DtRotaryWingPilotDescriptor Class Reference

DtRotaryWingPilotDescriptor is a component descriptor for helicopter flight involving destination points. More...

Inheritance diagram for DtRotaryWingPilotDescriptor:

Public Member Functions
	DtRotaryWingPilotDescriptor (const DtString &name, DtReaderWriterRegistry *parentRegistry=0)
	constructor
	DtRotaryWingPilotDescriptor (const DtRotaryWingPilotDescriptor &orig, DtReaderWriterRegistry *parentRegistry=0)
	copy constructor
DtRotaryWingPilotDescriptor &	operator= (const DtRotaryWingPilotDescriptor &orig)
	assignment
virtual	~DtRotaryWingPilotDescriptor ()
	destructor
virtual DtString	type () const
	Returns the type of component this descriptor describes.
virtual DtComponentDescriptor *	clone (DtReaderWriterRegistry *parentRegistry=0) const
	Clone creates a new copy.
virtual DtReal	pdRadius () const
	Accessor/mutator for myPdRadius.
virtual void	setPdRadius (const DtReal value)
	Accessor/mutator for myPdRadius.
virtual DtReal	contourFlightVelocityThreshold () const
	Accessor/mutator for myContourFlightVelocityThreshold.
virtual void	setContourFlightVelocityThreshold (const DtReal value)
	Accessor/mutator for myContourFlightVelocityThreshold.
virtual DtReal	contourFlightPositionThreshold () const
	Accessor/mutator for myContourFlightPositionThreshold.
virtual void	setContourFlightPositionThreshold (const DtReal value)
	Accessor/mutator for myContourFlightPositionThreshold.
virtual DtReal	heightFeedbackGain () const
	Accessor/mutator for myHeightFeedbackGain.
virtual void	setHeightFeedbackGain (const DtReal value)
	Accessor/mutator for myHeightFeedbackGain.
virtual const Dt1DRegularTableFn &	heightVersusSpeed () const
	Accessor/mutator for myHeightVersusSpeed.
virtual void	setHeightVersusSpeed (const Dt1DRegularTableFn &value)
	Accessor/mutator for myHeightVersusSpeed.
virtual bool	isAlignWithTargets () const
	Accessor/mutator for myIsAlignWithTargets.
virtual void	setIsAlignWithTargets (const bool val)
	Accessor/mutator for myIsAlignWithTargets.
virtual DtReal	maxAngularVel () const
	Accessor/mutator for myMaxAngularVel.
virtual void	setMaxAngularVel (const DtReal val)
	Accessor/mutator for myMaxAngularVel.
virtual DtReal	maxAngularAcc () const
	Accessor/mutator for myMaxAngularAcc.
virtual void	setMaxAngularAcc (const DtReal val)
	Accessor/mutator for myMaxAngularAcc.
virtual DtReal	velToAlignDesired () const
	Accessor/mutator for myVelToAlignDesired.
virtual void	setVelToAlignDesired (const DtReal val)
	Accessor/mutator for myVelToAlignDesired.
virtual DtReal	velToAlignActual () const
	Accessor/mutator for myVelToAlignActual.
virtual void	setVelToAlignActual (const DtReal val)
	Accessor/mutator for myVelToAlignActual.
virtual DtReal	radiusTriggerVel () const
	Accessor/mutator for myRadiusTriggerVel.
virtual void	setRadiusTriggerVel (const DtReal val)
	Accessor/mutator for myRadiusTriggerVel.
virtual DtReal	radiusFraction () const
	Accessor/mutator for myRadiusFraction.
virtual void	setRadiusFraction (const DtReal val)
	Accessor/mutator for myRadiusFraction.
virtual DtReal	positionGain () const
	Accessor/mutator for myPositionGain.
virtual void	setPositionGain (const DtReal val)
	Accessor/mutator for myPositionGain.
virtual DtReal	velocityGain () const
	Accessor/mutator for myVelocityGain.
virtual void	setVelocityGain (const DtReal val)
	Accessor/mutator for myVelocityGain.
virtual DtReal	orientationGain () const
	Accessor/mutator for myOrientationGain.
virtual void	setOrientationGain (const DtReal val)
	Accessor/mutator for myOrientationGain.
virtual DtReal	bodyRateGain () const
	Accessor/mutator for myBodyRateGain.
virtual void	setBodyRateGain (const DtReal val)
	Accessor/mutator for myBodyRateGain.
virtual DtReal	controlNoiseLevel () const
	Accessor/mutator for myControlNoiseLevel.
virtual void	setControlNoiseLevel (const DtReal val)
	Accessor/mutator for myControlNoiseLevel.
virtual DtReal	landingFuelLevel () const
	Accessor/mutator for myLandingFuelLevel.
virtual void	setLandingFuelLevel (const DtReal val)
	Accessor/mutator for myLandingFuelLevel.
Public Member Functions inherited from DtComponentDescriptor
	DtComponentDescriptor (const DtComponentDescriptor &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
DtComponentDescriptor &	operator= (const DtComponentDescriptor &orig)
	assignment
virtual	~DtComponentDescriptor ()
virtual void	putData (FILE *fp, int indentLevel=0)
	Overrides base class putData to output our type.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actually stored.
virtual bool	init ()
	Base class init does nothing, but will be called by createComponentDescriptor(), allowing derived classes to do memory allocation if necessary.
bool	operator== (const DtComponentDescriptor &) const
	DtComponentDescriptor (const DtString &componentName, DtReaderWriterRegistry *parentRegistry=NULL)
	DtComponentDescriptor (const DtSymbolString &componentName, DtReaderWriterRegistry *parentRegistry=NULL)
virtual void	setComponentType (const DtString &componentType)
	Type of DtSimComponent this descriptor is associated with.
virtual const DtString &	componentType () const
	Type of DtSimComponent this descriptor is associated with.
virtual void	setMinTickPeriod (DtReal minTickPeriod)
virtual DtReal	minTickPeriod () const
virtual void	setMinTickPeriodVariance (DtReal minTickPeriodVariance)
virtual DtReal	minTickPeriodVariance () const
virtual void	setTickPeriodUsesRealTime (bool value)
	Accessor/mutator for myTickPeriodUsesRealTime.
virtual bool	tickPeriodUsesRealTime () const
	Accessor/mutator for myTickPeriodUsesRealTime.
virtual const DtString &	processStateRepositoryName () const
	Name which this component will assign to its PSR.
virtual void	setProcessStateRepositoryName (const DtString &name)
	Name which this component will assign to its PSR.
virtual const DtString &	processStateRepositoryType () const
	Type of PSR this component will create.
virtual void	setProcessStateRepositoryType (const DtString &type)
	Type of PSR this component will create.
virtual void	setIsEnabled (bool yesNo)
	Is the component enabled or not.
virtual bool	isEnabled () const
	Is the component enabled or not.
virtual void	setDebugActive (bool active)
	Should detailed debug info be printed for this component.
virtual bool	debugActive () const
	Should detailed debug info be printed for this component.
virtual void	setCreateComponent (bool yesNo)
	Should the component be created or not.
virtual bool	createComponent () const
	Should the component be created or not.
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	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 DtComponentDescriptor *	creator ()
Static Public Member Functions inherited from DtComponentDescriptor
static void	addComponentDescriptorCreatorFcn (const DtString &type, DtComponentDescriptorCreatorFcn fcn)
	Adds a given component descriptor creation function and corresponding type (defined in compDescTypes.h) to the DtComponentDescriptorFactory.
static DtComponentDescriptor *	createComponentDescriptor (DtlObjPtr mtlStream, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	Creates and initializes a component descriptor when reading in from an MTL (MAK Technologies Lisp) file (i.e.
static DtComponentDescriptor *	createComponentDescriptor (const char *pName)
	Creates and initializes a new instance of this class.
static DtComponentDescriptorFactory *	factory ()
	The factory for creating objects of type DtComponentDescriptor.
static void	setFactory (DtComponentDescriptorFactory *factory)
	The factory for creating objects of type DtComponentDescriptor.
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (FILE *fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static const char *	theXmlType ()
	The type that is used when archiving to an XML stream.
static const DtFilename &	appPath ()
	Gets the current working directory.
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
	Sets the function to create the DtReaderWriterFactory.
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &)
	Given a filename, returns a newly created reader/writer object from the object found within.
static DtReaderWriter *	createFromXml (const DtString &)
	Given a xml string, returns a newly created reader/writer object from the object found within.
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP)
	Given a xml environment, returns a newly created reader/writer object from the object found within.
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)
	Gets the named attribute from a DtEnvValueSP.
Static Public Member Functions inherited from DtObjectDebugger< DtReaderWriter >
static DtObjectCounter::CounterType	ObjectCount ()
static const DtObjectContainer *	ObjectContainer ()

Protected Member Functions
	DtRotaryWingPilotDescriptor ()
	default constructor; not implemented
Protected Member Functions inherited from DtComponentDescriptor
	DtComponentDescriptor ()
	default constructor; not implemented
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 Attributes
parameters
These parameters are available for setting in the OPD files.
DtRwReal	myPdRadius
	Parameter Name: pd-radius Parameter Description: Radius within which bank-to-turn logic is not invoked.
DtRwReal	myContourFlightVelocityThreshold
	Inside this, all control is PD.
DtRwReal	myContourFlightPositionThreshold
	Parameter Name: contour-flight-position-threshold Parameter Description: Contour flight position threshold, within which the terrain-avoidance logic is eliminated.
DtRwReal	myHeightFeedbackGain
	Parameter Name: height-feedback-gain Parameter Description: Height feedback gain, which is the maximum gain parameter for terrain avoidance.
Dt1DRegularTableFn	myHeightVersusSpeed
	Parameter Name: height-versus-speed Parameter Description: Table function used to describe the terrain-avoidance height versus speed.
DtRwBoolean	myIsAlignWithTargets
	Parameter Name: is-align-with-targets Parameter Description: Flag indicating whether or not the helicopter aligns with targets when kinematic constraints allow it.
DtRwReal	myMaxAngularVel
	Parameter Name: max-angular-vel Parameter Description: Pilot's maximum angular velocity.
DtRwReal	myMaxAngularAcc
	Parameter Name: max-angular-acc Parameter Description: Pilot's maximum angular acceleration.
DtRwReal	myVelToAlignDesired
	Parameter Name: vel-to-align-desired Parameter Description: Desired-velocity threshold, beyond which the helicopter pilot aligns the helicopter body with the desired velocity within kinematic constraints.
DtRwReal	myVelToAlignActual
	Parameter Name: vel-to-align-actual Parameter Description: Velocity threshold above which the pilot aligns the helicopter body with the actual velocity.
DtRwReal	myRadiusTriggerVel
	Parameter Name: radius-trigger-vel Parameter Description: Turning radius trigger velocity, the velocity threshold beyond which bank-to-turn logic is invoked.
DtRwReal	myRadiusFraction
	Parameter Name: radius-fraction Parameter Description: Radius-fraction parameter that is used in the bank-to-turn logic.
DtRwReal	myPositionGain
	Parameter Name: position-gain Parameter Description: Position gain for the position controller.
DtRwReal	myVelocityGain
	Parameter Name: velocity-gain Parameter Description: Velocity gain for the position controller.
DtRwReal	myOrientationGain
	Parameter Name: orientation-gain Parameter Description: Orientation gain for the orientation controller.
DtRwReal	myBodyRateGain
	Parameter Name: body-rate-gain Parameter Description: Body-rate gain for the orientation controller.
DtRwReal	myControlNoiseLevel
	Parameter Name: noise-level Parameter Description: Noise-level parameter for the helicopter-controls error model.
DtRwReal	myLandingFuelLevel
	Parameter Name: landing-fuel-level Parameter Description: Fuel level that induces the pilot to land.
Protected Attributes inherited from DtComponentDescriptor
DtRwBoolean	myIsEnabled
DtRwBoolean	myDebug
	This parameter defaults to false.
DtRwBoolean	myCreateComponent
DtRwString	myComponentType
	Parameter Name: component-type Parameter Description: String identifying type of component.
DtRwReal	myMinTickPeriod
	Parameter Name: min-tick-period Parameter Description: Average tick period for this component.
DtRwReal	myMinTickPeriodVariance
	Parameter Name: min-tick-period-variance Parameter Description: A time range for the tick period.
DtRwBoolean	myTickPeriodUsesRealTime
	Parameter Name: tick-period-uses-real-time Parameter Description: Specified whether the component uses real-time (instead of simulation-time) to determine when it is time to tick.
DtRwString	myProcessStateRepositoryName
	Parameter Name: process-state-repository-name Parameter Description: Name of the process state repository associated with this component.
DtRwString	myProcessStateRepositoryType
	Parameter Name: process-state-repository-type Parameter Description: Type of the process state repository assoicated with this component.
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
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 DtComponentDescriptor
static DtComponentDescriptorFactory *	myFactory

Detailed Description

DtRotaryWingPilotDescriptor is a component descriptor for helicopter flight involving destination points.

This descriptor includes gain, control-parameter, and terrain-interation data.

Constructor & Destructor Documentation

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

constructor

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

copy constructor

virtual DtRotaryWingPilotDescriptor::~DtRotaryWingPilotDescriptor ( )

virtual

destructor

DtRotaryWingPilotDescriptor::DtRotaryWingPilotDescriptor ( )

protected

default constructor; not implemented

Member Function Documentation

DtRotaryWingPilotDescriptor& DtRotaryWingPilotDescriptor::operator=

(

const DtRotaryWingPilotDescriptor &

orig

)

assignment

virtual DtString DtRotaryWingPilotDescriptor::type ( ) const

virtual

Returns the type of component this descriptor describes.

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

Returns

DtRotaryWingPilotDescriptorType

Reimplemented from DtComponentDescriptor.

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

virtual

Clone creates a new copy.

Reimplemented from DtComponentDescriptor.

virtual DtReal DtRotaryWingPilotDescriptor::pdRadius ( ) const

virtual

Accessor/mutator for myPdRadius.

virtual void DtRotaryWingPilotDescriptor::setPdRadius ( const DtReal  value )

virtual

Accessor/mutator for myPdRadius.

virtual DtReal DtRotaryWingPilotDescriptor::contourFlightVelocityThreshold ( ) const

virtual

Accessor/mutator for myContourFlightVelocityThreshold.

virtual void DtRotaryWingPilotDescriptor::setContourFlightVelocityThreshold ( const DtReal  value )

virtual

Accessor/mutator for myContourFlightVelocityThreshold.

virtual DtReal DtRotaryWingPilotDescriptor::contourFlightPositionThreshold ( ) const

virtual

Accessor/mutator for myContourFlightPositionThreshold.

virtual void DtRotaryWingPilotDescriptor::setContourFlightPositionThreshold ( const DtReal  value )

virtual

Accessor/mutator for myContourFlightPositionThreshold.

virtual DtReal DtRotaryWingPilotDescriptor::heightFeedbackGain ( ) const

virtual

Accessor/mutator for myHeightFeedbackGain.

virtual void DtRotaryWingPilotDescriptor::setHeightFeedbackGain ( const DtReal  value )

virtual

Accessor/mutator for myHeightFeedbackGain.

virtual const Dt1DRegularTableFn& DtRotaryWingPilotDescriptor::heightVersusSpeed ( ) const

virtual

Accessor/mutator for myHeightVersusSpeed.

virtual void DtRotaryWingPilotDescriptor::setHeightVersusSpeed ( const Dt1DRegularTableFn &  value )

virtual

Accessor/mutator for myHeightVersusSpeed.

virtual bool DtRotaryWingPilotDescriptor::isAlignWithTargets ( ) const

virtual

Accessor/mutator for myIsAlignWithTargets.

virtual void DtRotaryWingPilotDescriptor::setIsAlignWithTargets ( const bool  val )

virtual

Accessor/mutator for myIsAlignWithTargets.

virtual DtReal DtRotaryWingPilotDescriptor::maxAngularVel ( ) const

virtual

Accessor/mutator for myMaxAngularVel.

virtual void DtRotaryWingPilotDescriptor::setMaxAngularVel ( const DtReal  val )

virtual

Accessor/mutator for myMaxAngularVel.

virtual DtReal DtRotaryWingPilotDescriptor::maxAngularAcc ( ) const

virtual

Accessor/mutator for myMaxAngularAcc.

virtual void DtRotaryWingPilotDescriptor::setMaxAngularAcc ( const DtReal  val )

virtual

Accessor/mutator for myMaxAngularAcc.

virtual DtReal DtRotaryWingPilotDescriptor::velToAlignDesired ( ) const

virtual

Accessor/mutator for myVelToAlignDesired.

virtual void DtRotaryWingPilotDescriptor::setVelToAlignDesired ( const DtReal  val )

virtual

Accessor/mutator for myVelToAlignDesired.

virtual DtReal DtRotaryWingPilotDescriptor::velToAlignActual ( ) const

virtual

Accessor/mutator for myVelToAlignActual.

virtual void DtRotaryWingPilotDescriptor::setVelToAlignActual ( const DtReal  val )

virtual

Accessor/mutator for myVelToAlignActual.

virtual DtReal DtRotaryWingPilotDescriptor::radiusTriggerVel ( ) const

virtual

Accessor/mutator for myRadiusTriggerVel.

virtual void DtRotaryWingPilotDescriptor::setRadiusTriggerVel ( const DtReal  val )

virtual

Accessor/mutator for myRadiusTriggerVel.

virtual DtReal DtRotaryWingPilotDescriptor::radiusFraction ( ) const

virtual

Accessor/mutator for myRadiusFraction.

virtual void DtRotaryWingPilotDescriptor::setRadiusFraction ( const DtReal  val )

virtual

Accessor/mutator for myRadiusFraction.

virtual DtReal DtRotaryWingPilotDescriptor::positionGain ( ) const

virtual

Accessor/mutator for myPositionGain.

virtual void DtRotaryWingPilotDescriptor::setPositionGain ( const DtReal  val )

virtual

Accessor/mutator for myPositionGain.

virtual DtReal DtRotaryWingPilotDescriptor::velocityGain ( ) const

virtual

Accessor/mutator for myVelocityGain.

virtual void DtRotaryWingPilotDescriptor::setVelocityGain ( const DtReal  val )

virtual

Accessor/mutator for myVelocityGain.

virtual DtReal DtRotaryWingPilotDescriptor::orientationGain ( ) const

virtual

Accessor/mutator for myOrientationGain.

virtual void DtRotaryWingPilotDescriptor::setOrientationGain ( const DtReal  val )

virtual

Accessor/mutator for myOrientationGain.

virtual DtReal DtRotaryWingPilotDescriptor::bodyRateGain ( ) const

virtual

Accessor/mutator for myBodyRateGain.

virtual void DtRotaryWingPilotDescriptor::setBodyRateGain ( const DtReal  val )

virtual

Accessor/mutator for myBodyRateGain.

virtual DtReal DtRotaryWingPilotDescriptor::controlNoiseLevel ( ) const

virtual

Accessor/mutator for myControlNoiseLevel.

virtual void DtRotaryWingPilotDescriptor::setControlNoiseLevel ( const DtReal  val )

virtual

Accessor/mutator for myControlNoiseLevel.

virtual DtReal DtRotaryWingPilotDescriptor::landingFuelLevel ( ) const

virtual

Accessor/mutator for myLandingFuelLevel.

virtual void DtRotaryWingPilotDescriptor::setLandingFuelLevel ( const DtReal  val )

virtual

Accessor/mutator for myLandingFuelLevel.

static DtComponentDescriptor* DtRotaryWingPilotDescriptor::creator ( )

static

Returns

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

Reimplemented from DtComponentDescriptor.

Member Data Documentation

DtRwReal DtRotaryWingPilotDescriptor::myPdRadius

protected

Parameter Name: pd-radius
Parameter Description: Radius within which bank-to-turn logic is not invoked.

Parameter Default Value: 800.0
Parameter Units: meters

DtRwReal DtRotaryWingPilotDescriptor::myContourFlightVelocityThreshold

protected

Inside this, all control is PD.

Parameter Name: contour-flight-velocity-threshold
Parameter Description: Desired-speed threshold, below which the terrain-avoidance logic is eliminated.
Parameter Default Value: 5.0
Parameter Units: meters/second

DtRwReal DtRotaryWingPilotDescriptor::myContourFlightPositionThreshold

protected

Parameter Name: contour-flight-position-threshold
Parameter Description: Contour flight position threshold, within which the terrain-avoidance logic is eliminated.

Parameter Default Value: 10.0
Parameter Units: meters

DtRwReal DtRotaryWingPilotDescriptor::myHeightFeedbackGain

protected

Parameter Name: height-feedback-gain
Parameter Description: Height feedback gain, which is the maximum gain parameter for terrain avoidance.

The terrain-avoidance velocity is found by multiplying an actual gain by the distance between the helicopter and the terrain avoidance height. The actual gain is found by ramping from zero to the maximum gain as the helicopter moves from the terrain-avoidance height to the surface.
Parameter Default Value: 3.0

Dt1DRegularTableFn DtRotaryWingPilotDescriptor::myHeightVersusSpeed

protected

Parameter Name: height-versus-speed
Parameter Description: Table function used to describe the terrain-avoidance height versus speed.

The domain of the table is the horizontal speed of the entity (in m/s), starting at domain-bottom, with a table entry for each domain-increment of speed specified. The data-range is the altitude (in meters) to maintain above the terrain for each speed range.

DtRwBoolean DtRotaryWingPilotDescriptor::myIsAlignWithTargets

protected

Parameter Name: is-align-with-targets
Parameter Description: Flag indicating whether or not the helicopter aligns with targets when kinematic constraints allow it.

Parameter Default Value: True

DtRwReal DtRotaryWingPilotDescriptor::myMaxAngularVel

protected

Parameter Name: max-angular-vel
Parameter Description: Pilot's maximum angular velocity.

Parameter Default Value: 6.0
Parameter Units: radians/second

DtRwReal DtRotaryWingPilotDescriptor::myMaxAngularAcc

protected

Parameter Name: max-angular-acc
Parameter Description: Pilot's maximum angular acceleration.

Parameter Default Value: 20.0
Parameter Units: radians/second/second

DtRwReal DtRotaryWingPilotDescriptor::myVelToAlignDesired

protected

Parameter Name: vel-to-align-desired
Parameter Description: Desired-velocity threshold, beyond which the helicopter pilot aligns the helicopter body with the desired velocity within kinematic constraints.

Parameter Default Value: 5.0

DtRwReal DtRotaryWingPilotDescriptor::myVelToAlignActual

protected

Parameter Name: vel-to-align-actual
Parameter Description: Velocity threshold above which the pilot aligns the helicopter body with the actual velocity.

This represents the top-level kinematic constraint on the pilot and overrides all other alignment algorithms when it is triggered.
Parameter Default Value: 15.0

DtRwReal DtRotaryWingPilotDescriptor::myRadiusTriggerVel

protected

Parameter Name: radius-trigger-vel
Parameter Description: Turning radius trigger velocity, the velocity threshold beyond which bank-to-turn logic is invoked.

Parameter Default Value: 10.0

DtRwReal DtRotaryWingPilotDescriptor::myRadiusFraction

protected

Parameter Name: radius-fraction
Parameter Description: Radius-fraction parameter that is used in the bank-to-turn logic.

The larger this value, the tighter the turn.
Parameter Default Value: 0.85

DtRwReal DtRotaryWingPilotDescriptor::myPositionGain

protected

Parameter Name: position-gain
Parameter Description: Position gain for the position controller.

For position gains, tr=10s, zeta=1
Parameter Default Value: 0.09

DtRwReal DtRotaryWingPilotDescriptor::myVelocityGain

protected

Parameter Name: velocity-gain
Parameter Description: Velocity gain for the position controller.

Parameter Default Value: 0.36

DtRwReal DtRotaryWingPilotDescriptor::myOrientationGain

protected

Parameter Name: orientation-gain
Parameter Description: Orientation gain for the orientation controller.

For orientation gains, tr=1s, zeta=1.2
Parameter Default Value: 0.75

DtRwReal DtRotaryWingPilotDescriptor::myBodyRateGain

protected

Parameter Name: body-rate-gain
Parameter Description: Body-rate gain for the orientation controller.

Parameter Default Value: 4.32

DtRwReal DtRotaryWingPilotDescriptor::myControlNoiseLevel

protected

Parameter Name: noise-level
Parameter Description: Noise-level parameter for the helicopter-controls error model.

The noise-level parameter sets the magnitude of the power spectral density (PSD) of the white noise approximation on each control in percent (for collective, 0.1 percent). That is, as the time step goes to zero, the PSD of the error process goes to the noise-level value. (Open loop, a process with a PSD of 1, would integrate over time T to a random variable with variance T).
Parameter Default Value: 0.08

DtRwReal DtRotaryWingPilotDescriptor::myLandingFuelLevel

protected

Parameter Name: landing-fuel-level
Parameter Description: Fuel level that induces the pilot to land.

Parameter Default Value: 20.0

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

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