DtRotaryWingMoveAlongControllerComponent Class Reference

DtRotaryWingMoveAlongControllerComponent is a controller used to model the movement of a helicopter along a route. More...

Inheritance diagram for DtRotaryWingMoveAlongControllerComponent:

Public Member Functions
	DtRotaryWingMoveAlongControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtRotaryWingMoveAlongControllerComponent ()
	destructor
virtual bool	init ()
	Creates the route state.
virtual void	tick ()
	Calculate new control values.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual DtSimTaskStatePtr	currentTaskState () const
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register its interest in MoveAlong commands.
virtual void	processRouteChanged (DtVrfObject *obj)
virtual bool	setupRoute ()
	Looks up the route using the route name.
virtual bool	isMovingToward (const DtVector &ENUpoint)
	Returns true if the entity is moving toward ENUpoint, otherwise it returns false.
virtual void	routeLogic ()
	Sets control values based on status along the route.
virtual void	desiredVelocityAndPosition ()
	Calculates the desired position and velocity vectors that guide the helicopter along the route.
Public Member Functions inherited from DtRotaryWingTaskController
	DtRotaryWingTaskController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtRotaryWingTaskController ()
	destructor
virtual void	clearTask ()
	Overridden to deactivate the port group when this controller completes a task.
virtual void	setDesiredPosition (const DtVector &pos)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setDesiredVelocity (const DtVector &vel)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setDesiredAcceleration (const DtVector &accel)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setDesiredHeading (double heading)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setPositionSelector (double sel)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setVelocitySelector (double sel)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setAccelerationSelector (double sel)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setHeadingSelector (double sel)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setAggressiveness (double agg)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual void	setPowerDown (bool powerDown)
	Sets the specified value into the corresponding output port after doing a check to make sure the port was created.
virtual DtVectorOutputPort *	desiredPositionPort ()
virtual DtVectorOutputPort *	desiredVelocityPort ()
virtual DtVectorOutputPort *	desiredAccelerationPort ()
virtual DtAnalogOutputPort *	desiredHeadingPort ()
virtual DtAnalogOutputPort *	positionSelectorPort ()
virtual DtAnalogOutputPort *	velocitySelectorPort ()
virtual DtAnalogOutputPort *	accelerationSelectorPort ()
virtual DtAnalogOutputPort *	headingSelectorPort ()
virtual DtAnalogOutputPort *	aggressivenessPort ()
virtual DtBooleanOutputPort *	powerDownPort ()
Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtSingleTaskControllerComponent ()
	destructor
virtual void	postTick ()
	Override to check if we're tasked and we want to give up (only performs the check if we're in play mode (dT() > 0)).
virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)
	Called by the task manager when this controller should start executing the specified task.
virtual void	taskNotify (const DtSimTask &task)
	This is called to let us know when some other component receives a task In the case of this component, we don't care what the task actually is.
virtual void	taskComplete (bool success=true)
	If we are currently tasked, this will cause us to notify the entity that we're done and delete the task.
virtual void	suspendTask ()
	This method is called when the currently running task is being suspended.
virtual int	sendSubtask (DtSimTask &task)
	Sends subtask to ourself.
virtual void	clearSubtask (int subtaskId)
	Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()).
virtual void	addPendingSubtaskId (int subtaskId)
	Adds given subtask Id to list of pending subtasks.
virtual bool	findPendingSubtaskId (int subtaskId)
	Checks to see if given subtaskId exists in our list of pending subtasks.
virtual void	removePendingSubtaskId (int subtaskId)
	Removes pending subtask from list of subtasks for this component.
virtual void	removeAllPendingSubtaskIds ()
	Clear all pending subtasks from our list of subtasks.
virtual std::vector< int >	currentPendingSubstaskIds () const
	Returns the list of all currently pending subtask ids for this controller.
virtual void	clearCurrentTaskMessage ()
	Returns the current subtask with the specified id.
virtual DtTaskMessage *	currentTaskMessage () const
	Get a pointer to the message that was used to task this entity.
virtual bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
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	moveAlongCallback (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskStatePtr)
static void	routeChangedCallback (DtVrfObject *obj, void *usr)
	Code to adjust behavior when the route changes.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual void	processMoveAlong (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr)
	DtRotaryWingMoveAlongControllerComponent ()
	default constructor - should not be called
	DtRotaryWingMoveAlongControllerComponent (const DtRotaryWingMoveAlongControllerComponent &orig)
	copy constructor
DtRotaryWingMoveAlongControllerComponent &	operator= (const DtRotaryWingMoveAlongControllerComponent &orig)
	assignment operator
virtual void	pilotProperties ()
	Sets the pilot properties.
virtual void	buildLocalRoute ()
	builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices.
virtual void	emptyVertexList ()
	removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
Protected Member Functions inherited from DtRotaryWingTaskController
virtual bool	createPortGroups ()
	Overridden to call createGuidancePortGroup()
virtual bool	createPorts ()
	Overridden to create the guidance ports.
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	createGuidancePortGroup ()
	Create the various guidance ports to the pilot controller.
virtual bool	createDesiredPositionPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createDesiredVelocityPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createDesiredAccelerationPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createDesiredHeadingPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createPositionSelectorPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createVelocitySelectorPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createAccelerationSelectorPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createHeadingSelectorPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createAggressivenessPort ()
	Create the various guidance ports to the pilot controller.
virtual bool	createPowerDownPort ()
	Create the various guidance ports to the pilot controller.
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
double	myDistanceSquared
DtVrfObject *	myRoute
	This is looked up once per tick - assumed unchanging while we have control.
bool	myRouteHasChanged
bool	myVerticesChangedCallbackRegistered
Protected Attributes inherited from DtRotaryWingTaskController
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState
DtRotaryWingFlightPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
DtOutputPortGroup *	myGuidancePortGroup
	Output Port Group Name: guidance Output Port Group Description: Group of input ports that define the desired heading/position/velocity/acceleration and flight properties.
DtVectorOutputPort *	myDesiredPositionPort
	Output Port Name: desired-position Output Port Description: The desired position of the entity.
DtVectorOutputPort *	myDesiredVelocityPort
	Output Port Name: desired-velocity Output Port Description: The desired velocity of the entity Output Port Range: Database coordinates.
DtVectorOutputPort *	myDesiredAccelerationPort
	Output Port Name: desired-acceleration Output Port Description: The desired acceleration of the entity Output Port Range: Database coordinates.
DtAnalogOutputPort *	myDesiredHeadingPort
	Output Port Name: desired-heading Output Port Description: Output Port Range: -1.
DtAnalogOutputPort *	myPositionSelectorPort
	Output Port Name: position-selector Output Port Description: Determines whether the desired-position port is used.
DtAnalogOutputPort *	myVelocitySelectorPort
	Output Port Name: velocity-selector Output Port Description: Determines whether the desired-velocity port is used.
DtAnalogOutputPort *	myAccelerationSelectorPort
	Output Port Name: acceleration-selector Output Port Description: Determines whether the desired-avveleration port is used.
DtAnalogOutputPort *	myHeadingSelectorPort
	Output Port Name: heading-selector Output Port Description: Determines whether the desired-heading port is used.
DtAnalogOutputPort *	myAggressivenessPort
	Output Port Name: aggressiveness Output Port Description: How aggressively the autopilot will move the controls to gain the desired values.
DtBooleanOutputPort *	myPowerDownPort
	Output Port Name: power-down Output Port Description: Determines whether the control values will all be set to 0.

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

DtRotaryWingMoveAlongControllerComponent is a controller used to model the movement of a helicopter along a route.

Uses Descriptor Type: DtRotaryWingPilotDescriptor

Constructor & Destructor Documentation

DtRotaryWingMoveAlongControllerComponent::DtRotaryWingMoveAlongControllerComponent	(	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 DtRotaryWingMoveAlongControllerComponent::~DtRotaryWingMoveAlongControllerComponent ( )

virtual

destructor

DtRotaryWingMoveAlongControllerComponent::DtRotaryWingMoveAlongControllerComponent ( )

protected

default constructor - should not be called

DtRotaryWingMoveAlongControllerComponent::DtRotaryWingMoveAlongControllerComponent ( const DtRotaryWingMoveAlongControllerComponent &  orig )

protected

copy constructor

Member Function Documentation

virtual bool DtRotaryWingMoveAlongControllerComponent::init ( )

virtual

Creates the route state.

Reimplemented from DtRotaryWingTaskController.

virtual void DtRotaryWingMoveAlongControllerComponent::tick ( )

virtual

Calculate new control values.

Reimplemented from DtSimComponent.

virtual DtString DtRotaryWingMoveAlongControllerComponent::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

DtRotaryWingMoveAlongType

Implements DtRotaryWingTaskController.

Reimplemented in DtRotaryWingPatrolRouteController.

static void DtRotaryWingMoveAlongControllerComponent::moveAlongCallback ( DtSimMessage *  msg, void *  usr, DtSimTaskStatePtr  taskStatePtr  )

static

virtual DtSimTaskStatePtr DtRotaryWingMoveAlongControllerComponent::currentTaskState ( ) const

virtual

Returns

Current execution state of the task. At the base class level, returns 0. Derived classes that have tasks with DtTaskState (data associated with execution of the task) may return a new DtTaskState instance, filled out with the appropriate information about the current task execution state. Task controllers that do not need to return task state do not need to override this function.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtRotaryWingPatrolRouteController.

virtual void DtRotaryWingMoveAlongControllerComponent::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register its interest in MoveAlong commands.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtRotaryWingPatrolRouteController.

static void DtRotaryWingMoveAlongControllerComponent::routeChangedCallback ( DtVrfObject *  obj, void *  usr  )

static

Code to adjust behavior when the route changes.

virtual void DtRotaryWingMoveAlongControllerComponent::processRouteChanged ( DtVrfObject *  obj )

virtual

static DtSimComponent* DtRotaryWingMoveAlongControllerComponent::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 in DtRotaryWingPatrolRouteController.

virtual bool DtRotaryWingMoveAlongControllerComponent::setupRoute ( )

virtual

Looks up the route using the route name.

virtual bool DtRotaryWingMoveAlongControllerComponent::isMovingToward ( const DtVector &  ENUpoint )

virtual

Returns true if the entity is moving toward ENUpoint, otherwise it returns false.

virtual void DtRotaryWingMoveAlongControllerComponent::routeLogic ( )

virtual

Sets control values based on status along the route.

Reimplemented in DtRotaryWingPatrolRouteController.

virtual void DtRotaryWingMoveAlongControllerComponent::desiredVelocityAndPosition ( )

virtual

Calculates the desired position and velocity vectors that guide the helicopter along the route.

virtual void DtRotaryWingMoveAlongControllerComponent::processMoveAlong ( const DtTaskMessage &  msg, DtSimTaskStatePtr  taskStatePtr  )

protectedvirtual

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

protected

assignment operator

virtual void DtRotaryWingMoveAlongControllerComponent::pilotProperties ( )

protectedvirtual

Sets the pilot properties.

Overridden here so that the behavior can change depending on whether or not the current route point is the last one. Sets the appropriate properties for the wait controller. If the current waypoint is a route endpoint: The position selector is 1.0 The velocity selector is 0.0 The acceleration selector is 0.0 The heading selector is 0.0. If the current waypoint is not a route endpoint: The position selector is 0.0 The velocity selector is 1.0 The acceleration selector is 0.0 The heading selector is 0.0. In either case, the aggressiveness value is set to the default aggressiveness.

virtual void DtRotaryWingMoveAlongControllerComponent::buildLocalRoute ( )

protectedvirtual

builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices.

(calls process state repository's setRouteVertices()).

virtual void DtRotaryWingMoveAlongControllerComponent::emptyVertexList ( )

protectedvirtual

removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).

Member Data Documentation

double DtRotaryWingMoveAlongControllerComponent::myDistanceSquared

protected

DtVrfObject* DtRotaryWingMoveAlongControllerComponent::myRoute

protected

This is looked up once per tick - assumed unchanging while we have control.

bool DtRotaryWingMoveAlongControllerComponent::myRouteHasChanged

protected

bool DtRotaryWingMoveAlongControllerComponent::myVerticesChangedCallbackRegistered

protected

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

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