DtFixedWingFollowEntityController Class Reference

DtFixedWingFollowEntityController is a controller that models follow behavior for fixed-wing entities. More...

Inheritance diagram for DtFixedWingFollowEntityController:

Public Member Functions
	DtFixedWingFollowEntityController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtFixedWingFollowEntityController ()
	destructor
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Overrides this to set up the control point before every frame.
virtual void	doMoving ()
	Override these so the task doesn't end when we get near/at the desired position.
virtual void	doFlying ()
	Determines if the entity is five seconds or fewer away from being at the waypoint using the entity’s speed and myDistanceSquared.
virtual void	doTaxiing ()
	Determines if the entity is near its goal.
virtual void	processFollowEntityTask (DtSimMessage *msg)
virtual const DtString &	entityToFollow () const
virtual void	setEntityToFollow (const DtString &entity)
virtual const DtVector &	offsetVector () const
virtual void	setOffsetVector (const DtVector &offsets)
Public Member Functions inherited from DtFixedWingMoveToController
	DtFixedWingMoveToController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtFixedWingMoveToController ()
	destructor
bool	setMovementStatusFromControlPoint ()
	Looks at the control point and the entity and determines which type of move to case is appropriate.
virtual void	doFinishing ()
	Based on the current Movement status of the entity, calls the appropriate doFinishing function.
virtual void	doFinishingForFlying ()
	Checks to see if the entity is within two seconds of being at the waypoint, or if the entity’s distance from the waypoint is greater than it was the previous frame (by comparing myProcessState->distanceSquared() to myProcessState->lastDistanceSquared()).
virtual void	doFinishingForTaxiing ()
	Only called if the entity is near its goal.
virtual void	doTakeOff ()
	Changes the ordered speed to be the max ground speed and then taxi's in the direction of the waypoint.
virtual void	updateTakeOffDirection ()
	Calculates and sets a new direction vector using the current waypoint to move to and the current position of the entity.
virtual bool	nearGoal ()
	Determines if the entity is close enough to the waypoint that it can be considered near its goal.
virtual bool	atGoal ()
	Determines if the entity is "at" the goal.
virtual bool	passedGoal ()
	Determines if the entity will taxi passed the control point to which it is moving this frame if it continues at its current velocity and acceleration.
virtual void	taskComplete (bool success=true)
	Overridden to set all internal state (i.e.
virtual void	processMoveToTask (DtSimMessage *msg)
	Callback functions to execute when messages registered for are received.
virtual void	processMoveToAltitudeTask (DtSimMessage *msg)
virtual void	processSetAltitude (DtSimMessage *msg)
	Changes the entities altitude/position to the user specified value.
virtual void	processSetLocation (DtSimMessage *msg)
virtual void	processSetRestore (DtSimMessage *msg)
virtual void	processWaypointChanged (DtVrfObject *msg)
virtual void	processModifyVrfObject (DtSimMessage *msg)
	If the entity is tasked, the control point is valid, and the object moved was the entity, then this resets any state associated with the previous location of the FWE when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.
virtual void	processDeleteVrfObject (DtVrfObject *msg)
	Makes sure to update the state of the controller appropriately if either the waypoint or any other relevent vrfobject was deleted.
virtual bool	createWorkingControlPoint (const DtVector location)
	Creates a new "phantom" waypoint at the current location of the FWE, but at an altitude specified by the MoveToAltitude task.
Public Member Functions inherited from DtFixedWingPilotController
	DtFixedWingPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtFixedWingPilotController ()
	destructor
virtual bool	init ()
	Initializes myFixedWingEntityState.
virtual void	taxiTo (const DtVector &destination, double speed)
	The following functions assume that the FWE is on the GROUND.
virtual void	taxi (double speed, double turnRate)
	Call this to taxi at a given speed and turn rate.
virtual double	calculateSteering (double turnAngle) const
	Calculates the pedal port value for the given turn angle.
virtual double	approximateThrottle (double speed)
	Calculates the throttle port value for the given speed using: throttle = (slope/maxSlope + ((desiredSpeed/maxSpeed))
virtual double	calculateCurrentBrakingDistance () const
	Returns the braking distance using the current speed and breaking ability to determine how long it would take to brake.
virtual void	flyTo (const DtVector &destination, double speed)
	The following functions assume that the FWE is in the AIR.
virtual void	flyToDirect (const DtVector &destination, double speed)
	Call this to fly to a specified 3D point at the given speed.
virtual void	fly (double speed, double turnRate, double climbRate)
	Call this to fly at a given speed, turn rate and climb rate.
virtual void	flyFixedPitch (double speed, double turnRate, double desiredPitch)
	Call this to fly at a given speed, turn rate and pitch.
virtual void	circle (const DtVector &center, double radius, double speed, double altitude, bool clockwise=true)
	Call this to fly in a circle.
virtual double	calcControlForRoll (double rollRate)
	Calculates and returns the stickY value needed to achieve the desired roll rate.
virtual double	calcControlForThrottle (double speed, bool &deployFlaps)
	Calculates a throttle value based on the entity’s current speed, desired speed, and current acceleration.
virtual void	calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal)
	The calcControlForTurnAndClimb() method determines the appropriate pitch angle to use to achieve the desired climb rate, then calls calccontrolForTurnAndPitch().
virtual void	calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal)
	The calcControlForTurnAndClimb() method determines complementary stickX and pedal values to achieve a desired turn rate and climb rate.
virtual double	calculateClimbRate (double altitude, double climbTime) const
	Calculates a climb rate to achieve the specified altitude in the climbTime specified.
virtual double	calculateTurnRate (double turnAngle) const
	Determines the turn rate that will be used to change heading.
virtual double	calculateRollAngle (double turnRate, double speed) const
	Calculates a roll angle for a turn based on the turn rate desired and the entity’s current speed.
virtual double	calculateRollRate (double rollAngle)
	Calculates a desired rate of roll based on the current roll and the desired roll angle.
virtual void	calculateNormalizedBodyVelocity ()
	Put current velocity into body coordinates.
virtual void	calculateLocalAngularVelocity ()
	The calculateLocalAngularVelocity() function calculates the entity’s current rate of heading change and stores the value in myProcessState's myLocalAngularVelocity member.
virtual void	calculateSpeedRatioSquared ()
	Calculate the square of our current speed divided by our max speed.
virtual void	initializeControllerForTick ()
	The initializeControllerForTick() function is called to recompute the entity’s normalized body velocity, local angular velocity, and speed ratio squared.
virtual bool	createFixedWingControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
virtual bool	createStickPort ()
virtual bool	createPedalPort ()
virtual bool	createBrakePort ()
virtual bool	createFlapsDeployedPort ()
	This is not currently used.
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
	These provide access to the ports.
virtual DtConstrainedDualAxisAnalogOutputPort *	stickPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual DtConstrainedAnalogOutputPort *	brakePort ()
virtual DtBooleanOutputPort *	flapsDeployedPort ()
virtual void	setMaxThrustAcceleration (double maxThrustAcceleration)
	These are used to set values in the process state repository.
virtual void	setTakeOffDir (const DtVector &takeOffDir)
	The direction vector for take off.
virtual const DtVector &	takeOffDir () const
virtual DtReal	maxTurningGs () const
	Parameter value from descriptor.
virtual DtReal	maxTurnRateCutoffAngle () const
	Parameter value from descriptor.
virtual DtReal	maxTaxiingTurnSpeed () const
	Parameter value from descriptor.
virtual DtReal	taxiingNearDistance () const
	Parameter value from descriptor.
virtual DtReal	taxiingAtDistance () const
	Parameter value from descriptor.
virtual DtReal	taxiingApproachSpeed () const
	Parameter value from descriptor.
virtual DtReal	maxPitchAngle () const
	Parameter value from descriptor.
virtual DtReal	timeToTargetAltitude () const
	Parameter value from descriptor.
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	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 (DtSimRadio *radio)
	Calls 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 DtSimRadio *	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	preprocess ()
	Perform parallel preprocessing prior to tick and similar computations.
virtual void	parallelTick ()
	called in parallel
virtual void	preFirstTickInit ()
	called from preprocess if appropriate
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 DtReaderWriter::SearchPaths &searchPaths, 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)
	pseudo-copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
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	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op.
virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op.
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op.
virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op.
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 void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to iriginal state Default is no-op.
virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment.
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 const char *	xmlType () const
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
std::string	debugText () const
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 bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference.
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 void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated.
virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time.
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.
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.
virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriter *	defaultRWValue ()
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable.
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Give the stream, if the stream contains a default value then set it here.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename.
virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid.
virtual bool	fromXmlFile (const DtFilename &)
	Restires object from given xml file.
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data.
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference.
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
	Gets data from the environment value.
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
	Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op.
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference.

Static Public Member Functions
static void	followEntityCallback (DtSimMessage *msg, void *usrData)
	Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
Static Public Member Functions inherited from DtFixedWingMoveToController
static void	moveToCallback (DtSimMessage *msg, void *usr)
	Instances of this component will register these callbacks with their own 'this' pointer as user data with the msg executive requesting notification of the appropriate tasks and setDataRequests.
static void	moveToAltitudeCallback (DtSimMessage *msg, void *usr)
static void	setAltitudeCallback (DtSimMessage *msg, void *usrData)
static void	setLocationCallback (DtSimMessage *msg, void *usrData)
static void	setRestoreCallback (DtSimMessage *msg, void *usrData)
static void	waypointChangedCallback (DtVrfObject *msg, void *usr)
static void	modifyVrfObjectCallback (DtSimMessage *msg, void *usr)
	Calls processModifyVrfObject.
static void	deleteVrfObjectCallback (DtVrfObject *msg, void *usr)
	Callback for getting DtDeleteVrfObject messages.

Protected Member Functions
	DtFixedWingFollowEntityController ()
	Default constructor; should not be called.
	DtFixedWingFollowEntityController (const DtFixedWingFollowEntityController &orig)
	copy constructor; shallow; does not copy the ports.
const DtFixedWingFollowEntityController &	operator= (const DtFixedWingFollowEntityController &orig)
	assignment operator; see comments on copy constructor!
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register it's interest in followEntity commands.
virtual bool	setupControlPoint ()
	Sets up initial information for where the fixed wing wants to move to.
virtual double	findDesiredSpeed ()
	This function returns the appropriate speed for the movement status of the FWE.
Protected Member Functions inherited from DtFixedWingMoveToController
virtual void	getLocalDestination (DtVector &local) const
virtual void	getWorldDestination (DtVector &world) const
virtual double	distanceSquaredToDestination (const DtVector &current) const
	Returns distance squared from destination point to current location.
virtual double	distanceSquaredToDestination2D (const DtVector &current) const
virtual bool	atAltitude (double desiredAltitude) const
virtual void	deleteWorkingControlPoint ()
	Deletes myWorkingControlPoint and cleans up any necessary elements.
virtual void	clearTask ()
	Override to set myControlPoint to NULL.
Protected Member Functions inherited from DtFixedWingPilotController
virtual bool	createPorts ()
	Overridden to create the fixed wing ports.
virtual bool	createPortGroups ()
	Overridden to create myFixedWingControlPortGroup.
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 bool	decideToGiveUpTask () const
	If the entity is attached and the target of the current task is not, give up on the task.
	DtFixedWingPilotController ()
	default constructor; not implemented
	DtFixedWingPilotController (const DtFixedWingPilotController &orig)
	copy constructor; not implemented
const DtFixedWingPilotController &	operator= (const DtFixedWingPilotController &orig)
	assignment operator; not implemented
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
virtual double	computeCurrentTime ()
	Compute current time and myDT, common between preprocess and timedTick.
bool	testInvariant () const
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
Protected Member Functions inherited from DtObjectDebugger< DtReaderWriter >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()
Protected Member Functions inherited from DtObjectDebugger< DtSimComponent >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()

Protected Attributes
DtVrfObject *	myEntityPointer
	Set fresh each frame by setupControlPoint.
DtVrfObject *	myWorkingControlPoint
	Locally allocated waypoint - we set myControlPoint to point to it.
Protected Attributes inherited from DtFixedWingMoveToController
DtVrfObject *	myControlPoint
	This is looked up once per tick - assumed unchanging while we have control.
DtVrfObject *	myWorkingControlPoint
	Locally allocated waypoint for use in moving to an altitude.
bool	myFirstTick
Protected Attributes inherited from DtFixedWingPilotController
DtFixedWingEntityStateRepository *	myFixedWingEntityState
DtFixedWingFlightPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
DtOutputPortGroup *	myFixedWingControlPortGroup
	Output Port Group Name: fixed-wing-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: Output Port Range: 0.
DtConstrainedDualAxisAnalogOutputPort *	myStickPort
	Output Port Name: stick Output Port Description: Output Port Range: X: -1.
DtConstrainedAnalogOutputPort *	myPedalPort
	Output Port Name: pedal Output Port Description: Output Port Range: -1.
DtConstrainedAnalogOutputPort *	myBrakePort
	Output Port Name: brake Output Port Description: Output Port Range: 0.
DtBooleanOutputPort *	myFlapsDeployedPort
	Output Port Name: flaps Output Port Description: Output Port Range: Output Port Default Value: true Output Group Parent: fixed-wing-control.

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::vector< DtFilename >	SearchPaths
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

Detailed Description

DtFixedWingFollowEntityController is a controller that models follow behavior for fixed-wing entities.

Developer Description: Each simulation frame the control point to which the entity moves is recalculated to be in the right place with respect to the followed entity.

Uses Descriptor Type: DtFixedWingFollowEntityControllerDescriptor

Constructor & Destructor Documentation

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

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).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtFixedWingFollowEntityController::~DtFixedWingFollowEntityController ( )

virtual

destructor

DtFixedWingFollowEntityController::DtFixedWingFollowEntityController ( )

protected

Default constructor; should not be called.

Here because the compiler will generate an unprotected one otherwise.

DtFixedWingFollowEntityController::DtFixedWingFollowEntityController ( const DtFixedWingFollowEntityController &  orig )

protected

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual DtString DtFixedWingFollowEntityController::type ( ) const

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.

Returns

DtFixedWingFollowEntityControllerType

Reimplemented from DtFixedWingMoveToController.

virtual void DtFixedWingFollowEntityController::tick ( )

virtual

Overrides this to set up the control point before every frame.

This is so the entity follows correctly. Relies on DtFixedWingMoveToContoller::tick for to perform the actual tick.

Reimplemented from DtFixedWingMoveToController.

virtual void DtFixedWingFollowEntityController::doMoving ( )

virtual

Override these so the task doesn't end when we get near/at the desired position.

Reimplemented from DtFixedWingMoveToController.

virtual void DtFixedWingFollowEntityController::doFlying ( )

virtual

Determines if the entity is five seconds or fewer away from being at the waypoint using the entity’s speed and myDistanceSquared.

If it is, it sets the myFinishing flag to true; The myProcessState->lastDistanceSquared() is set to myDistanceSquared. otherwise, it calls the flyTo() function provided by its parent class.

Reimplemented from DtFixedWingMoveToController.

virtual void DtFixedWingFollowEntityController::doTaxiing ( )

virtual

Determines if the entity is near its goal.

If it is, it sets the finishing flag to true. The myProcessState->lastDistanceSquared() is set to myDistanceSquared. Otherwise, it calls the taxiTo() function provided by its parent class.

Reimplemented from DtFixedWingMoveToController.

static void DtFixedWingFollowEntityController::followEntityCallback ( DtSimMessage *  msg, void *  usrData  )

static

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.

virtual void DtFixedWingFollowEntityController::processFollowEntityTask ( DtSimMessage *  msg )

virtual

virtual const DtString& DtFixedWingFollowEntityController::entityToFollow ( ) const

virtual

virtual void DtFixedWingFollowEntityController::setEntityToFollow ( const DtString &  entity )

virtual

virtual const DtVector& DtFixedWingFollowEntityController::offsetVector ( ) const

virtual

virtual void DtFixedWingFollowEntityController::setOffsetVector ( const DtVector &  offsets )

virtual

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

static

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

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).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns

New instance of this class.

Reimplemented from DtFixedWingMoveToController.

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

protected

assignment operator; see comments on copy constructor!

virtual void DtFixedWingFollowEntityController::registerTaskMsgCallbacks ( )

protectedvirtual

Overrides this so it can register it's interest in followEntity commands.

Reimplemented from DtFixedWingMoveToController.

virtual bool DtFixedWingFollowEntityController::setupControlPoint ( )

protectedvirtual

Sets up initial information for where the fixed wing wants to move to.

Must call setMovementStatusFromControlPoint() after setting initial conditions

Reimplemented from DtFixedWingMoveToController.

virtual double DtFixedWingFollowEntityController::findDesiredSpeed ( )

protectedvirtual

This function returns the appropriate speed for the movement status of the FWE.

The desired speed can change between flying, taxiing, taking off...

Reimplemented from DtFixedWingMoveToController.

Member Data Documentation

DtVrfObject* DtFixedWingFollowEntityController::myEntityPointer

protected

Set fresh each frame by setupControlPoint.

DtVrfObject* DtFixedWingFollowEntityController::myWorkingControlPoint

protected

Locally allocated waypoint - we set myControlPoint to point to it.

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.vrf4-3-branch/include/vrfmodel/fixedWingFollowEntityController.h