VR-Forces Development_Version Class Documentation
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions
DtGroundAutoControllerComponent Class Reference

DtGroundAutoControllerComponent is a base controller that holds capabilitites common to all automotive controllers. More...

Inheritance diagram for DtGroundAutoControllerComponent:
Inheritance graph
[legend]

Public Member Functions

 DtGroundAutoControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString&,DtVrfObject*,DtSimManager*,
virtual ~DtGroundAutoControllerComponent ()
 destructor
virtual bool init ()
 Initializes myGroundVehicleState.
virtual const chartype () const
 Returns a string identifies the class type of component.
virtual void clearTask ()
 Overridden to call deactive the port group when this controller completes a task.
virtual double approximateThrottle (double desiredSpeed)
 Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil.
virtual double calculateSteering (double currentHeading, double desiredHeading) const
virtual double calculateCurrentBrakingDistance () const
virtual bool createAutomotiveControlPortGroup ()
 These are called in init to create the ports used to communicate with the actuator.
virtual bool createThrottlePort ()
virtual bool createSteeringPort ()
virtual bool createBrakePort ()
virtual bool createGearPort ()
virtual bool createParkingBrakePort ()
virtual
DtConstrainedAnalogOutputPort
throttlePort ()
virtual
DtConstrainedAnalogOutputPort
steeringPort ()
virtual
DtConstrainedAnalogOutputPort
brakePort ()
virtual
DtConstrainedIntegerOutputPort
gearPort ()
virtual DtBooleanOutputPortparkingBrakePort ()
virtual double decelerationSoilFactor () const
virtual double calcSteeringForTurnInPlace ()
 calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn.
virtual double calcThrottleForTurnInPlace ()
 calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn.
virtual double calcBrakeForTurnInPlace ()
 If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned.
virtual int calcGearForTurnInPlace ()
 calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn.
virtual double calcSteeringForPivot ()
 calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn.
virtual double calcThrottleForPivot ()
 calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn.
virtual double calcSteeringForKTurn ()
 If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn.
virtual double calcThrottleForKTurn ()
 If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn.
virtual double calcBrakeForKTurn ()
 If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop.
virtual double findSpeedForKTurn ()
 If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned.
virtual double findHeadingForKTurn ()
 If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned.
virtual void setHeadingToTurnTo (double headingToTurnTo)
 Get/Set the heading we the entity has been tasked to turn to.
virtual double headingToTurnTo () const
virtual double calculateHeadingToTurnTo ()
 The heading to turn to given the current turn mode and heaading to turn to.
virtual void setTurnToMode (int headingToTurnTo)
 Get/Set the heading turn to mode (see setHeadingRequest.h for modes)
virtual int turnToMode () const
virtual void setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)
 Get/Set the heading that is halfway between the original heading and the heading to turn to.
virtual double kTurnReverseGoalHeading () const
virtual void setKTurnReverseComplete (bool kTurnReverseComplete)
 Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading())
virtual bool kTurnReverseComplete () const
- 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 bool isSubtasked () const
 Returns true if this controller is currently subtasked.
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 DtTaskMessagecurrentTaskMessage () const
 Get a pointer to the message that was used to task this entity.
virtual DtSimTaskStatePtr currentTaskState () const
virtual void giveUpTask ()
 Called when controller is tasked and decideToGiveUp() returns true.
virtual bool taskActive (int taskId) const
 
virtual bool clearTopLevelTasks ()
 If this controller has any top level tasks (not subtasks), they are cleared.
virtual void clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
 Clears any top level tasks on this controller that conflict with the conflict task type.
virtual void clearTasksByType (const DtSimTaskMessageType &taskType)
 Clears any tasks of the specified type running in this controller.
virtual void clearTaskById (int taskId)
 Clears any task of the specified ID running in this controller.
virtual DtSuspendedTaskInfosuspendTaskById (int taskId)
virtual std::list
< DtTaskMessage * > 
currentTaskMessages () const
 
virtual DtTaskWithTaskStateListPtr topLevelTasks () const
 
virtual DtPointTaskVisualizationPtr pointTaskVisualization (const DtString &name)
 Finds an existing or creates a new point task visualization with the given name.
virtual DtLineTaskVisualizationPtr lineTaskVisualization (const DtString &name)
 Finds an existing or creates a new line task visualization with the given name.
virtual DtAreaTaskVisualizationPtr areaTaskVisualization (const DtString &name)
 Finds an existing or creates a new area task visualization with the given name.
virtual DtTextTaskVisualizationPtr textTaskVisualization (const DtString &name)
 Finds an existing or creates a new text task visualization with the given name.
virtual void destroyTaskVisualization (const DtString &name)
 Destroys an existing task visualization.
- 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 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.
DtTaskVisualizationMaptaskVisualizations ()
 Returns the list of task visualizations for this controller.
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 DtSimRadioradio ()
 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 preFirstTickInit ()
 This function can be overridden to initialize a component before it is ticked for the first time.
virtual void tick ()
 This gives the thread of control to the component.
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 DtSimComponentnextComponent ()
 List management functions.
virtual DtSimComponentprevComponent ()
virtual void setListItem (DtListItem *item)
 Used by DtComponentList.
virtual DtListItem * listItem ()
virtual void putData (std::string &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 DtInputPortlookupInputPort (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 DtOutputPortlookupOutputPort (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 DtInputPortGrouplookupInputPortGroup (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 DtOutputPortGrouplookupOutputPortGroup (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.
DtVrfProcessStateRepositoryManagerpsrManager ()
virtual DtString componentFullName () const
virtual DtPhysicalWorldphysicalWorld ()
 Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorldphysicalWorld () const
virtual DtAttachedTerrainterrainAttachedTo ()
 Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrainterrainAttachedTo () const
virtual DtVrfObjectentity ()
 Gets the entity.
virtual const DtVrfObjectentity () const
virtual DtSimManagersimManager ()
 Gets the sim manager.
virtual const DtSimManagersimManager () const
virtual const Coordinate_SystemcoordinateSystem () const
 Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_SystemcoordinateSystem ()
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 DtString &channel="") const
virtual DtOutputStream & objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream & objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream & objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream & objectConsoleError (const DtString &channel="") const
virtual DtSimResourceManagerresourceManager ()
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 DtReaderWriteroperator= (const DtReaderWriter &orig)
 assignment operator
bool operator== (const DtReaderWriter &) const
 Equivalence operator.
bool operator!= (const DtReaderWriter &rhs)
virtual ~DtReaderWriter ()
 destructor
virtual void putSelf (std::string &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 (std::string &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 void addAlias (const DtString &alias)
virtual bool hasAlias (const DtSymbolString &alias)
virtual const aliasContaineraliases () const
virtual void setReadonly (bool flag)
 Set read-only flag.
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 charreaderWriterType () const
 Used to supply a string type that this reader writer type is.
virtual const charxmlType () 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 DtReaderWriterdefaultRWValue () const
 The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriterdefaultRWValue ()
 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 DtReaderWriterRegistryregistry () const
 Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistryregistry ()
 Collection of child DtReaderWriter nodes owned by this object.
virtual DtPropertyInterfaceproperty ()
virtual const DtPropertyInterfaceproperty () 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.

Protected Member Functions

virtual bool createPorts ()
 Overridden to create the automotive ports.
virtual bool createPortGroups ()
 Overridden to create myAutomotiveControlPortGroup.
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 DtSoilFactorscurrentSoilFactors () const
virtual bool decideToGiveUpTask () const
 If the entity is attached and the target of the current task is not, give up on the task.
- 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.
virtual void updateTaskVisualizations ()
 Called to update task visualizations after every tick.
virtual void destroyTaskVisualizations ()
 Destroys all task visualizations.
double calculateNextTaskVisTickTime () const
- Protected Member Functions inherited from DtControllerComponent
 DtControllerComponent ()
 default constructor
 DtControllerComponent (const DtControllerComponent &orig)
 copy constructor
const DtControllerComponentoperator= (const DtControllerComponent &orig)
 assignment operator
- Protected Member Functions inherited from DtSimComponent
virtual double computeCurrentTime ()
 Compute current time and myDT.
bool testInvariant () const
DtVrfProcessStateRepositorycreateComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
 Creates a PSR for this component and registers it with the PSR manager.
- 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

DtGroundVehicleStateRepositorymyGroundVehicleState
DtAutomotivePSRmyProcessState
 Pointer to a process state repository used to store state data associated with this component.
double mySpeedErrorLastTick
 For derivative control in approximateThrottle.
Ports and Port Groups
DtConstrainedAnalogOutputPortmyThrottlePort
 Output Port Name: throttle
Output Port Description:
Output Port Range: 0.
DtConstrainedAnalogOutputPortmySteeringPort
 Output Port Name: steering
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: automotive-control.
DtConstrainedAnalogOutputPortmyBrakePort
 Output Port Name: brake
Output Port Description:
Output Port Range: 0.
DtConstrainedIntegerOutputPortmyGearPort
 Output Port Name: gear
Output Port Description:
Output Port Range:
Output Port Default Value:
Output Group Parent: automotive-control.
DtBooleanOutputPortmyParkingBrakePort
 Output Port Name: parking-brake
Output Port Description:
Output Port Default Value: True
Output Group Parent: automotive-control.
DtOutputPortGroupmyAutomotiveControlPortGroup
 Output Port Group Name: automotive-control
Output Port Group Description: Collection of control output for automotive entity movement controllers.

Private Member Functions

 DtGroundAutoControllerComponent ()
 default constructor; not implemented
 DtGroundAutoControllerComponent (const DtGroundAutoControllerComponent &orig)
 copy constructor; not implemented
const
DtGroundAutoControllerComponent
operator= (const DtGroundAutoControllerComponent &orig)
 assignment operator; not implemented

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 Public Member Functions inherited from DtTaskControllerComponent
static void deprecatedTaskProcessorCallbackAdapter (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
 Task processor callback function that acts as an adapter for the deprecated forms of addTaskProcessorCallback and removeTaskProcessorCallback (the deprecated form is is version that.
- 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 DtSimComponentFactorymyFactory

Detailed Description

DtGroundAutoControllerComponent is a base controller that holds capabilitites common to all automotive controllers.

Uses Descriptor Type: DtComponentDescriptor

Examples

Constructor & Destructor Documentation

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters
nameReader writer name of this component.
ownerThe DtVrfObject that owns this component
simManagerThe simulation manager (provides access to terrain, message interface, simulation clock).
descThe component descriptor used to initialize this component.
parentRegistryPointer to the parent reader writer registry (the containing object that reads/writes this object).
(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtGroundAutoControllerComponent::~DtGroundAutoControllerComponent ( )
virtual

destructor

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent ( )
private

default constructor; not implemented

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent ( const DtGroundAutoControllerComponent orig)
private

copy constructor; not implemented

Member Function Documentation

virtual bool DtGroundAutoControllerComponent::init ( )
virtual
virtual const char* DtGroundAutoControllerComponent::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. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns
DtGroundAutoMovementControllerType

Implements DtTaskControllerComponent.

Reimplemented in DtGroundCollisionAvoidanceController, DtGroundMoveToDestinationControllerComponent, DtRetreatController, DtGroundMoveDirectionController, DtGroundMoveToControllerComponent, DtGroundFollowEntityController, DtGroundStopMovingControllerComponent, DtGroundPatrolBetweenController, DtGroundPatrolRouteController, DtGroundTurnToControllerComponent, DtGroundMoveAlongControllerComponent, DtGroundMoveToLocationControllerComponent, and DtGroundJoyMoveController.

virtual void DtGroundAutoControllerComponent::clearTask ( )
virtual

Overridden to call deactive the port group when this controller completes a task.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundMoveToDestinationControllerComponent.

virtual double DtGroundAutoControllerComponent::approximateThrottle ( double  desiredSpeed)
virtual

Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil.

4.1: approximateThrottle computes a value between -1 and 1 that represents the desired, normalized acceleration. Negative values will be realized as a brake output. This control function gets the current forward speed, current throttle setting, the speed error last tick, and dT as further input. It considers several cases:

  • Desired speed 0: brake
  • Desired speed and current speed in opposite directions: brake
  • Desired acceleration in one tick > max: full acceleration.
  • Ditto, max deceleration
  • Otherwise, use proportional-derivative control of speed, with the controller output being a throttle CHANGE. Add this to the current throttle to produce the function output.
virtual double DtGroundAutoControllerComponent::calculateSteering ( double  currentHeading,
double  desiredHeading 
) const
virtual
virtual double DtGroundAutoControllerComponent::calculateCurrentBrakingDistance ( ) const
virtual
virtual bool DtGroundAutoControllerComponent::createAutomotiveControlPortGroup ( )
virtual

These are called in init to create the ports used to communicate with the actuator.

virtual bool DtGroundAutoControllerComponent::createThrottlePort ( )
virtual
virtual bool DtGroundAutoControllerComponent::createSteeringPort ( )
virtual
virtual bool DtGroundAutoControllerComponent::createBrakePort ( )
virtual
virtual bool DtGroundAutoControllerComponent::createGearPort ( )
virtual
virtual bool DtGroundAutoControllerComponent::createParkingBrakePort ( )
virtual
virtual DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::throttlePort ( )
virtual
virtual DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::steeringPort ( )
virtual
virtual DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::brakePort ( )
virtual
virtual DtConstrainedIntegerOutputPort* DtGroundAutoControllerComponent::gearPort ( )
virtual
virtual DtBooleanOutputPort* DtGroundAutoControllerComponent::parkingBrakePort ( )
virtual
virtual double DtGroundAutoControllerComponent::decelerationSoilFactor ( ) const
virtual
virtual double DtGroundAutoControllerComponent::calcSteeringForTurnInPlace ( )
virtual

calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn.

An outside automotive controller could use this function in conjunction with calcThrottle() and calcGear() to effect turns as part of some other maneuver. An outside caller can ignore the last 2 arguments if it knows the entity is pivot-capable.

virtual double DtGroundAutoControllerComponent::calcThrottleForTurnInPlace ( )
virtual

calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn.

An outside caller can ignore the last argument if it knows the entity is pivot-capable.

virtual double DtGroundAutoControllerComponent::calcBrakeForTurnInPlace ( )
virtual

If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned.

virtual int DtGroundAutoControllerComponent::calcGearForTurnInPlace ( )
virtual

calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn.

So that it may be used from outside the controller, a writable flag is passed to indicate whether, in the case of a k turn being executed, the first part of the maneuver has been completed. The tick() method calls this routine using the myProcessState->myKTurnReverseComplete member, but outside callers should maintain this value across simulation frames.

virtual double DtGroundAutoControllerComponent::calcSteeringForPivot ( )
virtual

calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn.

This is called by calcSteering() for pivot-capable entities

virtual double DtGroundAutoControllerComponent::calcThrottleForPivot ( )
virtual

calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn.

This is called by calcThrottle() for pivot-capable entities

virtual double DtGroundAutoControllerComponent::calcSteeringForKTurn ( )
virtual

If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn.

It is called by calcSteering() for non-pivot capable entities.

virtual double DtGroundAutoControllerComponent::calcThrottleForKTurn ( )
virtual

If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn.

It is called by calcThrottle() for non-pivot capable entities.

virtual double DtGroundAutoControllerComponent::calcBrakeForKTurn ( )
virtual

If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop.

virtual double DtGroundAutoControllerComponent::findSpeedForKTurn ( )
virtual

If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned.

If the entity has turned far enough in reverse and needs to begin braking, 0.0 is returned. Otherwise if the entity has completed the reverse phase, the ordered speed of the entity is returned.

virtual double DtGroundAutoControllerComponent::findHeadingForKTurn ( )
virtual

If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned.

virtual void DtGroundAutoControllerComponent::setHeadingToTurnTo ( double  headingToTurnTo)
virtual

Get/Set the heading we the entity has been tasked to turn to.

virtual double DtGroundAutoControllerComponent::headingToTurnTo ( ) const
virtual
virtual double DtGroundAutoControllerComponent::calculateHeadingToTurnTo ( )
virtual

The heading to turn to given the current turn mode and heaading to turn to.

virtual void DtGroundAutoControllerComponent::setTurnToMode ( int  headingToTurnTo)
virtual

Get/Set the heading turn to mode (see setHeadingRequest.h for modes)

virtual int DtGroundAutoControllerComponent::turnToMode ( ) const
virtual
virtual void DtGroundAutoControllerComponent::setKTurnReverseGoalHeading ( double  kTurnReverseGoalHeading)
virtual

Get/Set the heading that is halfway between the original heading and the heading to turn to.

This is only used fore entities that are not pivot capable.

virtual double DtGroundAutoControllerComponent::kTurnReverseGoalHeading ( ) const
virtual
virtual void DtGroundAutoControllerComponent::setKTurnReverseComplete ( bool  kTurnReverseComplete)
virtual

Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading())

virtual bool DtGroundAutoControllerComponent::kTurnReverseComplete ( ) const
virtual
virtual bool DtGroundAutoControllerComponent::createPorts ( )
protectedvirtual
virtual bool DtGroundAutoControllerComponent::createPortGroups ( )
protectedvirtual

Overridden to create myAutomotiveControlPortGroup.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundCollisionAvoidanceController, and DtGroundMoveDirectionController.

virtual void DtGroundAutoControllerComponent::lookupAndCacheProcessSR ( )
protectedvirtual

This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.

The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.

virtual bool DtGroundAutoControllerComponent::postAddComponentsInit ( )
protectedvirtual

Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.

Reimplemented from DtSimComponent.

virtual DtSoilFactors* DtGroundAutoControllerComponent::currentSoilFactors ( ) const
protectedvirtual
virtual bool DtGroundAutoControllerComponent::decideToGiveUpTask ( ) const
protectedvirtual

If the entity is attached and the target of the current task is not, give up on the task.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundMoveAlongControllerComponent, and DerivedMoveToController.

const DtGroundAutoControllerComponent& DtGroundAutoControllerComponent::operator= ( const DtGroundAutoControllerComponent orig)
private

assignment operator; not implemented

Member Data Documentation

DtGroundVehicleStateRepository* DtGroundAutoControllerComponent::myGroundVehicleState
protected
DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::myThrottlePort
protected

Output Port Name: throttle
Output Port Description:
Output Port Range: 0.

to 1.
Output Port Default Value:
Output Group Parent: automotive-control

DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::mySteeringPort
protected

Output Port Name: steering
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: automotive-control.

DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::myBrakePort
protected

Output Port Name: brake
Output Port Description:
Output Port Range: 0.

to 1.
Output Port Default Value:
Output Group Parent: automotive-control

DtConstrainedIntegerOutputPort* DtGroundAutoControllerComponent::myGearPort
protected

Output Port Name: gear
Output Port Description:
Output Port Range:
Output Port Default Value:
Output Group Parent: automotive-control.

DtBooleanOutputPort* DtGroundAutoControllerComponent::myParkingBrakePort
protected

Output Port Name: parking-brake
Output Port Description:
Output Port Default Value: True
Output Group Parent: automotive-control.

DtOutputPortGroup* DtGroundAutoControllerComponent::myAutomotiveControlPortGroup
protected

Output Port Group Name: automotive-control
Output Port Group Description: Collection of control output for automotive entity movement controllers.

DtAutomotivePSR* DtGroundAutoControllerComponent::myProcessState
protected

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

This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).

Referenced by DtGroundMoveAlongControllerComponent::getPSR().

double DtGroundAutoControllerComponent::mySpeedErrorLastTick
protected

For derivative control in approximateThrottle.

Note–not added to process state; on scenario reload, it will be initialized to 0, which may cause a tiny blip in the control output.


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

Document ID: Generated on Mon Jul 4 01:00:18 EDT 2016 from SVN revision 166489
Copyright © 2005-2015 VT MÄK. All Rights Reserved (www.mak.com)