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rotaryWingPilotController.h
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1 /*******************************************************************************
2 ** Copyright (c) 1999-2003 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
11 
12 #pragma once
13 
14 #include "vrfobjcore/controllerComponent.h"
15 #include <matrix/LibMatrix.h>
16 
17 class DtString;
18 class DtSimManager;
19 class DtConstrainedAnalogOutputPort;
20 class DtConstrainedDualAxisAnalogOutputPort;
21 class DtRotaryWingEntityStateRepository;
22 class DtOutputPortGroup;
23 class DtInputPortGroup;
24 class DtVectorInputPort;
25 class DtAnalogInputPort;
26 class DtBooleanInputPort;
27 
32 #include "vrfmodel/vrfmodelDefines.h"
33 class DT_DLL_vrfmodel DtRotaryWingPilotController : public DtControllerComponent
34 {
35 
36 public:
37 
40  DtRotaryWingPilotController(const DtString& name,
41  DtVrfObject* owner,
42  DtSimManager* simManager,
43  DtComponentDescriptor* desc = 0,
44  DtReaderWriterRegistry* parentRegistry = 0);
45 
47  virtual ~DtRotaryWingPilotController();
48 
50  virtual bool init();
51 
53  virtual void tick();
54 
57  virtual DtString type() const;
58 
60 
61  virtual bool createGuidancePortGroup();
62  virtual bool createDesiredPositionPort();
63  virtual bool createDesiredVelocityPort();
64  virtual bool createDesiredAccelerationPort();
65  virtual bool createDesiredHeadingPort();
66  virtual bool createPositionSelectorPort();
67  virtual bool createVelocitySelectorPort();
68  virtual bool createAccelerationSelectorPort();
69  virtual bool createHeadingSelectorPort();
70  virtual bool createAggressivenessPort();
71  virtual bool createPowerDownPort();
73 
75 
76  virtual DtVectorInputPort *desiredPositionPort();
77  virtual DtVectorInputPort *desiredVelocityPort();
78  virtual DtVectorInputPort *desiredAccelerationPort();
79  virtual DtAnalogInputPort *desiredHeadingPort();
80  virtual DtAnalogInputPort *positionSelectorPort();
81  virtual DtAnalogInputPort *velocitySelectorPort();
82  virtual DtAnalogInputPort *accelerationSelectorPort();
83  virtual DtAnalogInputPort *headingSelectorPort();
84  virtual DtAnalogInputPort *aggressivenessPort();
85  virtual DtBooleanInputPort* powerDownPort();
87 
90 
91  virtual bool createRotaryWingControlPortGroup();
92  virtual bool createThrottlePort();
93  virtual bool createCollectivePort();
94  virtual bool createCyclicPort();
95  virtual bool createPedalPort();
97 
98  virtual DtConstrainedAnalogOutputPort * throttlePort();
99  virtual DtConstrainedAnalogOutputPort * collectivePort();
100  virtual DtConstrainedDualAxisAnalogOutputPort * cyclicPort();
101  virtual DtConstrainedAnalogOutputPort * pedalPort();
102 
106  static DtSimComponent * creator(const DtString& name,
107  DtVrfObject* owner,
108  DtSimManager* simManager,
109  DtComponentDescriptor* desc = 0,
110  DtReaderWriterRegistry* parentRegistry = 0);
111 
112 protected:
113 
115  virtual bool createPortGroups();
116 
118  virtual bool createPorts();
119 
121  virtual void setStateFromPorts();
122 
123 protected:
124 
126  DtRotaryWingPilotController();
127 
129  DtRotaryWingPilotController(const DtRotaryWingPilotController &
130  orig);
131 
133  const DtRotaryWingPilotController & operator=(const
134  DtRotaryWingPilotController & orig);
135 
136 
137 protected:
138 
139  DtRotaryWingEntityStateRepository * myRotaryWingEntityState;
140 
142 
143 
146  DtOutputPortGroup* myRotaryWingControlPortGroup;
147 
153  DtConstrainedAnalogOutputPort* myThrottlePort;
154 
160  DtConstrainedAnalogOutputPort* myCollectivePort;
161 
167  DtConstrainedDualAxisAnalogOutputPort* myCyclicPort;
168 
174  DtConstrainedAnalogOutputPort* myPedalPort;
175 
179  DtInputPortGroup *myGuidancePortGroup;
180 
185  DtVectorInputPort *myDesiredPositionPort;
186 
191  DtVectorInputPort *myDesiredVelocityPort;
192 
197  DtVectorInputPort *myDesiredAccelerationPort;
198 
203  DtAnalogInputPort *myDesiredHeadingPort;
204 
210  DtAnalogInputPort *myPositionSelectorPort;
211 
217  DtAnalogInputPort *myVelocitySelectorPort;
218 
224  DtAnalogInputPort *myAccelerationSelectorPort;
225 
231  DtAnalogInputPort *myHeadingSelectorPort;
232 
238  DtAnalogInputPort *myAggressivenessPort;
239 
248  DtBooleanInputPort* myPowerDownPort;
249 
251 
252  DtVector myNormalizedBodyVelocity;
253 };
Document ID: Generated on Wed Mar 11 21:20:57 EDT 2015 from SVN revision 150940
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