DtSurfaceMovementPSR Class Reference

Inheritance diagram for DtSurfaceMovementPSR:

Public Member Functions
	DtSurfaceMovementPSR (DtVrfObject *vrfObject, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	constructor
	DtSurfaceMovementPSR (const DtSurfaceMovementPSR &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	copy constructor
virtual	~DtSurfaceMovementPSR ()
	destructor
DtSurfaceMovementPSR &	operator= (const DtSurfaceMovementPSR &orig)
	assignment operator
virtual DtVrfProcessStateRepository *	clone (const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0) const
	returns a newly created copy of this object
virtual DtString	type () const
	Returns the string type of the repository, as defined in procSRTypes.h.
virtual void	setRouteVertices (const DtLocalVectorIterator &routeIterator)
	Set/get route vertices (local coordinates).
virtual const DtLocalVertexList &	routeVertices () const
virtual void	emptyRouteVertices ()
	Empty route vertices.
virtual void	setReverseFlag (bool flag)
	Set/get the reverse flag (reverse the direction of travel while.
virtual bool	reverseFlag () const
virtual void	setFirstWaypoint (const DtString &objectName)
	Set/get the first waypoint object name.
virtual const DtString &	firstWaypoint () const
virtual void	setSecondWaypoint (const DtString &objectName)
	Set/get the second waypoint object name.
virtual const DtString &	secondWaypoint () const
virtual void	setEntityToFollow (const DtString &objectName)
	Set/get the entity to follow object name.
virtual const DtString &	entityToFollow () const
virtual void	setFollowOffsetVector (const DtVector &offset)
	Set/get the entity follow offset (offset vector in body coordinates of the entity to follow, in meters).
virtual const DtVector &	followOffsetVector () const
virtual void	setGeodeticAimingPoint (const DtVector &pnt)
	Get/set the point to which this entity is moving towards for a move to location task.
virtual const DtVector	geodeticAimingPoint () const
virtual void	setGoalVector (const DtVector &goalVector)
	The vector from the goal position (destination) to the entity's position at the start of the move task.
virtual const DtVector &	goalVector () const
virtual void	setContinueAtGoal (const bool cont)
	Get/set the flag to determine if entity should continue at speed after reaching the destination.
virtual bool	continueAtGoal (void) const
virtual void	setIsEmergencyStop (const bool isEmergency)
virtual bool	isEmergencyStop (void) const
virtual void	setIsDriftStop (const bool isDriftStop)
virtual bool	isDriftStop (void) const
virtual void	putSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtReaderWriter::appPath())
	Override to set myCurrentVertex from route state before writing.
virtual double	forwardSpeed ()
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual void	setForwardSpeed (const double speed)
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual double	forwardAcceleration ()
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual void	setForwardAcceleration (const double acceleration)
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual double	clampSpeed ()
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual void	setClampSpeed (const double speed)
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual double	clampHeading ()
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual void	setClampHeading (const double clampHeading)
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual double	altitudeChangeRate ()
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual void	setAltitudeChangeRate (const double altitudeRate)
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual double	clampAltitude ()
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual void	setClampAltitude (const double altitude)
	These accessors return the values that the actuator caches between ticks for kinematic values.
virtual bool	hasFuel () const
	Accessors for actuator status info.
virtual void	setHasFuel (const bool hasFuel)
	Accessors for actuator status info.
virtual bool	isAground () const
	Accessors for actuator status info.
virtual void	setIsAground (bool isAground)
	Accessors for actuator status info.
virtual double	goalDepth ()
	Access functions for state variables describing the various movement tasks.
virtual void	setGoalDepth (const double depth)
	Access functions for state variables describing the various movement tasks.
virtual double	desiredDepthRate ()
	Access functions for state variables describing the various movement tasks.
virtual void	setDesiredDepthRate (const double rate)
	Access functions for state variables describing the various movement tasks.
virtual bool	isTurnContinuous ()
	Access functions for state variables describing the various movement tasks.
virtual void	setIsTurnContinuous (const bool isContinous)
	Access functions for state variables describing the various movement tasks.
virtual double	goalHeading ()
	Access functions for state variables describing the various movement tasks.
virtual void	setGoalHeading (const double goalHeading)
	Access functions for state variables describing the various movement tasks.
virtual bool	isUsingConstantDiameter ()
	Access functions for state variables describing the various movement tasks.
virtual void	setIsUsingConstantDiameter (const bool usingDiameter)
	Access functions for state variables describing the various movement tasks.
virtual bool	isTurningRight ()
	Access functions for state variables describing the various movement tasks.
virtual void	setIsTurningRight (const bool isContinous)
	Access functions for state variables describing the various movement tasks.
virtual double	desiredTurnDiameter ()
	Access functions for state variables describing the various movement tasks.
virtual void	setDesiredTurnDiameter (const double desiredTurnDiameter)
	Access functions for state variables describing the various movement tasks.
virtual double	desiredTurnRate ()
	Access functions for state variables describing the various movement tasks.
virtual void	setDesiredTurnRate (const double desiredTurnRate)
	Access functions for state variables describing the various movement tasks.
virtual bool	turnTaskIsControllingSpeed () const
	Access functions for state variables describing the various movement tasks.
virtual void	setTurnTaskIsControllingSpeed (const bool isControlling)
	Access functions for state variables describing the various movement tasks.
virtual void	setControlObjectName (const DtString &objectName)
	Set/get control object name (name of the waypoint to head towards).
virtual const DtString &	controlObjectName () const
	Access functions for state variables describing the various movement tasks.
virtual void	setRouteName (const DtString &objectName)
	Set/get route object name (name of the route to follow).
virtual const DtString &	routeName () const
	Set/get route object name (name of the route to follow).
virtual DtLocalVectorIterator *	routeState () const
	Get route state (an iterator over the route used to keep track of which point along the route we're heading toward).
virtual DtReal	startTurnDistance2 ()
	Accessors for start-turn-distance squared (see description below).
virtual void	setStartTurnDistance2 (const DtReal distance)
	Accessors for start-turn-distance squared (see description below).
virtual int	prevRoutePointIndex ()
	Accessors for next- and prev-route-point index.
virtual void	setPrevRoutPointIndex (const int index)
	Accessors for next- and prev-route-point index.
virtual int	nextRoutePointIndex ()
	Accessors for next- and prev-route-point index.
virtual void	setNextRoutePointIndex (const int index)
	Accessors for next- and prev-route-point index.
virtual DtReal	maxYawRate () const
	These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.
virtual void	setMaxYawRate (DtReal maxYawRate)
	These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.
virtual DtReal	maxYawAcceleration () const
	Accessor/mutator for myMaxYawAcceleration.
virtual void	setMaxYawAcceleration (DtReal maxYawAcceleration)
	These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.
virtual double	stoppingSpeed () const
	Accessor/mutator for myStoppingSpeed.
virtual void	setStoppingSpeed (DtReal stoppingSpeed)
	These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.
virtual DtRwInt &	currentVertex ()
	Accessors for the current vertex indices into the route.
virtual const DtRwInt &	currentVertex () const
	Accessors for the current vertex indices into the route.
virtual DtRwInt &	nextVertex ()
	Accessors for the current vertex indices into the route.
virtual const DtRwInt &	nextVertex () const
	Accessors for the current vertex indices into the route.
virtual DtRwInt &	previousVertex ()
	Accessors for the current vertex indices into the route.
virtual const DtRwInt &	previousVertex () const
	Accessors for the current vertex indices into the route.
Public Member Functions inherited from DtVrfProcessStateRepository
	DtVrfProcessStateRepository (DtVrfObject *vrfObject, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	DtVrfProcessStateRepository (const DtVrfProcessStateRepository &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
const DtVrfProcessStateRepository &	operator= (const DtVrfProcessStateRepository &orig)
virtual	~DtVrfProcessStateRepository ()
virtual bool	init ()
	Used for virtual construction. This base method simply returns true.
virtual bool	loadedFromMTL () const
virtual void	getSelf (DtlObjPtr args, const DtFilename &searchPath, const DtVariableBindingsList &variableBindings)
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	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 DtVrfProcessStateRepository *	creator (const DtString &rwName, DtVrfObject *vrfObject, DtReaderWriterRegistry *parentRegistry)
	Returns a newly created instance of this class.
Static Public Member Functions inherited from DtVrfProcessStateRepository
static DtVrfProcessStateRepositoryFactory *	factory ()
	a DtVrfProcessStateRepositoryFactory is allocated by the DtSimCreator, and this pointer is set.
static void	setFactory (DtVrfProcessStateRepositoryFactory *factory)
static void	addVrfProcessStateRepositoryCreatorFcn (const DtString &type, DtVrfProcessStateRepositoryCreatorFcn fcn)
static DtVrfProcessStateRepository *	createRepository (const DtString &name, const DtString &type, DtVrfObject *vrfObject, DtReaderWriterRegistry *parentRegistry=0)
	Creates a new state repository object, using the factory.
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (FILE *fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static const DtFilename &	appPath ()
	Gets the current working directory.
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
	Sets the function to create the DtReaderWriterFactory.
static void	createReaderWriterFactory ()

Protected Attributes
DtRwReal	myStartTurnDistance2
	The distance (squared) before the next point that the ship has to start heading for the following point, so that it can make the turn "inside" the route segments (vs.
DtRwBoolean	myReverseFlag
	For patrol-route control.
DtRwReal	myForwardSpeed
	Used in the actuator DtSufaceEntitySimpleActuator.
DtRwReal	myForwardAcceleration
	Used in the actuator DtSufaceEntitySimpleActuator.
DtRwReal	myClampSpeed
	Used in the actuator DtSufaceEntitySimpleActuator.
DtRwReal	myClampHeading
	Used in the actuator DtSufaceEntitySimpleActuator.
DtRwReal	myAltitudeChangeRate
	For the subsurface depth actuator:
DtRwReal	myClampAltitude
	Used in the actuator DtSufaceEntitySimpleActuator.
DtRwBoolean	myHasFuel
	Actuator status information.
DtRwBoolean	myIsAground
	Set by the actuator when it detects that the entity is aground.
DtRwReal	myGoalDepth
	This is used by subsurface depth controller.
DtRwReal	myDesiredDepthRate
	The desired depth change rate. This is always positive.
DtRwBoolean	myIsTurnContinuous
	For turn-move:
DtRwReal	myGoalHeading
	For turn-move:
DtRwBoolean	myIsUsingConstantDiameter
	If turn rate is set with diameter, then each tick the radians/secc turn rate for the output port has to be computed from the speed.
DtRwBoolean	myIsTurningRight
	If turning on a diameter, this flag indicates which way:
DtRwReal	myDesiredTurnDiameter
	For turn-move:
DtRwReal	myDesiredTurnRate
	Positive if turning right, negative if left. Rad/sec.
DtRwBoolean	myTurnTaskControllingSpeed
	True when the task is run; stays true until another movement task runs.
DtRwVector	myGeodeticAimingPoint
	For Surface Entity Move To Location controller.
DtRwVector	myGoalVector
	The vector from the aiming point (goal) to the start point of the move.
DtRwBoolean	myContinueAtGoal
	Indicates that the entity should continue at speed after hitting the destination location.
DtRwString	myControlObjectName
	For move-to [waypoint] control.
DtRwString	myRouteName
	For move-along [route] control.
DtLocalVectorIterator *	myRouteState
	Route state used to get info about the current route we're trying to follow (e.g.
DtLocalVertexList	myVertices
	my copy of the current route
DtRwInt	myCurrentVertex
	Read/write variables to capture route state.
DtRwInt	myNextVertex
	For move-along [route] control.
DtRwInt	myPrevVertex
	For move-along [route] control.
DtRwString	myFirstWaypoint
	For patrol-between control.
DtRwString	mySecondWaypoint
	For patrol-between control.
DtRwString	myEntityToFollow
	For follow control.
DtRwVector	myFollowOffsetVector
	Following offset vector (in body coordinates of entity to follow, in meters).
DtRwBoolean	myIsEmergencyStop
	For stop task.
DtRwBoolean	myIsDriftStop
	For stop task.
DtRwReal	myStoppingSpeed
	Other variables: not used in the above controllers or actuators.
DtRwReal	myMaxYawRate
	Max yaw rate– used only in DtSurfaceEntityActuator.
DtRwReal	myMaxYawAcceleration
	Max yaw rate acceleration– used only in DtSurfaceEntityActuator.
Protected Attributes inherited from DtVrfProcessStateRepository
DtVrfObject *	myVrfObject
bool	myLoadedFromMTL
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 Member Functions inherited from DtVrfProcessStateRepository
	DtVrfProcessStateRepository ()
Static Protected Attributes inherited from DtVrfProcessStateRepository
static DtVrfProcessStateRepositoryFactory *	theFactory

Constructor & Destructor Documentation

DtSurfaceMovementPSR::DtSurfaceMovementPSR	(	DtVrfObject *	vrfObject,
		const DtString &	rwName = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = 0
	)

constructor

DtSurfaceMovementPSR::DtSurfaceMovementPSR	(	const DtSurfaceMovementPSR &	orig,
		const DtString &	rwName = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = 0
	)

copy constructor

virtual DtSurfaceMovementPSR::~DtSurfaceMovementPSR ( )

virtual

destructor

Member Function Documentation

DtSurfaceMovementPSR& DtSurfaceMovementPSR::operator=

(

const DtSurfaceMovementPSR &

orig

)

assignment operator

virtual DtVrfProcessStateRepository* DtSurfaceMovementPSR::clone ( const DtString &  rwName = DtString::nullString(), DtReaderWriterRegistry *  parentRegistry = 0  ) const

virtual

returns a newly created copy of this object

Implements DtVrfProcessStateRepository.

virtual DtString DtSurfaceMovementPSR::type ( ) const

virtual

Returns the string type of the repository, as defined in procSRTypes.h.

(DtVrfSurfaceMovementProcessStateRepositoryType).

Implements DtVrfProcessStateRepository.

virtual double DtSurfaceMovementPSR::forwardSpeed ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setForwardSpeed ( const double  speed )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::forwardAcceleration ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setForwardAcceleration ( const double  acceleration )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::clampSpeed ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setClampSpeed ( const double  speed )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::clampHeading ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setClampHeading ( const double  clampHeading )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::altitudeChangeRate ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setAltitudeChangeRate ( const double  altitudeRate )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::clampAltitude ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setClampAltitude ( const double  altitude )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual bool DtSurfaceMovementPSR::hasFuel ( ) const

inlinevirtual

Accessors for actuator status info.

The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual void DtSurfaceMovementPSR::setHasFuel ( const bool  hasFuel )

inlinevirtual

Accessors for actuator status info.

The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual bool DtSurfaceMovementPSR::isAground ( ) const

inlinevirtual

Accessors for actuator status info.

The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual void DtSurfaceMovementPSR::setIsAground ( bool  isAground )

inlinevirtual

Accessors for actuator status info.

The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual double DtSurfaceMovementPSR::goalDepth ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setGoalDepth ( const double  depth )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::desiredDepthRate ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setDesiredDepthRate ( const double  rate )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::isTurnContinuous ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setIsTurnContinuous ( const bool  isContinous )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::goalHeading ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setGoalHeading ( const double  goalHeading )

virtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::isUsingConstantDiameter ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setIsUsingConstantDiameter ( const bool  usingDiameter )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::isTurningRight ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setIsTurningRight ( const bool  isContinous )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::desiredTurnDiameter ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setDesiredTurnDiameter ( const double  desiredTurnDiameter )

virtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::desiredTurnRate ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setDesiredTurnRate ( const double  desiredTurnRate )

virtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::turnTaskIsControllingSpeed ( ) const

virtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setTurnTaskIsControllingSpeed ( const bool  isControlling )

virtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setControlObjectName ( const DtString &  objectName )

virtual

Set/get control object name (name of the waypoint to head towards).

virtual const DtString& DtSurfaceMovementPSR::controlObjectName ( ) const

virtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setRouteName ( const DtString &  objectName )

virtual

Set/get route object name (name of the route to follow).

virtual const DtString& DtSurfaceMovementPSR::routeName ( ) const

virtual

Set/get route object name (name of the route to follow).

virtual void DtSurfaceMovementPSR::setRouteVertices ( const DtLocalVectorIterator &  routeIterator )

virtual

Set/get route vertices (local coordinates).

Once route is set, can access routeState() to query and set current position along route. The minSpacing parameter allows this function to prune route points that are closer together than this.

virtual const DtLocalVertexList& DtSurfaceMovementPSR::routeVertices ( ) const

virtual

virtual void DtSurfaceMovementPSR::emptyRouteVertices ( )

virtual

Empty route vertices.

virtual DtLocalVectorIterator* DtSurfaceMovementPSR::routeState ( ) const

virtual

Get route state (an iterator over the route used to keep track of which point along the route we're heading toward).

virtual DtReal DtSurfaceMovementPSR::startTurnDistance2 ( )

inlinevirtual

Accessors for start-turn-distance squared (see description below).

virtual void DtSurfaceMovementPSR::setStartTurnDistance2 ( const DtReal  distance )

inlinevirtual

Accessors for start-turn-distance squared (see description below).

virtual int DtSurfaceMovementPSR::prevRoutePointIndex ( )

inlinevirtual

Accessors for next- and prev-route-point index.

virtual void DtSurfaceMovementPSR::setPrevRoutPointIndex ( const int  index )

inlinevirtual

Accessors for next- and prev-route-point index.

virtual int DtSurfaceMovementPSR::nextRoutePointIndex ( )

inlinevirtual

Accessors for next- and prev-route-point index.

virtual void DtSurfaceMovementPSR::setNextRoutePointIndex ( const int  index )

inlinevirtual

Accessors for next- and prev-route-point index.

virtual void DtSurfaceMovementPSR::setReverseFlag ( bool  flag )

virtual

Set/get the reverse flag (reverse the direction of travel while.

patrolling - either between points or along a route).

virtual bool DtSurfaceMovementPSR::reverseFlag ( ) const

virtual

virtual void DtSurfaceMovementPSR::setFirstWaypoint ( const DtString &  objectName )

virtual

Set/get the first waypoint object name.

virtual const DtString& DtSurfaceMovementPSR::firstWaypoint ( ) const

virtual

virtual void DtSurfaceMovementPSR::setSecondWaypoint ( const DtString &  objectName )

virtual

Set/get the second waypoint object name.

virtual const DtString& DtSurfaceMovementPSR::secondWaypoint ( ) const

virtual

virtual void DtSurfaceMovementPSR::setEntityToFollow ( const DtString &  objectName )

virtual

Set/get the entity to follow object name.

virtual const DtString& DtSurfaceMovementPSR::entityToFollow ( ) const

virtual

virtual void DtSurfaceMovementPSR::setFollowOffsetVector ( const DtVector &  offset )

virtual

Set/get the entity follow offset (offset vector in body coordinates of the entity to follow, in meters).

virtual const DtVector& DtSurfaceMovementPSR::followOffsetVector ( ) const

virtual

virtual void DtSurfaceMovementPSR::setGeodeticAimingPoint ( const DtVector &  pnt )

virtual

Get/set the point to which this entity is moving towards for a move to location task.

In a triple (DtVector) containing lat-lon-alt.

virtual const DtVector DtSurfaceMovementPSR::geodeticAimingPoint ( ) const

virtual

virtual void DtSurfaceMovementPSR::setGoalVector ( const DtVector &  goalVector )

virtual

The vector from the goal position (destination) to the entity's position at the start of the move task.

This vector is used to determine when the entity has passed by the goal location. North-east-down (i.e., like topocentric) data from a DtVector3D.

virtual const DtVector& DtSurfaceMovementPSR::goalVector ( ) const

virtual

virtual void DtSurfaceMovementPSR::setContinueAtGoal ( const bool  cont )

virtual

Get/set the flag to determine if entity should continue at speed after reaching the destination.

virtual bool DtSurfaceMovementPSR::continueAtGoal ( void  ) const

virtual

virtual void DtSurfaceMovementPSR::setIsEmergencyStop ( const bool  isEmergency )

virtual

virtual bool DtSurfaceMovementPSR::isEmergencyStop ( void  ) const

virtual

virtual void DtSurfaceMovementPSR::setIsDriftStop ( const bool  isDriftStop )

virtual

virtual bool DtSurfaceMovementPSR::isDriftStop ( void  ) const

virtual

virtual void DtSurfaceMovementPSR::putSelf ( FILE *  fp, int  indentLevel = 0, bool  writeUnspecified = false, const DtFilename &  path = DtReaderWriter::appPath()  )

virtual

Override to set myCurrentVertex from route state before writing.

Reimplemented from DtReaderWriter.

virtual DtReal DtSurfaceMovementPSR::maxYawRate ( ) const

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.

Accessor/mutator for myMaxYawRate.

virtual void DtSurfaceMovementPSR::setMaxYawRate ( DtReal  maxYawRate )

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.

Accessor/mutator for myMaxYawRate.

virtual DtReal DtSurfaceMovementPSR::maxYawAcceleration ( ) const

virtual

Accessor/mutator for myMaxYawAcceleration.

virtual void DtSurfaceMovementPSR::setMaxYawAcceleration ( DtReal  maxYawAcceleration )

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.

Accessor/mutator for myMaxYawRate.

virtual double DtSurfaceMovementPSR::stoppingSpeed ( ) const

virtual

Accessor/mutator for myStoppingSpeed.

virtual void DtSurfaceMovementPSR::setStoppingSpeed ( DtReal  stoppingSpeed )

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.

Accessor/mutator for myMaxYawRate.

virtual DtRwInt& DtSurfaceMovementPSR::currentVertex ( )

virtual

Accessors for the current vertex indices into the route.

virtual const DtRwInt& DtSurfaceMovementPSR::currentVertex ( ) const

virtual

Accessors for the current vertex indices into the route.

virtual DtRwInt& DtSurfaceMovementPSR::nextVertex ( )

virtual

Accessors for the current vertex indices into the route.

virtual const DtRwInt& DtSurfaceMovementPSR::nextVertex ( ) const

virtual

Accessors for the current vertex indices into the route.

virtual DtRwInt& DtSurfaceMovementPSR::previousVertex ( )

virtual

Accessors for the current vertex indices into the route.

virtual const DtRwInt& DtSurfaceMovementPSR::previousVertex ( ) const

virtual

Accessors for the current vertex indices into the route.

static DtVrfProcessStateRepository* DtSurfaceMovementPSR::creator ( const DtString &  rwName, DtVrfObject *  vrfObject, DtReaderWriterRegistry *  parentRegistry  )

static

Returns a newly created instance of this class.

Member Data Documentation

DtRwReal DtSurfaceMovementPSR::myForwardSpeed

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myForwardAcceleration

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myClampSpeed

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myClampHeading

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myAltitudeChangeRate

protected

For the subsurface depth actuator:

DtRwReal DtSurfaceMovementPSR::myClampAltitude

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwBoolean DtSurfaceMovementPSR::myHasFuel

protected

Actuator status information.

Set by the actuator when it checks fuel.
When the actuator determines that the entity is out of fuel, it will set the power plant appearance to "off." The (pilot) controller can also turn off the power plant to drift. The controller should check fuel before trying to turn the power plant on.

DtRwBoolean DtSurfaceMovementPSR::myIsAground

protected

Set by the actuator when it detects that the entity is aground.

DtRwReal DtSurfaceMovementPSR::myGoalDepth

protected

This is used by subsurface depth controller.

The desired depth. Note this is 0 at sea level and increases with decreasing altitude.

DtRwReal DtSurfaceMovementPSR::myDesiredDepthRate

protected

The desired depth change rate. This is always positive.

DtRwBoolean DtSurfaceMovementPSR::myIsTurnContinuous

protected

For turn-move:

If true, goalHeading is not used:

DtRwReal DtSurfaceMovementPSR::myGoalHeading

protected

For turn-move:

If true, goalHeading is not used:

DtRwBoolean DtSurfaceMovementPSR::myIsUsingConstantDiameter

protected

If turn rate is set with diameter, then each tick the radians/secc turn rate for the output port has to be computed from the speed.

DtRwBoolean DtSurfaceMovementPSR::myIsTurningRight

protected

If turning on a diameter, this flag indicates which way:

DtRwReal DtSurfaceMovementPSR::myDesiredTurnDiameter

protected

For turn-move:

If true, goalHeading is not used:

DtRwReal DtSurfaceMovementPSR::myDesiredTurnRate

protected

Positive if turning right, negative if left. Rad/sec.

DtRwBoolean DtSurfaceMovementPSR::myTurnTaskControllingSpeed

protected

True when the task is run; stays true until another movement task runs.

While true, the task keeps controlling speed to match ordered speed, even if the task is complete.

DtRwVector DtSurfaceMovementPSR::myGeodeticAimingPoint

protected

For Surface Entity Move To Location controller.

The current destination location, in a triple that represents lat-lon-alt. Copied to a DtLocation3D each tick.

DtRwVector DtSurfaceMovementPSR::myGoalVector

protected

The vector from the aiming point (goal) to the start point of the move.

Used to determine when the entity has passed the goal (when it's vector to the goal is 90 degrees to this). North-east-down (i.e., like topocentric) data from a DtVector3D.

DtRwBoolean DtSurfaceMovementPSR::myContinueAtGoal

protected

Indicates that the entity should continue at speed after hitting the destination location.

Used in move-to as well.

DtRwString DtSurfaceMovementPSR::myControlObjectName

protected

For move-to [waypoint] control.

Object name of a waypoint we're moving toward.

DtRwString DtSurfaceMovementPSR::myRouteName

protected

For move-along [route] control.

Object name of the route object we're following.

DtLocalVectorIterator* DtSurfaceMovementPSR::myRouteState

protected

Route state used to get info about the current route we're trying to follow (e.g.

which vertex to move toward).

DtLocalVertexList DtSurfaceMovementPSR::myVertices

protected

my copy of the current route

DtRwInt DtSurfaceMovementPSR::myCurrentVertex

protected

Read/write variables to capture route state.

The route following controller may skip closely-spaced route points, so cannot just use the iterator's prev() and next() functions to get at the points it is actually using.

DtRwInt DtSurfaceMovementPSR::myNextVertex

protected

For move-along [route] control.

Object name of the route object we're following.

DtRwInt DtSurfaceMovementPSR::myPrevVertex

protected

For move-along [route] control.

Object name of the route object we're following.

DtRwReal DtSurfaceMovementPSR::myStartTurnDistance2

protected

The distance (squared) before the next point that the ship has to start heading for the following point, so that it can make the turn "inside" the route segments (vs.

overshooting the next point), and yet stay close to the route segments (vs. turning away early).

DtRwBoolean DtSurfaceMovementPSR::myReverseFlag

protected

For patrol-route control.

Current direction of patrol (along route or between waypoints).

DtRwString DtSurfaceMovementPSR::myFirstWaypoint

protected

For patrol-between control.

Object names of the waypoints to patrol between.

DtRwString DtSurfaceMovementPSR::mySecondWaypoint

protected

For patrol-between control.

Object names of the waypoints to patrol between.

DtRwString DtSurfaceMovementPSR::myEntityToFollow

protected

For follow control.

Object name of entity to follow.

DtRwVector DtSurfaceMovementPSR::myFollowOffsetVector

protected

Following offset vector (in body coordinates of entity to follow, in meters).

DtRwBoolean DtSurfaceMovementPSR::myIsEmergencyStop

protected

For stop task.

DtRwBoolean DtSurfaceMovementPSR::myIsDriftStop

protected

For stop task.

DtRwReal DtSurfaceMovementPSR::myStoppingSpeed

protected

Other variables: not used in the above controllers or actuators.

Copies of parameters in the actuator descriptor.

Stopping speed. This is the epsilon within which the vessel's speed must be of the desired (clamp) speed before the actuator clamps the speed. (PSR version used only in DtSurfaceEntityActuator)

DtRwReal DtSurfaceMovementPSR::myMaxYawRate

protected

Max yaw rate– used only in DtSurfaceEntityActuator.

DtRwReal DtSurfaceMovementPSR::myMaxYawAcceleration

protected

Max yaw rate acceleration– used only in DtSurfaceEntityActuator.

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfobjcore/surfaceMovementPSR.h