DtRotaryWingRouteTaskDescriptor; descriptor for the DtRotaryWingMoveAlongControllerComponent and DtRotaryWingPatrolRouteController components. More...

Inheritance diagram for DtRotaryWingRouteTaskDescriptor:

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Public Member Functions
	DtRotaryWingRouteTaskDescriptor (const DtString &name, DtReaderWriterRegistry *parentRegistry=0)
	constructor
	DtRotaryWingRouteTaskDescriptor (const DtRotaryWingRouteTaskDescriptor &orig, DtReaderWriterRegistry *parentRegistry=0)
	copy constructor
DtRotaryWingRouteTaskDescriptor &	operator= (const DtRotaryWingRouteTaskDescriptor &orig)
	assignment
virtual	~DtRotaryWingRouteTaskDescriptor ()
	destructor
virtual DtString	type () const
	Returns the type of component this descriptor describes.
virtual DtComponentDescriptor *	clone (DtReaderWriterRegistry *parentRegistry=0) const
	Clone creates a new copy.

virtual DtReal	routeTransitionRadius () const
	Accessor/mutator for myRouteTransitionRadius.
virtual void	setRouteTransitionRadius (const DtReal value)
	Accessor/mutator for myRouteTransitionRadius.

virtual DtReal	routeXGain () const
	Accessor/mutator for myRouteXGain.
virtual void	setRouteXGain (const DtReal value)
	Accessor/mutator for myRouteXGain.

virtual DtReal	routeYGain () const
	Accessor/mutator for myRouteYGain.
virtual void	setRouteYGain (const DtReal value)
	Accessor/mutator for myRouteYGain.

virtual DtReal	routeZGain () const
	Accessor/mutator for myRouteZGain.
virtual void	setRouteZGain (const DtReal value)
	Accessor/mutator for myRouteZGain.

virtual DtReal	routeLookaheadFactor () const
	Accessor/mutator for myRouteLookaheadFactor.
virtual void	setRouteLookaheadFactor (const DtReal value)
	Accessor/mutator for myRouteLookaheadFactor.
Public Member Functions inherited from DtRotaryWingTaskDescriptor
	DtRotaryWingTaskDescriptor (const DtString &name, DtReaderWriterRegistry *parentRegistry=0)
	constructor
	DtRotaryWingTaskDescriptor (const DtRotaryWingTaskDescriptor &orig, DtReaderWriterRegistry *parentRegistry=0)
	copy constructor
DtRotaryWingTaskDescriptor &	operator= (const DtRotaryWingTaskDescriptor &orig)
	assignment
virtual	~DtRotaryWingTaskDescriptor ()
	destructor
virtual DtReal	defaultAggressiveness () const
	Accessor/mutator for myDefaultAggressiveness.
virtual void	setDefaultAggressiveness (const DtReal value)
	Accessor/mutator for myDefaultAggressiveness.
virtual DtReal	transitionRadius () const
	Accessor/mutator for myTransitionRadius.
virtual void	setTransitionRadius (const DtReal value)
	Accessor/mutator for myTransitionRadius.
Public Member Functions inherited from DtComponentDescriptor
	DtComponentDescriptor (const DtComponentDescriptor &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
DtComponentDescriptor &	operator= (const DtComponentDescriptor &orig)
	assignment
virtual	~DtComponentDescriptor ()
virtual void	putData (FILE *fp, int indentLevel=0)
	Overrides base class putData to output our type.
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 actually stored.
virtual bool	init ()
	Base class init does nothing, but will be called by createComponentDescriptor(), allowing derived classes to do memory allocation if necessary.
bool	operator== (const DtComponentDescriptor &) const
	DtComponentDescriptor (const DtString &componentName, DtReaderWriterRegistry *parentRegistry=NULL)
	DtComponentDescriptor (const DtSymbolString &componentName, DtReaderWriterRegistry *parentRegistry=NULL)
virtual void	setComponentType (const DtString &componentType)
	Type of DtSimComponent this descriptor is associated with.
virtual const DtString &	componentType () const
	Type of DtSimComponent this descriptor is associated with.
virtual void	setMinTickPeriod (DtReal minTickPeriod)
virtual DtReal	minTickPeriod () const
virtual void	setMinTickPeriodVariance (DtReal minTickPeriodVariance)
virtual DtReal	minTickPeriodVariance () const
virtual void	setTickPeriodUsesRealTime (bool value)
	Accessor/mutator for myTickPeriodUsesRealTime.
virtual bool	tickPeriodUsesRealTime () const
	Accessor/mutator for myTickPeriodUsesRealTime.
virtual const DtString &	processStateRepositoryName () const
	Name which this component will assign to its PSR.
virtual void	setProcessStateRepositoryName (const DtString &name)
	Name which this component will assign to its PSR.
virtual const DtString &	processStateRepositoryType () const
	Type of PSR this component will create.
virtual void	setProcessStateRepositoryType (const DtString &type)
	Type of PSR this component will create.
virtual void	setIsEnabled (bool yesNo)
	Is the component enabled or not.
virtual bool	isEnabled () const
	Is the component enabled or not.
virtual void	setDebugActive (bool active)
	Should detailed debug info be printed for this component.
virtual bool	debugActive ()
	Should detailed debug info be printed for this component.
virtual void	setCreateComponent (bool yesNo)
	Should the component be created or not.
virtual bool	createComponent () const
	Should the component be created or not.
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 DtComponentDescriptor *	creator ()

Protected Attributes
parameters
These parameters are available for setting in the OPD files.
DtRwReal	myRouteTransitionRadius
	Parameter Name: route-transition-radius Parameter Description: Transition radius for route points.
DtRwReal	myRouteXGain
	Parameter Name: route-x-gain Parameter Description: Route x-gain for route-position feedback.
DtRwReal	myRouteYGain
	Parameter Name: route-y-gain Parameter Description: Route y-gain for route-position feedback.
DtRwReal	myRouteZGain
	Parameter Name: route-z-gain Parameter Description: Route z-gain for route-position feedback.
DtRwReal	myRouteLookaheadFactor
	Parameter Name: route-lookahead-factor Parameter Description: Route lookahead factor for route following.
Protected Attributes inherited from DtRotaryWingTaskDescriptor
DtRwReal	myDefaultAggressiveness
	Parameter Name: default-aggressiveness Parameter Description: Acceleration level used by the helicopter in maneuvers is scaled by this value.
DtRwReal	myTransitionRadius
	Parameter Name: transition-radius Parameter Description: Distance (in meters) from a point or route endpoint within with the helicopter will complete movement tasks.
Protected Attributes inherited from DtComponentDescriptor
DtRwBoolean	myIsEnabled
DtRwBoolean	myDebug
	This parameter defaults to false.
DtRwBoolean	myCreateComponent
DtRwString	myComponentType
	Parameter Name: component-type Parameter Description: String identifying type of component.
DtRwReal	myMinTickPeriod
	Parameter Name: min-tick-period Parameter Description: Minimum tick period for this component.
DtRwReal	myMinTickPeriodVariance
	Parameter Name: min-tick-period-variance Parameter Description: Minimum tick period for this component.
DtRwBoolean	myTickPeriodUsesRealTime
	Parameter Name: tick-period-uses-real-time Parameter Description: Specified whether the min-tick-period and min-tick-period-variance parameters are based on real time or simulation time.
DtRwString	myProcessStateRepositoryName
	Parameter Name: process-state-repository-name Parameter Description: Name of the process state repository associated with this component.
DtRwString	myProcessStateRepositoryType
	Parameter Name: process-state-repository-type Parameter Description: Type of the process state repository assoicated with this component.
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.

Private Member Functions
	DtRotaryWingRouteTaskDescriptor ()
	default constructor 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 Member Functions inherited from DtRotaryWingTaskDescriptor
	DtRotaryWingTaskDescriptor ()
	default constructor; not implemented
Static Protected Attributes inherited from DtComponentDescriptor
static DtComponentDescriptorFactory *	myFactory

Detailed Description

DtRotaryWingRouteTaskDescriptor; descriptor for the DtRotaryWingMoveAlongControllerComponent and DtRotaryWingPatrolRouteController components.

DtRotaryWingRouteTaskDescriptor is a component descriptor for helicopter controllers that follow a route. This descriptor includes gain, control-parameter, and transition-radius data.

Constructor & Destructor Documentation

DtRotaryWingRouteTaskDescriptor::DtRotaryWingRouteTaskDescriptor	(	const DtString &	name,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

constructor

DtRotaryWingRouteTaskDescriptor::DtRotaryWingRouteTaskDescriptor	(	const DtRotaryWingRouteTaskDescriptor &	orig,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

copy constructor

virtual DtRotaryWingRouteTaskDescriptor::~DtRotaryWingRouteTaskDescriptor ( )

virtual

destructor

DtRotaryWingRouteTaskDescriptor::DtRotaryWingRouteTaskDescriptor ( )

private

default constructor not implemented

Member Function Documentation

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

assignment

virtual DtString DtRotaryWingRouteTaskDescriptor::type ( ) const

virtual

Returns the type of component this descriptor describes.

Used to create the descriptor on read from an mtl file. Component descriptor type strings are defined in compDescTypes.h.

Returns: DtRotaryWingPilotDescriptorType

Reimplemented from DtRotaryWingTaskDescriptor.

virtual DtComponentDescriptor* DtRotaryWingRouteTaskDescriptor::clone ( DtReaderWriterRegistry * parentRegistry = 0 ) const

virtual

Clone creates a new copy.

Reimplemented from DtRotaryWingTaskDescriptor.

virtual DtReal DtRotaryWingRouteTaskDescriptor::routeTransitionRadius ( ) const

virtual

Accessor/mutator for myRouteTransitionRadius.

virtual void DtRotaryWingRouteTaskDescriptor::setRouteTransitionRadius ( const DtReal value )

virtual

Accessor/mutator for myRouteTransitionRadius.

virtual DtReal DtRotaryWingRouteTaskDescriptor::routeXGain ( ) const

virtual

Accessor/mutator for myRouteXGain.

virtual void DtRotaryWingRouteTaskDescriptor::setRouteXGain ( const DtReal value )

virtual

Accessor/mutator for myRouteXGain.

virtual DtReal DtRotaryWingRouteTaskDescriptor::routeYGain ( ) const

virtual

Accessor/mutator for myRouteYGain.

virtual void DtRotaryWingRouteTaskDescriptor::setRouteYGain ( const DtReal value )

virtual

Accessor/mutator for myRouteYGain.

virtual DtReal DtRotaryWingRouteTaskDescriptor::routeZGain ( ) const

virtual

Accessor/mutator for myRouteZGain.

virtual void DtRotaryWingRouteTaskDescriptor::setRouteZGain ( const DtReal value )

virtual

Accessor/mutator for myRouteZGain.

virtual DtReal DtRotaryWingRouteTaskDescriptor::routeLookaheadFactor ( ) const

virtual

Accessor/mutator for myRouteLookaheadFactor.

virtual void DtRotaryWingRouteTaskDescriptor::setRouteLookaheadFactor ( const DtReal value )

virtual

Accessor/mutator for myRouteLookaheadFactor.

static DtComponentDescriptor* DtRotaryWingRouteTaskDescriptor::creator ( )

static

Returns: Newly created instance of this class, with an empty DtReaderWriter name. Creation methods are registered with a DtComponentDescriptorFactory, so they can be created on demand as they are read in from a parameter database file.

Reimplemented from DtRotaryWingTaskDescriptor.

Member Data Documentation

DtRwReal DtRotaryWingRouteTaskDescriptor::myRouteTransitionRadius

protected

Parameter Name: route-transition-radius
Parameter Description: Transition radius for route points.

If the helicopter begins moving away from a route point within this radius, it transitions to the next route point.
Parameter Default Value: 150.0
Parameter Units: meters

DtRwReal DtRotaryWingRouteTaskDescriptor::myRouteXGain

protected

Parameter Name: route-x-gain
Parameter Description: Route x-gain for route-position feedback.

Parameter Default Value: 0.05

DtRwReal DtRotaryWingRouteTaskDescriptor::myRouteYGain

protected

Parameter Name: route-y-gain
Parameter Description: Route y-gain for route-position feedback.

Parameter Default Value: 0.05

DtRwReal DtRotaryWingRouteTaskDescriptor::myRouteZGain

protected

Parameter Name: route-z-gain
Parameter Description: Route z-gain for route-position feedback.

Parameter Default Value: 0.02

DtRwReal DtRotaryWingRouteTaskDescriptor::myRouteLookaheadFactor

protected

Parameter Name: route-lookahead-factor
Parameter Description: Route lookahead factor for route following.

The lookahead factor ranges from 0-1, with 0 giving sharp turns at waypoints and 1 giving very rounded turns at waypoints.
Parameter Default Value: 0.5

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

/exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfobjparam/rotWingRtTaskDesc.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation