DtAggregatedMovementActuator Class Reference

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

Inheritance diagram for DtAggregatedMovementActuator:

Classes
class	ErrorStream
	A convenience for recording error messages during a tick. More...
class	MobilityArea
	Object which hold the mobility entry and the feature set which represents it. More...

Public Member Functions
	DtAggregatedMovementActuator (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry=0)
	constructor
virtual	~DtAggregatedMovementActuator ()
	destructor
virtual bool	init ()
	Perform any initialization required by the actuator.
virtual bool	createPSR ()
	Creates the PSR to be used by this actuator.
virtual DtString	type () const
	Returns a string from compTypes.h, identifying the type of component.
virtual void	tick ()
	Calculate new kinematic state, and copy it to state repository.
virtual void	parallelTick ()
	Pre-compute costly values in advance using parallel threads.
virtual void	setOrderedAltitude (double altitude, bool aboveGroundLevel=false)
	Sets the ordered altitude, in response to a set altitude command.
Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent ()
	destructor
virtual DtSimRadio *	radio ()
virtual bool	tickWhileDestroyed () const
	By default, all actuators tick when the entity is destroyed.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values.
virtual void	preprocess ()
	Perform parallel preprocessing prior to tick and similar computations.
virtual void	preFirstTickInit ()
	called from preprocess if appropriate
virtual void	postTick ()
	This function is called immediately after tick() is called.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (FILE *fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const 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
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorld *	physicalWorld () const
virtual DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrain *	terrainAttachedTo () const
virtual DtVrfObject *	entity ()
	Gets the entity.
virtual const DtVrfObject *	entity () const
virtual DtSimManager *	simManager ()
	Gets the sim manager.
virtual const DtSimManager *	simManager () const
virtual const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_System *	coordinateSystem ()
virtual DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository.
virtual const DtVrfObjectStateRepository *	localStateRepository () const
virtual void	enable ()
	Is this component enabled or not.
virtual void	disable ()
	Is this component enabled or not.
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug () const
virtual DtOutputStream &	objectConsoleVerbose () const
virtual DtOutputStream &	objectConsoleInfo () const
virtual DtOutputStream &	objectConsoleWarn () const
virtual DtOutputStream &	objectConsoleError () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	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 DtSimComponent *	creator (const DtString &name, DtVrfObject *object, DtSimManager *simManager, DtComponentDescriptor *compDescriptor, DtReaderWriterRegistry *parentRegistry)
	Creator function to be registered with the DtSimComponentFactory – see main.cxx.
static bool	setHaltMovementForObstacles (void *controller, DtReaderWriter *value)
	Attribute functions:Function to be registered as a setter with the parent component system for the halt-movement-for-obstacles attribute.
static bool	setObstacleQueryName (void *controller, DtReaderWriter *value)
	Function to be registered as a setter with the parent component system for the obstacle-object-types attribute.
static DtReaderWriter *	isHalted (void *controller)
	Function to be registered as an attribute provider with the parent component system for the is-halted attribute.
static DtReaderWriter *	blockingObstacle (void *controller)
	Function to be registered as an attribute provider with the parent component system for the blocking-obstacle attribute.
static DtReaderWriter *	timeHalted (void *controller)
	Function to be registered as an attribute provider with the parent component system for the time-halted attribute.

Protected Types
typedef MAKVRinTerra::DtFeatureSet	FeatureSet
	Feature set type.
typedef DtAggregatedMovementDescriptor::MobilityEntry	MobilityEntry
	Type which contains info on one type of mobility area.

Protected Member Functions
virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyVelocity, double newHeading)
virtual std::string	calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
	Returns an error string.
virtual std::string	adjustToTerrain (double heading, const DtVector &location, DtVector &newNormal)
	Returns an error string.
virtual void	updateRepository (const DtVector &position, const DtVector &velocity, const DtVector &acceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity)
virtual bool	isObstructedByObstacles (const MAKVRinTerra::DtFeatureGeometry &location)
	Returns true if movement to the specified location is obstructed by an obstacle in our path.
virtual void	processObstacleToIgnore (DtSimMessage *msg)
	Adds a new obstacle to the list of obstacles to which should not cause the aggregate to halt.
virtual bool	createPorts ()
	Overridden to create the movement control input ports.
virtual bool	createPortGroups ()
	Overridden to create the movement control input port group.
virtual bool	haveSupplies (ErrorStream &errorStream) const
	Returns true if there are appropriate supplies to move.
virtual double	scriptModifier () const
	Returns the modifier as calculated from the background movement modifier script.
virtual double	scriptAdjustment () const
	Returns the adjustment as calculated from the background movement modifier script.
virtual double	maximumSpeedModifierFromFeatures (const MAKVRinTerra::DtFeatureGeometry &, double &slope) const
	Returns the modifier that is applied for the features multiplied by the modifier from the script.
virtual double	retrogradeMovementModifier () const
	Returns modifier for retrograde movement.
	DtAggregatedMovementActuator (const DtAggregatedMovementActuator &orig)
	copy constructor
const DtAggregatedMovementActuator &	operator= (const DtAggregatedMovementActuator &orig)
	assignment operator
virtual bool	checkPassedDestination (const DtVector &currentPosition, DtVector &newLocalProjectedPosition)
	If the destination input port is active then check to see if the new position will pass this destination.
virtual bool	setHaltMovementForObstacles (DtReaderWriter *value)
	Sets the halt-movement-for-obstacles which tells the actuator to halt when it encounters obstacles in its path.
virtual bool	setObstacleQueryName (DtReaderWriter *value)
	Sets the obstacle-query-name which tells the actuator what feature query represents obstacles to be halted for if halt-movement-for-obstacles is enabled.
virtual void	setAircraftAirborne (const DtVector &location)
	Check the ground-clamped descriptor parameter to see if this is entity can go airborne.
virtual DtReaderWriter *	isHalted ()
	Returns the value of the is-halted attribute which indicates whether or not the aggregate is currently halted due to an engineering object obstacle in its path.
virtual DtReaderWriter *	blockingObstacle ()
	Returns the value of the blocking-obstacle attribute which indicates the name of the engineering object obstacle causing movement to halt.
virtual DtReaderWriter *	timeHalted ()
	Returns the value of the time-halted attribute which indicates the time at which movement was halted due to an engineering obstacle.
Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
	DtActuatorComponent (const DtActuatorComponent &orig)
	copy constructor
const DtActuatorComponent &	operator= (const DtActuatorComponent &orig)
	assignment operator
virtual void	setRadio (DtSimRadio *radio)
	DtActuatorComponent ()
	Default constructor; should not be called.
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 ()

Static Protected Member Functions
static void	setObstacleToIgnore (DtSimMessage *msg, void *usr)
	Calls processSetObstacleToIgnore().

Protected Attributes
const DtVrfKinematicState *	myPrep_kinState
	Values preprocessed for use in tick /////////////////////!
DtVector	myPrep_oldLocalPosition
DtVector	myPrep_oldLocalVelocity
DtTaitBryan	myPrep_oldLocalOrientationTb
DtVector	myPrep_oldBodyVelocity
DtVector	myPrep_newLocalPosition
DtVector	myPrep_newRelativeVelocity
DtVector	myPrep_newBodyRotationalVelocity
DtTaitBryan	myPrep_newLocalOrientationTb
DtSimManager *	mySimManager
DtSetDataManager *	mySetDataManager
	Ref to set data manager.
MobilityArea::Vector	myMobilityAreas
	List of mobility areas.
bool	myErrorCondition
	Set to true once the error stream message is displayed, so we don't display over and over.
std::auto_ptr< FeatureSet >	myEngineeringObjFeatureSet
	Set of engineering object features that can affect mobility.
std::auto_ptr< FeatureSet >	myEngineeringObjObstacleFeatureSet
	Set of engineering object features that should be considered obstacles for which we should halt.
DtBooleanInputPort *	myRetrogradeInputPort
DtAggregatedMovementActuatorPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
Ports and Port Groups
DtAnalogInputPort *	myMovementDirectionInputPort
	Input Port Name: desired-movement-direction Input Port Description: Desired movement direction of the entity in radians.
DtAnalogInputPort *	mySpeedInputPort
	Input Port Name: desired-speed Input Port Description: Desired speed of the entity in m/s.
DtInputPortGroup *	myMovementControlPortGroupInputPortGroup
	Input Port Group Name: movement-control Input Port Group Description: Collection of inputs specifying the desired movement of the entity.
DtVectorInputPort *	myDestinationInputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordinates.
DtVrfMovingObjectStateRepository *	myMovingObjectStateRep
	Convenience pointers to our state repository.
const DtActuatorComponentDescriptor *	myBaseActuatorDescriptor
	Convenience pointers to our descriptors.
const DtAggregatedMovementDescriptor *	myActuatorDescriptor
	Convenience pointers to our descriptors.
Protected Attributes inherited from DtActuatorComponent
DtSimRadio *	myRadio
	Actuators can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
const DtComponentDescriptor *	myComponentDescriptor
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
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::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

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

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

Member Typedef Documentation

typedef MAKVRinTerra::DtFeatureSet DtAggregatedMovementActuator::FeatureSet

protected

Feature set type.

typedef DtAggregatedMovementDescriptor::MobilityEntry DtAggregatedMovementActuator::MobilityEntry

protected

Type which contains info on one type of mobility area.

Constructor & Destructor Documentation

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

constructor

virtual DtAggregatedMovementActuator::~DtAggregatedMovementActuator ( )

virtual

destructor

DtAggregatedMovementActuator::DtAggregatedMovementActuator ( const DtAggregatedMovementActuator &  orig )

protected

copy constructor

Member Function Documentation

virtual bool DtAggregatedMovementActuator::init ( )

virtual

Perform any initialization required by the actuator.

Reimplemented from DtActuatorComponent.

virtual bool DtAggregatedMovementActuator::createPSR ( )

virtual

Creates the PSR to be used by this actuator.

virtual DtString DtAggregatedMovementActuator::type ( ) const

virtual

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

Reimplemented from DtSimComponent.

Reimplemented in DtAggregatedSubsurfaceMovementActuator.

virtual void DtAggregatedMovementActuator::tick ( )

virtual

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

Reimplemented from DtSimComponent.

virtual void DtAggregatedMovementActuator::parallelTick ( )

virtual

Pre-compute costly values in advance using parallel threads.

Reimplemented from DtSimComponent.

virtual void DtAggregatedMovementActuator::setOrderedAltitude ( double  altitude, bool  aboveGroundLevel = false  )

virtual

Sets the ordered altitude, in response to a set altitude command.

If the ordered altitude is at or below the level of the terrain, then it is assumed that the intent is to land the entity, so SR->orderedAltitude is actually not set; instead, is-specified is set to false for orderedAltitude, and SR->amClampedToGround is set true. Otherwise, SR->amClampedToGround is set false.

Reimplemented in DtAggregatedSubsurfaceMovementActuator.

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

static

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

Reimplemented in DtAggregatedSubsurfaceMovementActuator.

static bool DtAggregatedMovementActuator::setHaltMovementForObstacles ( void *  controller, DtReaderWriter *  value  )

static

Attribute functions:Function to be registered as a setter with the parent component system for the halt-movement-for-obstacles attribute.

Calls setHaltMovementForObstacles(DtReaderWriter*)

static bool DtAggregatedMovementActuator::setObstacleQueryName ( void *  controller, DtReaderWriter *  value  )

static

Function to be registered as a setter with the parent component system for the obstacle-object-types attribute.

Calls setObstacleQueryName(DtReaderWriter*)

static DtReaderWriter* DtAggregatedMovementActuator::isHalted ( void *  controller )

static

Function to be registered as an attribute provider with the parent component system for the is-halted attribute.

Calls isHalted()

static DtReaderWriter* DtAggregatedMovementActuator::blockingObstacle ( void *  controller )

static

Function to be registered as an attribute provider with the parent component system for the blocking-obstacle attribute.

Calls blockingObstacle()

static DtReaderWriter* DtAggregatedMovementActuator::timeHalted ( void *  controller )

static

Function to be registered as an attribute provider with the parent component system for the time-halted attribute.

Calls timeHalted()

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

protectedvirtual

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

protectedvirtual

Returns an error string.

Reimplemented in DtAggregatedSubsurfaceMovementActuator.

virtual std::string DtAggregatedMovementActuator::adjustToTerrain ( double  heading, const DtVector &  location, DtVector &  newNormal  )

protectedvirtual

Returns an error string.

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

protectedvirtual

virtual bool DtAggregatedMovementActuator::isObstructedByObstacles ( const MAKVRinTerra::DtFeatureGeometry &  location )

protectedvirtual

Returns true if movement to the specified location is obstructed by an obstacle in our path.

static void DtAggregatedMovementActuator::setObstacleToIgnore ( DtSimMessage *  msg, void *  usr  )

staticprotected

Calls processSetObstacleToIgnore().

virtual void DtAggregatedMovementActuator::processObstacleToIgnore ( DtSimMessage *  msg )

protectedvirtual

Adds a new obstacle to the list of obstacles to which should not cause the aggregate to halt.

virtual bool DtAggregatedMovementActuator::createPorts ( )

protectedvirtual

Overridden to create the movement control input ports.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMovementActuator::createPortGroups ( )

protectedvirtual

Overridden to create the movement control input port group.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMovementActuator::haveSupplies ( ErrorStream &  errorStream ) const

protectedvirtual

Returns true if there are appropriate supplies to move.

Checks Has-POL and Has-Food-Water in the state properties. If these properties are not found, they are assumed to be true.

virtual double DtAggregatedMovementActuator::scriptModifier ( ) const

protectedvirtual

Returns the modifier as calculated from the background movement modifier script.

Looks at state property MaximumSpeedModifier. That property combines modifiers for rain, snow, wind, visibility, overlap (of footprint) with another unit, posture, and MOPP level.

virtual double DtAggregatedMovementActuator::scriptAdjustment ( ) const

protectedvirtual

Returns the adjustment as calculated from the background movement modifier script.

Includes speed adjustments for wind direction.

virtual double DtAggregatedMovementActuator::maximumSpeedModifierFromFeatures ( const MAKVRinTerra::DtFeatureGeometry &  , double &  slope  ) const

protectedvirtual

Returns the modifier that is applied for the features multiplied by the modifier from the script.

The slope will be overridden if any features override the slope of the terrain (e.g. bridges).

virtual double DtAggregatedMovementActuator::retrogradeMovementModifier ( ) const

protectedvirtual

Returns modifier for retrograde movement.

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

protected

assignment operator

virtual bool DtAggregatedMovementActuator::checkPassedDestination ( const DtVector &  currentPosition, DtVector &  newLocalProjectedPosition  )

protectedvirtual

If the destination input port is active then check to see if the new position will pass this destination.

If it does then simply set the new local destination that which is specified on the port and return true

virtual bool DtAggregatedMovementActuator::setHaltMovementForObstacles ( DtReaderWriter *  value )

protectedvirtual

Sets the halt-movement-for-obstacles which tells the actuator to halt when it encounters obstacles in its path.

virtual bool DtAggregatedMovementActuator::setObstacleQueryName ( DtReaderWriter *  value )

protectedvirtual

Sets the obstacle-query-name which tells the actuator what feature query represents obstacles to be halted for if halt-movement-for-obstacles is enabled.

virtual void DtAggregatedMovementActuator::setAircraftAirborne ( const DtVector &  location )

protectedvirtual

Check the ground-clamped descriptor parameter to see if this is entity can go airborne.

If so, then check to see if ordered-altitude has already been set. If not, set it at the minimum-airborne-altitude parameter and clear am-ground-clamped. Also, set the is-airborne state property. This function is called in tick() if the entity has moved (translated) this tick. The parameter is the entity's location.

Reimplemented in DtAggregatedSubsurfaceMovementActuator.

virtual DtReaderWriter* DtAggregatedMovementActuator::isHalted ( )

protectedvirtual

Returns the value of the is-halted attribute which indicates whether or not the aggregate is currently halted due to an engineering object obstacle in its path.

virtual DtReaderWriter* DtAggregatedMovementActuator::blockingObstacle ( )

protectedvirtual

Returns the value of the blocking-obstacle attribute which indicates the name of the engineering object obstacle causing movement to halt.

virtual DtReaderWriter* DtAggregatedMovementActuator::timeHalted ( )

protectedvirtual

Returns the value of the time-halted attribute which indicates the time at which movement was halted due to an engineering obstacle.

Member Data Documentation

const DtVrfKinematicState* DtAggregatedMovementActuator::myPrep_kinState

protected

Values preprocessed for use in tick /////////////////////!

DtVector DtAggregatedMovementActuator::myPrep_oldLocalPosition

protected

DtVector DtAggregatedMovementActuator::myPrep_oldLocalVelocity

protected

DtTaitBryan DtAggregatedMovementActuator::myPrep_oldLocalOrientationTb

protected

DtVector DtAggregatedMovementActuator::myPrep_oldBodyVelocity

protected

DtVector DtAggregatedMovementActuator::myPrep_newLocalPosition

protected

DtVector DtAggregatedMovementActuator::myPrep_newRelativeVelocity

protected

DtVector DtAggregatedMovementActuator::myPrep_newBodyRotationalVelocity

protected

DtTaitBryan DtAggregatedMovementActuator::myPrep_newLocalOrientationTb

protected

DtSimManager* DtAggregatedMovementActuator::mySimManager

protected

DtAnalogInputPort* DtAggregatedMovementActuator::myMovementDirectionInputPort

protected

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

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

DtAnalogInputPort* DtAggregatedMovementActuator::mySpeedInputPort

protected

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

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

DtInputPortGroup* DtAggregatedMovementActuator::myMovementControlPortGroupInputPortGroup

protected

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

DtVectorInputPort* DtAggregatedMovementActuator::myDestinationInputPort

protected

Output Port Name: destination
Output Port Description: Specifies the current destination of the entity in geocentric coordinates.

Output Port Range:
Output Group Parent:

DtVrfMovingObjectStateRepository* DtAggregatedMovementActuator::myMovingObjectStateRep

protected

Convenience pointers to our state repository.

const DtActuatorComponentDescriptor* DtAggregatedMovementActuator::myBaseActuatorDescriptor

protected

Convenience pointers to our descriptors.

const DtAggregatedMovementDescriptor* DtAggregatedMovementActuator::myActuatorDescriptor

protected

Convenience pointers to our descriptors.

DtSetDataManager* DtAggregatedMovementActuator::mySetDataManager

protected

Ref to set data manager.

MobilityArea::Vector DtAggregatedMovementActuator::myMobilityAreas

protected

List of mobility areas.

bool DtAggregatedMovementActuator::myErrorCondition

protected

Set to true once the error stream message is displayed, so we don't display over and over.

std::auto_ptr<FeatureSet> DtAggregatedMovementActuator::myEngineeringObjFeatureSet

protected

Set of engineering object features that can affect mobility.

std::auto_ptr<FeatureSet> DtAggregatedMovementActuator::myEngineeringObjObstacleFeatureSet

protected

Set of engineering object features that should be considered obstacles for which we should halt.

DtBooleanInputPort* DtAggregatedMovementActuator::myRetrogradeInputPort

protected

DtAggregatedMovementActuatorPSR* DtAggregatedMovementActuator::myProcessState

protected

Pointer to a process state repository used to store state data associated with this component.

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

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