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VR-Forces Development_Version Class Documentation
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VR-Forces Development_Version Class Documentation
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DtTurretSlewController is a controller that has those capabilities common to all controllers that manipulate turret actuators. More...
Public Member Functions | |
| DtTurretSlewController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtTurretSlewController () |
| destructor | |
| virtual bool | init () |
| Calls setRadio() | |
| virtual const char * | type () const =0 |
| Returns a string identifies the class type of component. | |
| virtual void | tick () |
| Deriving controllers should call this FIRST in their tick to ensure that parameter values have been looked up from the actuator (unless you don't need those values.) | |
| virtual double | approximateSlew (double angle) |
| We use this to approximate the correct slew amount for a given dA. | |
| virtual void | setMaxSlewRate (DtReal maxSlewRate) |
| virtual DtReal | maxSlewRate () const |
| virtual DtArtPartType | turretToControl () const |
| Gets the turret in this system from the PSR. | |
| virtual double | turretBodyRotation () const |
| Returns the current rotation of the turret (specified by turretToControl()) in the reference from of the entity body. | |
| virtual bool | createSlewPort () |
| These are called by createPorts to create the ports used to communicate with the actuator. | |
| virtual DtConstrainedAnalogOutputPort * | slewPort () |
| The slew port is constrained to -1. | |
 Public Member Functions inherited from DtControllerComponent | |
| DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString& name, | |
| virtual | ~DtControllerComponent () |
| destructor | |
| virtual DtSimRadio * | radio () |
| The radio this component is listening to. | |
| virtual void | taskNotify (const DtSimTask &task) |
| This is used by the entity to notify all controllers that a new task has been received. | |
| virtual void | clearTask () |
| Called when you want to clear out this component's task state. | |
| 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 bool | postAddComponentsInit () |
| Called after all components have been created, initialized and added to the component manager. | |
| 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 |
| virtual bool | tickWhileDestroyed () const |
| If the component returns true here, it will be ticked regardless of the destroyed state of the host entity. | |
| DtVrfProcessStateRepositoryManager * | psrManager () |
| virtual DtString | componentFullName () const |
| virtual DtPhysicalWorld * | physicalWorld () |
| Gets the physical world that this component's entity exists in. | |
| virtual const DtPhysicalWorld * | physicalWorld () const |
| virtual DtAttachedTerrain * | terrainAttachedTo () |
| Gets the terrain that this component's entity is attached to, if any. | |
| virtual const DtAttachedTerrain * | terrainAttachedTo () const |
| virtual DtVrfObject * | entity () |
| Gets the entity. | |
| virtual const DtVrfObject * | entity () const |
| virtual DtSimManager * | simManager () |
| Gets the sim manager. | |
| virtual const DtSimManager * | simManager () const |
| virtual const Coordinate_System * | coordinateSystem () const |
| Gets the coordinate system, as it should always exist if the physical world is in a valid state! | |
| virtual Coordinate_System * | coordinateSystem () |
| virtual DtVrfObjectStateRepository * | localStateRepository () |
| Gets the local state repository. | |
| virtual const DtVrfObjectStateRepository * | localStateRepository () const |
| virtual 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. | |
Protected Member Functions | |
| virtual bool | createPorts () |
| Called by init to create the ports. | |
| virtual void | lookupAndCacheProcessSR () |
| This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState. | |
| DtTurretSlewController () | |
| default constructor; not implemented | |
| DtTurretSlewController (const DtTurretSlewController &orig) | |
| copy constructor; not implemented | |
| const DtTurretSlewController & | operator= (const DtTurretSlewController &orig) |
| assignment operator; not implemented | |
| Protected Member Functions inherited from DtControllerComponent | |
| DtControllerComponent () | |
| default constructor | |
| DtControllerComponent (const DtControllerComponent &orig) | |
| copy constructor | |
| const DtControllerComponent & | operator= (const DtControllerComponent &orig) |
| assignment operator | |
| virtual void | setRadio (DtSimRadio *radio) |
| Protected Member Functions inherited from DtSimComponent | |
| virtual double | computeCurrentTime () |
| Compute current time and myDT. | |
| bool | testInvariant () const |
| virtual bool | createPortGroups () |
| Called by init. | |
| 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 | |
| DtVrfTurretedBalGunPSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. | |
Ports and Port Groups | |
| DtConstrainedAnalogOutputPort * | mySlewPort |
| Output Port Name: slew Output Port Description: Slew rate. | |
| Protected Attributes inherited from DtControllerComponent | |
| DtSimRadio * | myRadio |
| Controller components 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 )() |
| Static Public Member Functions inherited from DtSimComponent | |
| static DtSimComponent * | MarkThreadSafe (DtSimComponent *) |
| static DtSimComponentFactory * | factory () |
| A DtSimComponentFactory is allocated by the DtSimCreator, and this pointer is set. | |
| static void | setFactory (DtSimComponentFactory *factory) |
| static DtSimComponent * | createComponent (const DtString &name, const DtString &type, DtVrfObject *owner, DtSimManager *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| Creates a DtSimComponent using the factory, then initializes it via the MTL stream. | |
| static void | addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn) |
| Adds a DtSimComponent creation function to the DtSimComponentFactory, using the given type as the key. | |
| 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 |
DtTurretSlewController is a controller that has those capabilities common to all controllers that manipulate turret actuators.
End User Description: Specific turret controllers (e.g. scan controller), extend this controller, and turret actuators expect to be controlled by a class derived from this one. Max-slew-rate and the turret part type to control are parameters. Generated values (-1. to 1.) cause the turret to slew by some (actuator-defined proportion of max-slew-rate). This controller cheats and assumes that function is linear. Another could choose to add a feedback loop and increase/decrease output based on the actual slew rate occurring.
Developer Description: Creates the ports needed to control a turret actuator and manages the various parameters and state needed.
Uses Descriptor Type: DtComponentDescriptor
| DtTurretSlewController::DtTurretSlewController | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
(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). |
|
virtual |
destructor
|
protected |
default constructor; not implemented
|
protected |
copy constructor; not implemented
|
virtual |
|
pure 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 DtControllerComponent.
Implemented in DtTurretScanController, DtTurretAimController, DtTurretReturnToHeadingController, and DtGroundJoyTurretController.
|
virtual |
Deriving controllers should call this FIRST in their tick to ensure that parameter values have been looked up from the actuator (unless you don't need those values.)
Reimplemented from DtSimComponent.
Reimplemented in DtTurretScanController, DtTurretAimController, and DtTurretReturnToHeadingController.
|
virtual |
We use this to approximate the correct slew amount for a given dA.
Returns the slew angle desired, divided by the product of maxSlewRate() and dT. If the value returned is outside the range -1.0 to 1.0 it is constrained by the slew port itself.
|
virtual |
|
virtual |
|
virtual |
Gets the turret in this system from the PSR.
|
virtual |
Returns the current rotation of the turret (specified by turretToControl()) in the reference from of the entity body.
|
virtual |
These are called by createPorts to create the ports used to communicate with the actuator.
|
virtual |
The slew port is constrained to -1.
|
protectedvirtual |
Called by init to create the ports.
Reimplemented from DtSimComponent.
Reimplemented in DtTurretAimController.
|
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.
|
protected |
assignment operator; not implemented
|
protected |
Output Port Name: slew
Output Port Description: Slew rate.
1.0 indicates maximum left slew, 1.0 indicates maximum right slew
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent:
|
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).