DtAggregatedMoveToController Class Reference

DtAggregatedMoveToController is a controller that models movement to a <location> or <waypoint> for aggregated entities. More...

Inheritance diagram for DtAggregatedMoveToController:

Public Member Functions
	DtAggregatedMoveToController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Constructor.
virtual	~DtAggregatedMoveToController ()
	Destructor.
virtual bool	init ()
	Init. Call immediately after construction.
virtual const char *	type () const
virtual void	tick ()
	This components simulation tick.
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 DtTaskMessage *	currentTaskMessage () const
	Get a pointer to the message that was used to task this entity.
virtual DtSimTaskStatePtr	currentTaskState () const
virtual bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task.
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 DtSuspendedTaskInfo *	suspendTaskById (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	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.
DtTaskVisualizationMap &	taskVisualizations ()
	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 DtSimRadio *	radio ()
	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 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	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 (FILE *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 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 (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op.
virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op.
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op.
virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op.
virtual void	writeSelf (FILE *fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual 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.
virtual bool	isReadonly () const
virtual void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to iriginal state Default is no-op.
virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment.
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.
virtual void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated.
virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time.
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	Deriving class overrides these to get/put class specific data.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
	The specified flags are used for optional values.
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively.
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
	The variable name, if this object is a variable reference.
virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriter *	defaultRWValue ()
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable.
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Give the stream, if the stream contains a default value then set it here.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
	Collection of child DtReaderWriter nodes owned by this object.
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename.
virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid.
virtual bool	fromXmlFile (const DtFilename &)
	Restires object from given xml file.
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data.
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference.
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
	Gets data from the environment value.
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
	Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op.
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference.

Static Public Member Functions
static void	moveToCallback (DtSimMessage *msg, void *usr)
	Callback function that handles DtMoveToType tasks.
static void	moveToRetrogradeCallback (DtSimMessage *msg, void *usr)
static void	setLocationCallback (DtSimMessage *msg, void *usr)
	Callback function that handles DtSetLocationRequest set data requests.
static void	moveToLocationCallback (DtSimMessage *msg, void *usr)
	Callback function that handles DtMoveToLocation tasks.
static void	moveToLocationRetrogradeCallback (DtSimMessage *msg, void *usr)
static void	moveIntoFormationCallback (DtSimMessage *msg, void *usr)
	Callback function that handles DtMoveIntoFormation tasks.
static void	turnToHeadingCallback (DtSimMessage *msg, void *usrData)
	Callback function that handles DtTurnToHeading tasks.
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Static creator function for factory registration.
static void	modifyVrfObjectCallback (DtSimMessage *msg, void *usr)
	Calls processModifyVrfObject.

Protected Member Functions
virtual void	processMoveToTask (DtSimMessage *msg)
	Sets world destination from the task.
virtual void	processMoveToLocationTask (DtSimMessage *msg)
virtual void	processMoveToRetrogradeTask (DtSimMessage *msg)
virtual void	processMoveToLocationRetrogradeTask (DtSimMessage *msg)
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	processDestinationChanged ()
	Ensures that the destination stored in the ProcessStateRepository is consistent with the location of the destination control point.
virtual bool	setupDestination ()
	Look up the control point by name and set the myControlPoint member to point to it.
virtual void	setupDestinationVector () const
	Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.
virtual void	invalidateDestinationVector () const
	Tells the component that any cached destination vector should be recalculated.
virtual bool	atDestination ()
	Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.
virtual void	doMoving ()
	Calls findDesiredHeading() and then sets port values based on those results.
virtual double	findDesiredHeading ()
	Determines the desired heading.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual void	stop ()
	Set port values for stopping, and mark the task complete.
virtual void	registerTaskMsgCallbacks ()
	Overridden to register interest in move to messages.
virtual void	processModifyVrfObject (DtSimMessage *msg)
	Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.
virtual void	processSetLocation (DtSimMessage *msg)
	Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual double	distanceToDestination () const
virtual void	clearTask ()
	Override to deactivate myOutputPortGroup and myDestinationOutputPort.
virtual double	atDistance () const
	Maximum distance at which entity is considered to be 'at' goal.
virtual void	processMoveIntoFormationTask (DtSimMessage *msg)
	Implements turn to heading task by sending a set location and set heading request to ourself.
virtual void	processTurnToHeadingTask (DtSimMessage *msg)
	Implements turn to heading task by sending a set heading request to ourself.
virtual void	sendRequestToSelf (const DtSetDataRequest &request) const
	Helper function that sends given set data request to ourself.
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 DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
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
DtSharedVrfObjectReference	myControlPoint
	This is looked up once per tick - assumed unchanging while we have control.
DtVector	myLocalDestination
DtVector	myWorldDestination
DtVector	myDestinationVector
bool	myDestinationVectorIsValid
bool	myAtDestination
double	myDistanceSquared
DtVrfAggregateStateRepository *	myAggregateStateRepository
DtAggregatedMoveToPSR *	myProcessState
	Container for state data associated with this component.
DtAggregatedMoveToDescriptor *	myAggregatedMoveToDescriptor
DtSetDataManager *	mySetDataManager
	Pointer to aggregate's DtSetDataManager, cached in this class for convenience.
DtBooleanOutputPort *	myRetrogradeOutputPort
Ports and Port Groups
DtAnalogOutputPort *	myMovementDirectionOutputPort
	Output Port Name: desired-movement-direction Output Port Description: Specifies the current movement direction in radians Output Port Range: Output Group Parent: .
DtAnalogOutputPort *	mySpeedOutputPort
	Output Port Name: desired-speed Output Port Description: Specifies the current speed of the entity in meters/second Output Port Range: Output Group Parent: .
DtOutputPortGroup *	myOutputPortGroup
	Output Group Name: movement-control .
DtVectorOutputPort *	myDestinationOutputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordinates.

Private Member Functions
	DtAggregatedMoveToController ()
	Not Implemented.
	DtAggregatedMoveToController (const DtAggregatedMoveToController &orig)
	Not Implemented.
DtAggregatedMoveToController &	operator= (const DtAggregatedMoveToController &orig)
	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 )()
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 DtSimComponentFactory *	myFactory

Detailed Description

DtAggregatedMoveToController is a controller that models movement to a <location> or <waypoint> for aggregated entities.

It also handles move into formation (at a location) and turn to heading (at the current location) tasks.

Developer Description: DtAggregatedMoveToController models move-to behavior for aggregated entities. It generates speed and heading controls that direct the entity to to its destination at the entity's current ordered speed. It responds to DtMoveToType, DtMoveToLocationTaskType, DtMoveIntoFormationTaskType and DtTurnToHeadingTask tasks. Component OPD Name: "aggregated-move-to-controller"

Uses Descriptor Type: DtAggregatedMoveToControllerDescriptor

Constructor & Destructor Documentation

DtAggregatedMoveToController::DtAggregatedMoveToController ( )

private

Not Implemented.

DtAggregatedMoveToController::DtAggregatedMoveToController ( const DtAggregatedMoveToController &  orig )

private

Not Implemented.

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

Constructor.

virtual DtAggregatedMoveToController::~DtAggregatedMoveToController ( )

virtual

Destructor.

Member Function Documentation

DtAggregatedMoveToController& DtAggregatedMoveToController::operator= ( const DtAggregatedMoveToController &  orig )

private

Not Implemented.

virtual bool DtAggregatedMoveToController::init ( )

virtual

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual const char* DtAggregatedMoveToController::type ( ) const

virtual

Returns

DtAggregatedMoveToControllerType

Implements DtTaskControllerComponent.

virtual void DtAggregatedMoveToController::tick ( )

virtual

This components simulation tick.

Reimplemented from DtSimComponent.

static void DtAggregatedMoveToController::moveToCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback function that handles DtMoveToType tasks.

Calls processMoveToTask().

Parameters

msg	Message containing DtMoveToTask.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::moveToRetrogradeCallback ( DtSimMessage *  msg, void *  usr  )

static

static void DtAggregatedMoveToController::setLocationCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback function that handles DtSetLocationRequest set data requests.

Calls processSetLocation().

Parameters

msg	Message containing DtSetLocationRequest.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::moveToLocationCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback function that handles DtMoveToLocation tasks.

Calls processMoveToLocationTask().

Parameters

msg	Message containing DtMoveToLocationTask.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::moveToLocationRetrogradeCallback ( DtSimMessage *  msg, void *  usr  )

static

static void DtAggregatedMoveToController::moveIntoFormationCallback ( DtSimMessage *  msg, void *  usr  )

static

Callback function that handles DtMoveIntoFormation tasks.

Calls processMoveIntoFormationTask().

Parameters

msg	Message containing DtMoveIntoFormationTask.
usr	Pointer to an instance of this class.

static void DtAggregatedMoveToController::turnToHeadingCallback ( DtSimMessage *  msg, void *  usrData  )

static

Callback function that handles DtTurnToHeading tasks.

Calls processTurnToHeadingTask().

Parameters

msg	Message containing DtTurnToHeadingTask.
usr	Pointer to an instance of this class.

static DtSimComponent* DtAggregatedMoveToController::creator ( const DtString &  name, DtVrfObject *  owner, DtSimManager *  simManager, DtComponentDescriptor *  desc = 0, DtReaderWriterRegistry *  parentRegistry = 0  )

static

Static creator function for factory registration.

static void DtAggregatedMoveToController::modifyVrfObjectCallback ( DtSimMessage *  msg, void *  usr  )

static

Calls processModifyVrfObject.

virtual void DtAggregatedMoveToController::processMoveToTask ( DtSimMessage *  msg )

protectedvirtual

Sets world destination from the task.

Parameters

msg	Message containing a DtMoveToTask.

virtual void DtAggregatedMoveToController::processMoveToLocationTask ( DtSimMessage *  msg )

protectedvirtual

virtual void DtAggregatedMoveToController::processMoveToRetrogradeTask ( DtSimMessage *  msg )

protectedvirtual

virtual void DtAggregatedMoveToController::processMoveToLocationRetrogradeTask ( DtSimMessage *  msg )

protectedvirtual

virtual void DtAggregatedMoveToController::preFirstTickInit ( )

protectedvirtual

This function can be overridden to initialize a component before it is ticked for the first time.

The implementation for this function is empty. It is called by timedTick if myFirstTick is true.

Reimplemented from DtSimComponent.

virtual void DtAggregatedMoveToController::processDestinationChanged ( )

protectedvirtual

Ensures that the destination stored in the ProcessStateRepository is consistent with the location of the destination control point.

Intended to be called only when the position of the control point has changed.

Note

Also invalidates the destination vector as the world position has changed.

virtual bool DtAggregatedMoveToController::setupDestination ( )

protectedvirtual

Look up the control point by name and set the myControlPoint member to point to it.

Detects changes in the target point using myControlPointLastLocation and calls processWaypointChanged().

virtual void DtAggregatedMoveToController::setupDestinationVector ( ) const

protectedvirtual

Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.

This is done by subtracting the DtVector representing the destination's position from the one representing the entity’s position.

Note

Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

virtual void DtAggregatedMoveToController::invalidateDestinationVector ( ) const

protectedvirtual

Tells the component that any cached destination vector should be recalculated.

virtual bool DtAggregatedMoveToController::atDestination ( )

protectedvirtual

Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.

If the myDistanceSquared !<= at-distance, atDestination() sets myAtDestination to false. myAtDestination is returned to the calling function.

virtual void DtAggregatedMoveToController::doMoving ( )

protectedvirtual

Calls findDesiredHeading() and then sets port values based on those results.

virtual double DtAggregatedMoveToController::findDesiredHeading ( )

protectedvirtual

Determines the desired heading.

virtual void DtAggregatedMoveToController::moveToDestination ( )

protectedvirtual

Attempts to move to the destination location. Override to provide movement functionality.

virtual void DtAggregatedMoveToController::stop ( )

protectedvirtual

Set port values for stopping, and mark the task complete.

virtual void DtAggregatedMoveToController::registerTaskMsgCallbacks ( )

protectedvirtual

Overridden to register interest in move to messages.

Reimplemented from DtTaskControllerComponent.

virtual void DtAggregatedMoveToController::processModifyVrfObject ( DtSimMessage *  msg )

protectedvirtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.

a drag & drop in the front-end).

virtual void DtAggregatedMoveToController::processSetLocation ( DtSimMessage *  msg )

protectedvirtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.

virtual bool DtAggregatedMoveToController::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveToController::createPorts ( )

protectedvirtual

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual bool DtAggregatedMoveToController::createPSR ( )

protectedvirtual

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.

virtual double DtAggregatedMoveToController::distanceToDestination ( ) const

protectedvirtual

virtual void DtAggregatedMoveToController::clearTask ( )

protectedvirtual

Override to deactivate myOutputPortGroup and myDestinationOutputPort.

Reimplemented from DtSingleTaskControllerComponent.

virtual double DtAggregatedMoveToController::atDistance ( ) const

protectedvirtual

Maximum distance at which entity is considered to be 'at' goal.

Returns value stored in descriptor (if it exists), otherwise returns 10..

Returns

Returns maximum distance in meters from goal location that entity is considered to be 'at' the goal.

virtual void DtAggregatedMoveToController::processMoveIntoFormationTask ( DtSimMessage *  msg )

protectedvirtual

Implements turn to heading task by sending a set location and set heading request to ourself.

Parameters

msg	Message containing a DtMoveIntoFormationTask.

virtual void DtAggregatedMoveToController::processTurnToHeadingTask ( DtSimMessage *  msg )

protectedvirtual

Implements turn to heading task by sending a set heading request to ourself.

Parameters

msg	Message containing a DtTurnToHeadingTask.

virtual void DtAggregatedMoveToController::sendRequestToSelf ( const DtSetDataRequest &  request ) const

protectedvirtual

Helper function that sends given set data request to ourself.

Member Data Documentation

DtAnalogOutputPort* DtAggregatedMoveToController::myMovementDirectionOutputPort

protected

Output Port Name: desired-movement-direction
Output Port Description: Specifies the current movement direction in radians Output Port Range:
Output Group Parent:
.

DtAnalogOutputPort* DtAggregatedMoveToController::mySpeedOutputPort

protected

Output Port Name: desired-speed
Output Port Description: Specifies the current speed of the entity in meters/second Output Port Range:
Output Group Parent:
.

DtOutputPortGroup* DtAggregatedMoveToController::myOutputPortGroup

protected

Output Group Name: movement-control
.

DtVectorOutputPort* DtAggregatedMoveToController::myDestinationOutputPort

protected

Output Port Name: destination
Output Port Description: Specifies the current destination of the entity in geocentric coordinates.

Output Port Range:
Output Group Parent:

DtSharedVrfObjectReference DtAggregatedMoveToController::myControlPoint

protected

This is looked up once per tick - assumed unchanging while we have control.

DtVector DtAggregatedMoveToController::myLocalDestination

protected

DtVector DtAggregatedMoveToController::myWorldDestination

protected

DtVector DtAggregatedMoveToController::myDestinationVector

mutableprotected

bool DtAggregatedMoveToController::myDestinationVectorIsValid

mutableprotected

bool DtAggregatedMoveToController::myAtDestination

protected

double DtAggregatedMoveToController::myDistanceSquared

protected

DtVrfAggregateStateRepository* DtAggregatedMoveToController::myAggregateStateRepository

protected

DtAggregatedMoveToPSR* DtAggregatedMoveToController::myProcessState

protected

Container for state data associated with this component.

This state is saved and restored as part of a scenario (or checkpoint).

DtAggregatedMoveToDescriptor* DtAggregatedMoveToController::myAggregatedMoveToDescriptor

protected

DtSetDataManager* DtAggregatedMoveToController::mySetDataManager

protected

Pointer to aggregate's DtSetDataManager, cached in this class for convenience.

DtBooleanOutputPort* DtAggregatedMoveToController::myRetrogradeOutputPort

protected

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfmodel/aggregatedMoveToController.h