myRadio
	Actuators can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
const DtComponentDescriptor *	myComponentDescriptor
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.

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

Detailed Description

End User Description: Actuator for moving aggregated aggregates along the ground.

This actuator places the aggregate on the ground, moving it at some speed in the given direction. The aggregate is treated as a point object when moving using this actuator. Uses Descriptor Type: DtActuatorComponentDescriptor

Constructor & Destructor Documentation

DtAggregatedMovementActuator::DtAggregatedMovementActuator	(	const DtString &	name,
		DtVrfObject *	object,
		DtSimManager *	simManager,
		DtComponentDescriptor *	compDescriptor,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

constructor

virtual DtAggregatedMovementActuator::~DtAggregatedMovementActuator ( )

virtual

destructor

DtAggregatedMovementActuator::DtAggregatedMovementActuator ( const DtAggregatedMovementActuator &  orig )

protected

copy constructor

Member Function Documentation

virtual bool DtAggregatedMovementActuator::init ( )

virtual

Perform any initialization required by the actuator.

Reimplemented from DtActuatorComponent.

virtual DtString DtAggregatedMovementActuator::type ( ) const

virtual

Returns a string from compTypes.h, identifying the type of component.

Reimplemented from DtSimComponent.

virtual void DtAggregatedMovementActuator::tick ( )

virtual

Calculate new kinematic state, and copy it to state repository.

Reimplemented from DtSimComponent.

static DtSimComponent* DtAggregatedMovementActuator::creator ( const DtString &  name, DtVrfObject *  object, DtSimManager *  simManager, DtComponentDescriptor *  compDescriptor, DtReaderWriterRegistry *  parentRegistry  )

static

Creator function to be registered with the DtSimComponentFactory – see main.cxx.

virtual DtVector DtAggregatedMovementActuator::calculateProjectedLocation ( const DtVector &  oldLocalPosition, const DtVector &  newBodyVelocity, double  newHeading  )

protectedvirtual

virtual void DtAggregatedMovementActuator::calculateOrientationAndPosition ( const DtVector &  newLocalProjectedLocation, double  newHeading, DtDcm &  newLocalOrientation, DtVector &  newLocalPosition  )

protectedvirtual

virtual void DtAggregatedMovementActuator::groundClamp ( double  heading, const DtVector &  location, DtAttachedTerrain &  terrainDatabase, DtVector &  newNormal  )

protectedvirtual

virtual void DtAggregatedMovementActuator::updateRepository ( const DtVector &  position, const DtVector &  velocity, const DtVector &  acceleration, const DtTaitBryan &  localOrientation, const DtVector &  rotationalVelocity  )

protectedvirtual

virtual bool DtAggregatedMovementActuator::createPorts ( )

protectedvirtual

Overridden to create the movement control input ports.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMovementActuator::createPortGroups ( )

protectedvirtual

Overridden to create the movement control input port group.

Reimplemented from DtSimComponent.

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

protected

assignment operator

Member Data Documentation

DtAnalogInputPort* DtAggregatedMovementActuator::myMovementDirectionInputPort

protected

Input Port Name: desired-movement-direction
Input Port Description: Desired movement direction of the entity in radians.

Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control

DtAnalogInputPort* DtAggregatedMovementActuator::mySpeedInputPort

protected

Input Port Name: desired-speed
Input Port Description: Desired speed of the entity in m/s.

Input Port Range: 0 and up. Input Port Default Value: N/A
Input Group Parent: movement-control

DtInputPortGroup* DtAggregatedMovementActuator::myMovementControlPortGroupInputPortGroup

protected

Input Port Group Name: movement-control
Input Port Group Description: Collection of inputs specifying the desired movement of the entity.

DtVrfMovingObjectStateRepository* DtAggregatedMovementActuator::myMovingObjectStateRepository

protected

Convenience pointers to our state repository.

DtVrfAggregateStateRepository* DtAggregatedMovementActuator::myAggregateStateRepository

protected

Convenience pointers to our state repository.

const DtActuatorComponentDescriptor* DtAggregatedMovementActuator::myActuatorDescriptor

protected

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfmodel/aggregatedMovementActuator.h