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VR-Forces Development_Version Class Documentation
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VR-Forces Development_Version Class Documentation
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Provides a simple, kinematics-based model for surface vessels. More...
Public Member Functions | |
| DtSurfaceEntitySimpleActuator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSurfaceEntitySimpleActuator () |
| Destructor. | |
| virtual bool | init () |
| Calls down to the base class, null checks entity(), calls createPSR(), and then caches the entity's state repository in mySurfaceEntityState. | |
| virtual const char * | type () const |
| Returns a string identifies the class type of component. | |
| virtual bool | postAddComponentsInit () |
| to initialize the PSR after the components have been created and initialized | |
| virtual void | initProcessSR () |
| the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntitySimpleActuatorDescriptor | |
| virtual void | tick () |
| Calculates new kinematic state. | |
| virtual void | decrementFuelResource (double fuelUsed) |
| Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount. | |
 Public Member Functions inherited from DtActuatorComponent | |
| virtual | ~DtActuatorComponent () |
| destructor | |
| virtual DtSimRadio * | radio () |
| virtual bool | tickWhileDestroyed () const |
| By default, all actuators tick when the entity is destroyed. | |
| Public Member Functions inherited from DtSimComponent | |
| DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSimComponent () |
| destructor | |
| void | setParentSystem (DtComponentSystem *system) |
| Sets the parent system of this component. | |
| virtual 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 | postTick () |
| This function is called immediately after tick() is called. | |
| virtual void | timedTick () |
| This version of tick checks to see if the time to tick has arrived. | |
| virtual void | setMinTickPeriod (double minTickPeriod) |
| specifies a minimum tick period (which can also be thought of as | |
| virtual double | minTickPeriod () const |
| access the minimum tick period | |
| virtual void | setMinTickPeriodVariance (double minTickPeriodVariance) |
| set the variance in the minimum tick time | |
| virtual double | minTickPeriodVariance () const |
| access the variance in the minimum tick period | |
| virtual void | setNextTickTime (double nextTickTime) |
| The next tick time is normally calculated internally. | |
| virtual double | nextTickTime () const |
| access the next tick time | |
| virtual double | calculateNextTickTime () const |
| The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2. | |
| virtual double | calculateFirstTickTime () const |
| Returns the first time value that the component should tick at. | |
| virtual void | setEntity (DtVrfObject *entity) |
| The entity's state repository is the place that actuator components make updates and other components look to see our current state. | |
| virtual DtSimComponent * | nextComponent () |
| List management functions. | |
| virtual DtSimComponent * | prevComponent () |
| virtual void | setListItem (DtListItem *item) |
| Used by DtComponentList. | |
| virtual DtListItem * | listItem () |
| virtual void | putData (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 DtInputPort * | lookupInputPort (const DtString &portName) |
| Returns a pointer to the input port registered on this component with the specified name. | |
| virtual DtList | inputPortList () const |
| Returns the list of DtInputPorts registered on this component. | |
| virtual void | addOutputPort (DtOutputPort *port) |
| Adds this output port to the components output port list so that other components can look it up and attach to it. | |
| virtual void | removeOutputPort (DtOutputPort *port) |
| virtual DtOutputPort * | lookupOutputPort (const DtString &portName) |
| Returns a pointer to the output port registered on this component with the specified name. | |
| virtual DtList | outputPortList () const |
| Returns the list of DtOutputPorts registered on this component. | |
| virtual void | addInputPortGroup (DtInputPortGroup *group) |
| Adds this input port to the components input port list so that other components can look it up and attach to it. | |
| virtual void | removeInputPortGroup (DtInputPortGroup *group) |
| virtual DtInputPortGroup * | lookupInputPortGroup (const DtString &groupName) |
| Returns a pointer the input port group registered on this component with the specified name. | |
| virtual DtList | inputPortGroupList () const |
| Returns the list of DtInputPortGroups registered on this component. | |
| virtual void | addOutputPortGroup (DtOutputPortGroup *group) |
| Adds this output port group to the components output port group list so that other components can look it up and attach to it. | |
| virtual void | removeOutputPortGroup (DtOutputPortGroup *group) |
| virtual DtOutputPortGroup * | lookupOutputPortGroup (const DtString &groupName) |
| Returns a pointer the output port group registered on this component with the specified name. | |
| virtual DtList | outputPortGroupList () const |
| Returns the list of DtOutputPortGroups registered on this component. | |
| virtual int | priority () const |
| Return the current connection priority for this component. | |
| virtual void | setPriority (int priority) |
| Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value. | |
| double | dT () const |
| This is the delta-t for this component, which may or may not be the same as the exerciseClock dT. | |
| virtual void | setDT (double deltaT) |
| Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary. | |
| virtual void | setComponentDescriptor (DtComponentDescriptor *componentDescriptor) |
| The component descriptor specified in the order of battle file or parameter file that was used to create this component. | |
| virtual const DtComponentDescriptor * | componentDescriptor () const |
| DtVrfProcessStateRepositoryManager * | psrManager () |
| virtual DtString | componentFullName () const |
| virtual DtPhysicalWorld * | physicalWorld () |
| Gets the physical world that this component's entity exists in. | |
| virtual const DtPhysicalWorld * | physicalWorld () const |
| virtual DtAttachedTerrain * | terrainAttachedTo () |
| Gets the terrain that this component's entity is attached to, if any. | |
| virtual const DtAttachedTerrain * | terrainAttachedTo () const |
| virtual DtVrfObject * | entity () |
| Gets the entity. | |
| virtual const DtVrfObject * | entity () const |
| virtual DtSimManager * | simManager () |
| Gets the sim manager. | |
| virtual const DtSimManager * | simManager () const |
| virtual const Coordinate_System * | coordinateSystem () const |
| Gets the coordinate system, as it should always exist if the physical world is in a valid state! | |
| virtual Coordinate_System * | coordinateSystem () |
| virtual DtVrfObjectStateRepository * | localStateRepository () |
| Gets the local state repository. | |
| virtual const DtVrfObjectStateRepository * | localStateRepository () const |
| virtual void | enable () |
| Is this component enabled or not. | |
| virtual void | disable () |
| Is this component enabled or not. | |
| virtual bool | isEnabled () |
| Is this component enabled or not. | |
| virtual void | setIsEnabled (bool yesNo) |
| Is this component enabled or not. | |
| virtual DtOutputStream & | objectConsoleDebug (const 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 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 (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 aliasContainer & | aliases () 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 char * | readerWriterType () const |
| Used to supply a string type that this reader writer type is. | |
| virtual const char * | xmlType () const |
| virtual DtString | prettyPrint () const |
| Routine to return a human readable form of the reader/writer variable. | |
| std::string | debugText () const |
| virtual void | bindVariables (DtVariableBindingsList variableBindings) |
| Runs a variable binding pass on this reader writer and any of its children. | |
| virtual std::list < DtVariableNameType > | unboundVariables () const |
| bool | invalid () const |
| virtual bool | hasChild (const DtReaderWriter *p) const |
| Returns true if this variable has a child p in it's chain. | |
| virtual bool | hasVariableReference () const |
| Returns true if this item or any item in the registry (recursive) is a variable reference. | |
| virtual void | bindLocalVariables (const DtVariableBindingsList &variableBindings) |
| Checks to see if this RW object is a variable reference that can be bound using the provided bindings. | |
| virtual void | recordUpdateTime () const |
| Can be implemented in subclasses to stamp the time when updated. | |
| virtual bool | wasUpdatedSince (DtTime t) const |
| Can be implemented in subclasses to return true if an update occurred after the specified time. | |
| virtual DtlObjPtr | getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings) |
| Deriving class overrides these to get/put class specific data. | |
| virtual void | setValueSpecified (bool specified, bool recurse=false) |
| The specified flags are used for optional values. | |
| virtual bool | valueSpecified () const |
| The specified flags are used for optional values. | |
| virtual bool | isVariableReference () const |
| Specifies whether or not this reader writer is really a variable that is specified elsewhere. | |
| virtual void | setIsVariableReference (bool value) |
| virtual void | clearAllVariableReferenceFlags () |
| Clears out all variable reference flags from all readerwriter items in registry recursively. | |
| virtual DtSymbolString | variableName () const |
| The variable name, if this object is a variable reference. | |
| virtual void | setVariableName (const DtSymbolString variableName) |
| The variable name, if this object is a variable reference. | |
| virtual const DtReaderWriter * | defaultRWValue () const |
| The default value to use if the reader/writer object is a variable and that variable is not specified. | |
| virtual DtReaderWriter * | defaultRWValue () |
| The default value to use if the reader/writer object is a variable and that variable is not specified. | |
| virtual void | setDefaultRWValue (DtReaderWriter *) |
| Previous default value, if exists, will be removed and replaced with a clone of the supplied variable. | |
| virtual bool | checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference()) |
| Give the stream, if the stream contains a default value then set it here. | |
| const DtReaderWriterRegistry & | registry () const |
| Collection of child DtReaderWriter nodes owned by this object. | |
| DtReaderWriterRegistry & | registry () |
| Collection of child DtReaderWriter nodes owned by this object. | |
| virtual DtPropertyInterface * | property () |
| virtual const DtPropertyInterface * | property () const |
| virtual DtString | toXml () const |
| virtual bool | toXml (const DtFilename &) const |
| Writes contents of xml result to the given filename. | |
| virtual bool | fromXml (const DtString &) |
| Restores object from given xml string. Returns true if valid. | |
| virtual bool | fromXmlFile (const DtFilename &) |
| Restires object from given xml file. | |
| virtual void | putSelf (DtEnvironmentSP, DtEnvValueSP parent) const |
| virtual void | putData (DtEnvironmentSP, DtEnvValueSP value) const |
| Override to add attributes of actual data. | |
| virtual void | putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const |
| Called when the item is a variable reference. | |
| virtual void | getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList()) |
| virtual void | getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList()) |
| Gets data from the environment value. | |
| virtual void | unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings) |
| Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op. | |
| virtual void | getVariableReference (DtEnvironmentSP, DtEnvValueSP value) |
| Called when the item is a variable reference. | |
Static Public Member Functions | |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
Protected Member Functions | |
| virtual bool | createPortGroups () |
| Creates the mySurfaceControlPortGroup input port group and adds it to the component. | |
| virtual bool | createPorts () |
| Creates myAccelerationPort, myClampSpeedPort, myTurnRadiusPort, and myFinalHeadingPort and adds them to mySurfaceControlPortGroup. | |
| virtual void | updateHeading (const double dT, double &newHeading) |
| virtual void | updateVelocity (const double dT, const double newHeading, const double newVerticalSpeed, double &acceleratingDT, double &newSpeed, DtVector &newVelocity, bool &maxSpeedAchieved) |
| Update the state of velocity. | |
| virtual double | updateVerticalSpeed (const double dT) |
| Update the vertical speed. | |
| virtual void | updateOrientationAndPosition (const double dT, const double acceleratingDT, const double newHeading, DtVector &newVelocity, const double newSpeed, DtDcm &newBodyToLocalMatrix, DtVector &newPosition) |
| Update the state of position from the velocity and acceleration in effect over the last tick (i.e., in the current vrfKinematicState). | |
| virtual void | adjustAttitude (const double newSpeed, const DtVector &position, const double yawRate, double &roll, double &pitch, double &altitudeAdj) |
| Adjusts the attitude of the entity for improved appearance. | |
| virtual void | setAltitude (DtVector &localPosition, const Coordinate_System *cs, const double altitudeAdjustment) |
| Sets the altitude of the entity. | |
| virtual bool | getTerrainSurfaces (const DtVector &databaseLocation, double &groundHeight, DtSurface &groundSurface, DtVector &groundNormal, double &waterHeight, DtSurface::DtMedium &topSurfaceMedium, bool *dataAvailable=0, bool overrideBlockingAssert=false) |
| Gets the characteristics of the terrain surface and sea floor. | |
| virtual bool | isShipAground (const DtVector &localPosition, const DtDcm &bodyToLocalMatrix, DtSurface::DtMedium topMedium=DtSurface::WaterSurface) |
| This function determines if the ship is aground at the given location and the given orientation. | |
| virtual void | sinkingAttitude (const DtVector &newPosition, DtDcm &newBodyToLocalMatrix) |
| This function sets the attitude for sinking ships. | |
| virtual void | setOrientationToBottom (const DtVector &newPosition, const double newHeading, const DtVector &groundNormal, DtDcm &newBodyToLocalMatrix) |
| This function sets the orientation of the entity to that of the underwater polygon underneath newPosition, and given the newHeading. | |
| virtual void | computeNewRates (const double turnRate, const double newSpeed, const double newHeading, const double acceleration, const DtDcm &bodyToLocalMatrix, DtVector &bodyRotationRates, DtVector &relativeAcceleration, double &limitedAcceleration) |
| Computes the new values for acceleration (relative to the database) and rotation rate (body) based on the control port inputs. | |
| virtual void | sinkingRates (DtVector &newPosition, DtVector &newVelocity, DtVector &newRelativeAcceleration, DtVector &newBodyRotationRates) |
| The function that is used to compute body rotation rates and acceleration for the next tick, when the entity is sinking. | |
| virtual void | unpoweredDriftRates (const double newSpeed, const double newHeading, DtVector &newBodyRotationRates, DtVector &newRelativeAcceleration) |
| Computes body rotation rates and new acceleration vector for an entity that is drifting. | |
| double | driftDecelerationMagnitude () const |
| Computes the magnitude of the deceleration of a drifting ship. | |
| virtual void | updateRepository (const DtVector &newPosition, const DtVector &newVelocity, const DtVector &newAcceleration, const DtTaitBryan &newOrientation, const DtVector &newBodyRotationRates) |
| Copy newly calculated state data in the arguments into the object's state repository (LocalPosition, RelativeVelocity, RelativeAcceleration, LocalOrientationWrtDatabase, and RotationalVelocity. | |
| virtual double | computeFuelUsed (const double dT) |
| Computes the amount of fuel used based on the speed, dT, and the fuel efficiency given in the surface entity state repository. | |
| DtSurfaceEntityStateRepository * | surfaceEntityState (void) const |
| virtual bool | createPSR () |
| Creates myProcessState data member, and adds it to our process state repository manager. | |
| DtSurfaceEntitySimpleActuator () | |
| default constructor; not implemented | |
| DtSurfaceEntitySimpleActuator (const DtSurfaceEntitySimpleActuator &orig) | |
| copy constructor; not implemented | |
| const DtSurfaceEntitySimpleActuator & | operator= (const DtSurfaceEntitySimpleActuator &orig) |
| assignment operator; not implemented | |
| Protected Member Functions inherited from DtActuatorComponent | |
| DtActuatorComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString& name, | |
| DtActuatorComponent (const DtActuatorComponent &orig) | |
| copy constructor | |
| const DtActuatorComponent & | operator= (const DtActuatorComponent &orig) |
| assignment operator | |
| virtual void | setRadio (DtSimRadio *radio) |
| DtActuatorComponent () | |
| Default constructor; should not be called. | |
| Protected Member Functions inherited from DtSimComponent | |
| virtual double | computeCurrentTime () |
| Compute current time and myDT. | |
| bool | testInvariant () const |
| DtVrfProcessStateRepository * | createComponentPsr (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 | |
| DtSurfaceEntityStateRepository * | mySurfaceEntityState |
| Cache some pointers. | |
| const DtSurfaceEntityParameters * | myParameters |
| DtSurfaceEntityActuatorDescriptor * | myDescriptor |
| DtUpdateRepositoryOutputPortGroup * | myUpdateRepositoryOutputPortGroup |
| Port group used to set what values should be set into the VRF state repository. | |
| DtSurfaceMovementPSR * | myProcessState |
| Container for state data associated with this component. | |
| bool | myOutOfFuelWarningPrinted |
| Remembers if the warning has been printed, so it's only printed once. | |
| double | myMaxRollRate |
| Remember a reasonable value for maximum roll rate for this entity, based on mass. | |
| bool | myAgroundAndDestroyed |
| Remembered after this state is first entered, to avoid recomputation in future ticks. | |
Ports and Port Groups | |
| DtInputPortGroup * | mySurfaceControlPortGroup |
| Input Port Group Name: surface-control Input Port Group Description: | |
| DtAnalogInputPort * | myAccelerationPort |
| Acceleration can be positive or negative. | |
| DtAnalogInputPort * | myClampSpeedPort |
| Clamp speed is the speed that the controller is trying to accelerate (or decelerate) to; if dT is unexpectedly large, the actuator will accelerate only to this speed, then keep speed constant for the rest of the tick. | |
| DtAnalogInputPort * | myTurnRatePort |
| Turn rate in radians/sec, with positive meaning a turn to the right. | |
| DtAnalogInputPort * | myFinalHeadingPort |
| Final heading that the entity is clamped to, if dT is too large. | |
| double | mySeaFloorHeight |
| Computed at the beginning of every tick; remembered for use in the tick: | |
| double | myWaterHeight |
| Computed at the beginning of every tick; remembered for use in the tick: | |
| bool | myIsAground |
| Computed at the beginning of every tick; remembered for use in the tick: | |
| double | mySinkingPitchRate |
| Parameters that define how this ship will sink. | |
| double | mySinkingRollRate |
| Parameters that define how this ship will sink. | |
| double | mySinkingStartRate |
| Parameters that define how this ship will sink. | |
| Protected Attributes inherited from DtActuatorComponent | |
| DtSimRadio * | myRadio |
| Actuators can send messages. | |
| Protected Attributes inherited from DtSimComponent | |
| DtVrfObject * | myEntity |
| DtVrfObjectStateRepository * | myLocalStateRepository |
| DtSimManager * | mySimManager |
| DtComponentSystem * | mySystem |
| Pointer to the DtComponentSystem that this component belongs. | |
| DtListItem * | myListItem |
| DtInputPortMap | myInputPortList |
| DtOutputPortMap | myOutputPortList |
| DtInputPortGroupMap | myInputPortGroupList |
| DtOutputPortGroupMap | myOutputPortGroupList |
| int | myPriority |
| double | myMinTickPeriod |
| double | myMinTickPeriodVariance |
| double | myNextTickTime |
| double | myLastTickSimTime |
| double | myDT |
| bool | myIsEnabled |
| Indicates whether this component should be enabled for ticking or not. | |
| bool | myFirstTick |
| Initialized to true in the constructor, set to false by the first call to postTick. | |
| bool | myIsThreadSafe |
| Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false. | |
| const DtComponentDescriptor * | myComponentDescriptor |
| std::list < DtVrfProcessStateRepository * > | myComponentPsrs |
| List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed. | |
| bool | myTickEveryFrame |
| Flag indicating that tickPeriod is set to 0, and the component will tick every frame. | |
| 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 )() |
| Protected Types inherited from DtSimComponent | |
| typedef std::map< DtString, DtInputPort * > | DtInputPortMap |
| typedef std::map< DtString, DtOutputPort * > | DtOutputPortMap |
| typedef std::map< DtString, DtInputPortGroup * > | DtInputPortGroupMap |
| typedef std::map< DtString, DtOutputPortGroup * > | DtOutputPortGroupMap |
| Static Protected Attributes inherited from DtSimComponent | |
| static DtSimComponentFactory * | myFactory |
Provides a simple, kinematics-based model for surface vessels.
End User Description: A simple surface ship actuator that provides for ships to move according to acceleration, speed and turn commands. In effect, low level actions such as setting the engine commands (forward/back, amount) and rudder commands (degrees) are abstracted away. The inputs are simply desired acceleration, desired turn radius, and final speed/heading. This makes this actuator something of a low-level controller. The DtSurfaceEntitySimpleActuator converts acceleration and turn radius inputs into orientation (heading), acceleration, velocity, and position.
Uses Descriptor Type: DtSurfaceEntitySimpleActuatorDescriptor
| DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
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| DtReaderWriterRegistry * | parentRegistry = 0 |
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| ) |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
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Destructor.
Removes myProcessState from the process state repository manager. Deletes all ports and port groups.
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default constructor; not implemented
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copy constructor; not implemented
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Calls down to the base class, null checks entity(), calls createPSR(), and then caches the entity's state repository in mySurfaceEntityState.
Reimplemented from DtActuatorComponent.
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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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.
Implements DtSimComponent.
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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to initialize the PSR after the components have been created and initialized
Reimplemented from DtSimComponent.
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the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntitySimpleActuatorDescriptor
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Calculates new kinematic state.
The tick method carries out the following steps:
Reimplemented from DtSimComponent.
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount.
If the resource is not found, this function just returns. If the resource is found, the amount of fuel passed as the argument to the function is deducted from the resource. When the resource reaches 0, a warning is printed to the object console.
Uses PSR.setHasFuel() to set a flag in the PSR so that the actuator and controllers don't all have to look up fuel resources available.
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static |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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Creates the mySurfaceControlPortGroup input port group and adds it to the component.
Reimplemented from DtSimComponent.
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Creates myAccelerationPort, myClampSpeedPort, myTurnRadiusPort, and myFinalHeadingPort and adds them to mySurfaceControlPortGroup.
Reimplemented from DtSimComponent.
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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Update the state of velocity.
Use the values for [forward] acceleration and clamp [forward] speed that have been in effect over the last tick and are saved in the PSR. For speed in the vertical direction, uses the input newVerticalSpeed. Computes new forward speed and the new velocity, using the input heading to rotate the forward speed to the correct [topo] direction. Returns a value for acceleratingDT, which can be a time, shorter than dT, during which the entity accelerates to the clamp speed; the remainder of dT, the entity is assumed to be moving at a constant newSpeed.
Note that for sinking ships, velocity is re-set in the update-rates section of the tick function.
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Update the vertical speed.
This is primarily for derived subsurface entities; for the surface entities, vertical speed is always 0 unless it is sinking. Called in updateVelocity.
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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Update the state of position from the velocity and acceleration in effect over the last tick (i.e., in the current vrfKinematicState).
Uses the acceleration for a time acceleratingDt, and if that is less than dT, uses a constant speed for the remainder of the dT. This process moves the position correctly when the speed gets clamped part way through the tick. Also updates the orientation. If the entity is sinking, this is done by calling sinkingAttitude. Otherwise, the attitude is adjusted with adjustAttitude, and then in setAltitude the altitude of the position is clamped to the water surface altitude, plus any modification from adjustAttitude.
Returns, in the last 2 arguments, the new values of orientation in terms of a Directed Cosine Matrix for the transformation from body to local coordinates and the new position. The vectors are all in "local" coordinates, e.g. those used in the vrfKinematicState for localPosition and relativeVelocity.
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Adjusts the attitude of the entity for improved appearance.
Makes the entity roll in turns, according to the turnRollRate parameter. Makes the entity pitch up at speed, according to the speedPitchRate parameter. Also provides an altitude adjustment parameter so the pitch-up raises the entity up instead of allowing the stern to sink.
Reimplemented in DtSubSurfaceEntitySimpleActuator.
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Sets the altitude of the entity.
The position input/output parameter is in local database coordinates. The altitudeAdjustment is the difference from local water surface altitude. This function converts the position to geodetic coordinates, looks up the altitude of the water surface at the position lat-lon, adds the altitudeAdjustment, then converts back to local coordinates. Note that altitude can be negative to set the position below the surface.
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Gets the characteristics of the terrain surface and sea floor.
By default this just calls physicalWorld()-> terrainHeightUnderWater, but special vehicle types or terrain conditions could necessitate making different calls.
See the documentation for the terrain function for an explanation of the arguments.
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This function determines if the ship is aground at the given location and the given orientation.
It checks first to see if the top surface medium is not water. Then it checks to see if the altitude of the ship puts the bottom of the bounding box at the altitude of the sea floor (mySeaFloorHeight). Orientation is provided for future enhancement to look at different parts of the bounding box.
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This function sets the attitude for sinking ships.
It is used in place of adjustAttitude when the ship is destroyed.
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This function sets the orientation of the entity to that of the underwater polygon underneath newPosition, and given the newHeading.
The function is used when the ship is destroyed and aground (i.e., it has sunk to the bottom).
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Computes the new values for acceleration (relative to the database) and rotation rate (body) based on the control port inputs.
The values on these ports are checked and clamped to reasonable values; for example turn rate is limited to values that produce reasonable lateral accelerations–0.1 to 0.4 for warship-sized vessels. Input arguments also include the updated speed, and the updated body-to-local orientation transformation matrix. Speed is signed, so is negative if the vessel is going backwards. Returns the rotation rates, the acceleration vector, and the limited acceleration (a scalar, in direction of body X) in the last 3 arguments.
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The function that is used to compute body rotation rates and acceleration for the next tick, when the entity is sinking.
Also sets clamp speed, clamp heading, and forward acceleration in the PSR.
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Computes body rotation rates and new acceleration vector for an entity that is drifting.
It will use a lower deceleration in general than a ship that is powered and can reverse thrust. Also sets clamp speed, clamp heading, and forward acceleration in the PSR.
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Computes the magnitude of the deceleration of a drifting ship.
This quantity is estimated from the forward speed and the mass of the ship, and limited to a maximum value.
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Copy newly calculated state data in the arguments into the object's state repository (LocalPosition, RelativeVelocity, RelativeAcceleration, LocalOrientationWrtDatabase, and RotationalVelocity.
The Orientation is computed from the DCM matrix using DtBodyToRef_to_Euler()).
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Computes the amount of fuel used based on the speed, dT, and the fuel efficiency given in the surface entity state repository.
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Creates myProcessState data member, and adds it to our process state repository manager.
Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.
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assignment operator; not implemented
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Cache some pointers.
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Input Port Group Name: surface-control
Input Port Group Description:
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Acceleration can be positive or negative.
Acceleration in either direction is assumed to be effected by the propellers, i.e. active thrust vs. friction braking. This simple actuator assumes that acceleration can be changed to any value in one tick.
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Clamp speed is the speed that the controller is trying to accelerate (or decelerate) to; if dT is unexpectedly large, the actuator will accelerate only to this speed, then keep speed constant for the rest of the tick.
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Turn rate in radians/sec, with positive meaning a turn to the right.
Note that if speed < 0, a positive turn rate swings the stern to the left. This simple actuator assumes that turn rate can be changed to any value in one tick.
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Final heading that the entity is clamped to, if dT is too large.
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Port group used to set what values should be set into the VRF state repository.
All values are in local coordinates
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Container for state data associated with this component.
This state is saved and restored as part of a scenario (or checkpoint).
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Remembers if the warning has been printed, so it's only printed once.
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Remember a reasonable value for maximum roll rate for this entity, based on mass.
Computed at init time.
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Computed at the beginning of every tick; remembered for use in the tick:
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Computed at the beginning of every tick; remembered for use in the tick:
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Computed at the beginning of every tick; remembered for use in the tick:
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Remembered after this state is first entered, to avoid recomputation in future ticks.
The entity never leaves this state.
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Parameters that define how this ship will sink.
Determined randomly at init time.
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Parameters that define how this ship will sink.
Determined randomly at init time.
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Parameters that define how this ship will sink.
Determined randomly at init time.