 |
VR-Forces 4.2 Class Documentation
|
|
VR-Forces 4.2 Class Documentation
|
A controller for ground automotive entities that takes a direction and speed as input, and outputs throttle, steering, etc, values for the automotive actuator. More...
Public Member Functions | |
| DtGroundMoveDirectionController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundMoveDirectionController () |
| destructor | |
| virtual bool | init () |
| Initializes myGroundVehicleState. | |
| virtual DtString | type () const |
| Returns a string identifies the class type of component. | |
| virtual void | tick () |
| This gives the thread of control to the component. | |
 Public Member Functions inherited from DtGroundAutoControllerComponent | |
| DtGroundAutoControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtGroundAutoControllerComponent () |
| destructor | |
| virtual void | clearTask () |
| Overridden to call deactive the port group when this controller completes a task. | |
| virtual double | approximateThrottle (double desiredSpeed) |
| Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil. | |
| virtual double | calculateSteering (double currentHeading, double desiredHeading) const |
| virtual double | calculateCurrentBrakingDistance () const |
| virtual bool | createAutomotiveControlPortGroup () |
| These are called in init to create the ports used to communicate with the actuator. | |
| virtual bool | createThrottlePort () |
| virtual bool | createSteeringPort () |
| virtual bool | createBrakePort () |
| virtual bool | createGearPort () |
| virtual bool | createParkingBrakePort () |
| virtual DtConstrainedAnalogOutputPort * | throttlePort () |
| virtual DtConstrainedAnalogOutputPort * | steeringPort () |
| virtual DtConstrainedAnalogOutputPort * | brakePort () |
| virtual DtConstrainedIntegerOutputPort * | gearPort () |
| virtual DtBooleanOutputPort * | parkingBrakePort () |
| virtual double | decelerationSoilFactor () const |
| virtual double | calcSteeringForTurnInPlace () |
| calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn. | |
| virtual double | calcThrottleForTurnInPlace () |
| calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn. | |
| virtual double | calcBrakeForTurnInPlace () |
| If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned. | |
| virtual int | calcGearForTurnInPlace () |
| calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn. | |
| virtual double | calcSteeringForPivot () |
| calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn. | |
| virtual double | calcThrottleForPivot () |
| calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn. | |
| virtual double | calcSteeringForKTurn () |
| If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn. | |
| virtual double | calcThrottleForKTurn () |
| If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn. | |
| virtual double | calcBrakeForKTurn () |
| If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop. | |
| virtual double | findSpeedForKTurn () |
| If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned. | |
| virtual double | findHeadingForKTurn () |
| If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned. | |
| virtual void | setHeadingToTurnTo (double headingToTurnTo) |
| Get/Set the heading we the entity has been tasked to turn to. | |
| virtual double | headingToTurnTo () const |
| virtual void | setKTurnReverseGoalHeading (double kTurnReverseGoalHeading) |
| Get/Set the heading that is halfway between the original heading and the heading to turn to. | |
| virtual double | kTurnReverseGoalHeading () const |
| virtual void | setKTurnReverseComplete (bool kTurnReverseComplete) |
| Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading()) | |
| virtual bool | kTurnReverseComplete () const |
| 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 void | suspendTask () |
| This method is called when the currently running task is being suspended. | |
| 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 DtSuspendedTaskInfo * | suspendTaskById (int taskId) |
| 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 | 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 | 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 | 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 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 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 *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
Protected Member Functions | |
| virtual bool | createPorts () |
| Overridden to create the movement control input ports. | |
| virtual bool | createPortGroups () |
| Overridden to create the movement control input port group. | |
| virtual bool | createDirectionInputPort () |
| virtual bool | createSpeedInputPort () |
| virtual bool | movementControlInputPortGroup () |
| virtual void | setControlsForNormalMove () |
| Sets the output controls for a normal forward movement while steering. | |
| virtual void | setControlsForTurnInPlace () |
| Sets the output controls for a turn in place. | |
| virtual bool | shouldTurnInPlace () |
| Check whether the vehicle should move normally or turn in place for this tick. | |
| Protected Member Functions inherited from DtGroundAutoControllerComponent | |
| 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 DtSoilFactors * | currentSoilFactors () const |
| virtual bool | decideToGiveUpTask () const |
| If the entity is attached and the target of the current task is not, give up on the task. | |
| 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 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. | |
| Protected Member Functions inherited from DtControllerComponent | |
| DtControllerComponent () | |
| default constructor | |
| DtControllerComponent (const DtControllerComponent &orig) | |
| copy constructor | |
| const DtControllerComponent & | operator= (const DtControllerComponent &orig) |
| assignment operator | |
| 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 | |
| bool | myTurningLastTick |
| Used only for debugging output, so not in PSR. | |
| const DtGroundMoveDirectionControllerDescriptor * | myMoveDirectionDescriptor |
Ports and Port Groups | |
| DtAnalogInputPort * | myDirectionInputPort |
| Input Port Name: desired-direction Input Port Description: Desired direction (heading) of the entity in radians. | |
| DtAnalogInputPort * | mySpeedInputPort |
| Input Port Name: desired-speed Input Port Description: Desired speed of the entity in m/s. | |
| DtInputPortGroup * | myMovementControlInputPortGroup |
| Input Port Group Name: movement-control Input Port Group Description: Collection of inputs specifying the desired movement of the entity. | |
| Protected Attributes inherited from DtGroundAutoControllerComponent | |
| DtGroundVehicleStateRepository * | myGroundVehicleState |
| DtAutomotivePSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. | |
| double | mySpeedErrorLastTick |
| For derivative control in approximateThrottle. | |
| DtConstrainedAnalogOutputPort * | myThrottlePort |
| Output Port Name: throttle Output Port Description: Output Port Range: 0. | |
| DtConstrainedAnalogOutputPort * | mySteeringPort |
| Output Port Name: steering Output Port Description: Output Port Range: -1.0 to 1.0 Output Port Default Value: Output Group Parent: automotive-control. | |
| DtConstrainedAnalogOutputPort * | myBrakePort |
| Output Port Name: brake Output Port Description: Output Port Range: 0. | |
| DtConstrainedIntegerOutputPort * | myGearPort |
| Output Port Name: gear Output Port Description: Output Port Range: Output Port Default Value: Output Group Parent: automotive-control. | |
| DtBooleanOutputPort * | myParkingBrakePort |
| Output Port Name: parking-brake Output Port Description: Output Port Default Value: True Output Group Parent: automotive-control. | |
| DtOutputPortGroup * | myAutomotiveControlPortGroup |
| Output Port Group Name: automotive-control Output Port Group Description: Collection of control output for automotive entity movement controllers. | |
Private Member Functions | |
| DtGroundMoveDirectionController () | |
| default constructor; not implemented | |
| DtGroundMoveDirectionController (const DtGroundMoveDirectionController &orig) | |
| copy constructor; not implemented | |
| const DtGroundMoveDirectionController & | operator= (const DtGroundMoveDirectionController &orig) |
| assignment operator; not implemented | |
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 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 |
A controller for ground automotive entities that takes a direction and speed as input, and outputs throttle, steering, etc, values for the automotive actuator.
This controller is intended as an intermediary controller between a controller that is carrying out a task or performing some action by providing a desired speed and heading, and the automotive actuator itself. The controller will cause the entity to stop and pivot, if configured to to so in the descriptor and if the entity is pivot-capable. Uses Descriptor Type: DtGroundMoveDirectionControllerDescriptor
|
private |
default constructor; not implemented
|
private |
copy constructor; not implemented
| DtGroundMoveDirectionController::DtGroundMoveDirectionController | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
|
virtual |
destructor
|
private |
assignment operator; not implemented
|
virtual |
Initializes myGroundVehicleState.
Reimplemented from DtGroundAutoControllerComponent.
Reimplemented in BHAVE::DtBhaveMoveDirectionController.
|
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.
Reimplemented from DtGroundAutoControllerComponent.
Reimplemented in BHAVE::DtBhaveMoveDirectionController.
|
virtual |
This gives the thread of control to the component.
The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.
Reimplemented from DtSimComponent.
|
static |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
Reimplemented in BHAVE::DtBhaveMoveDirectionController.
|
protectedvirtual |
Overridden to create the movement control input ports.
Calls down to DtGroundAutoControllerComponent::createPorts().
Reimplemented from DtGroundAutoControllerComponent.
Reimplemented in BHAVE::DtBhaveMoveDirectionController.
|
protectedvirtual |
Overridden to create the movement control input port group.
Calls down to DtGroundAutoControllerComponent::createPortGroups().
Reimplemented from DtGroundAutoControllerComponent.
|
protectedvirtual |
|
protectedvirtual |
|
protectedvirtual |
|
protectedvirtual |
Sets the output controls for a normal forward movement while steering.
Reimplemented in BHAVE::DtBhaveMoveDirectionController.
|
protectedvirtual |
Sets the output controls for a turn in place.
Either pivot, or K-Turn, depending on the capabilities of the entity.
|
protectedvirtual |
Check whether the vehicle should move normally or turn in place for this tick.
|
protected |
Input Port Name: desired-direction
Input Port Description: Desired direction (heading) of the entity in radians.
Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control
|
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
|
protected |
Input Port Group Name: movement-control
Input Port Group Description: Collection of inputs specifying the desired movement of the entity.
|
protected |
Used only for debugging output, so not in PSR.
|
protected |