DtFixedWingActuatorComponent Class Reference

DtFixedWingActuatorComponent provides a simple, kinematics-based model for air motion based on throttle, stick, and pedal inputs. More...

Inheritance diagram for DtFixedWingActuatorComponent:

Public Member Functions
	DtFixedWingActuatorComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtFixedWingActuatorComponent ()
	destructor Removes process state from process state manager before deleting it.
virtual bool	init ()
	to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Calls either doFlying or doTaxiing, based on a onGround() call to myFixedWingEntityState.
virtual void	calculateBodyVelocity (const DtVector &oldRelativeVelocity, const DtDcm &newLocalOrientation, DtVector &newBodyVelocity)
	Put current velocity into body coordinates (AFTER rotating body).
virtual void	calculateAirborneAcceleration (const DtVector oldLocalPosition, double oldSpeed, const DtDcm &newLocalOrientation, const DtVector &newBodyVelocity, double throttle, DtVector &newRelativeAcceleration)
	Calculates the sum acceleration from myBodyGravity, myBodyDrag and myBodyThrust.
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 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 (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
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 (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 DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual void	doFlying ()
	When the plane is in the air, this does the actual flying.
virtual void	doTaxiing ()
	When the FWE is on the ground, this does the actual taxiing.
virtual bool	isTouchingDown (const DtVector &newLocalPosition, const DtVector &newRelativeVelocity)
	Returns true of false depending on whether the aircraft is currently landing or not.
virtual bool	isTakingOff (bool isOnGround, double speed)
	Returns true of false depending on whether the aircraft is currently taking off or not.
virtual bool	updateGroundInteractionPoints (DtGroundInteractionPt *left, DtGroundInteractionPt *right, DtGroundInteractionPt *nose, DtGroundInteractionPt *center, const DtDcm &localOrientation, const DtVector &localPosition, double halfHeightOfTerrainIntersectChord)
virtual double	calculateYawRate (double pedal)
	These functions are for when the FWEs are in the AIR.
virtual double	calculatePitchRate (double stickYValue)
	Find pitch rate.
virtual double	calculateRollRate (double stickXValue)
	Find roll rate.
virtual void	calculateBodyRotationRates (double pedal, double stickXValue, double stickYValue, DtVector &newBodyRotationRates)
virtual void	calculateOrientation (const DtDcm &oldLocalOrientation, const DtVector &newBodyRotationRates, DtDcm &newLocalOrientation)
	Uses current local orientation, rotationRates in SR, and dT.
virtual void	calculateBodyGravity (const DtVector oldLocalPosition, const DtDcm &newLocalOrientation, DtVector &newBodyGravityAcceleration)
	Put acceleration due to gravity in body coordinates.
virtual void	calculateThrustAcceleration (double throttle, DtVector &newBodyThrustAccleration)
	Calculate scalar accel in direction of thrust based on the throttle port and the maximum thrust, and store the value in myBodyThrust[0].
virtual void	calculateDragAcceleration (double oldSpeed, const DtVector &newBodyVelocity, bool flapsDeployed, DtVector &newBodyDragAccleration)
	Calculate scalar drag accel opposite direction of current velocity.
virtual void	fallFromSky (const DtString &reason=DtString::nullString())
	Causes the entity to fall from the sky.
virtual bool	collidesWithGround (const DtVector &oldLocalPosition, const DtVector &newLocalPosition, DtVector &localCenterGoundPosition)
void	integrate (const DtVector &oldLocalPosition, const DtVector &oldRelativeVelocity, const DtVector &newRelativeAcceleration, DtVector &newLocalPosition, DtVector &newRelativeVelocity, double maxSpeed=0)
	Integrates myRelativeVelocity and myLocalPosition.
virtual void	useFuel (double fuelUsed)
	Assumes the fuel resource has resource name "fuel" If not found, fuel consumption not will not be modelled.
virtual double	fuelLeft () const
virtual void	updateRepository (const DtVector &newLocalPosition, const DtVector &newRelativeVelocity, const DtVector &newRelativeAcceleration, const DtDcm &newLocalOrientation, const DtVector &newBodyRotationRates, bool isOnGround, const DtAppearance &newAppearance)
virtual void	updateDisplay () const
virtual double	maxThrustAcceleration () const
	These accessors to the actuator's parameters are provided for use by the controllers that must control it.
virtual double	maxClimbRate () const
virtual double	maxYawVelocity () const
virtual double	maxPitchVelocity () const
virtual double	maxRollVelocity () const
virtual double	maxAltitude () const
virtual bool	createPortGroups ()
	Creates the local port groups.
virtual bool	createPorts ()
	Creates the input ports and adds them to the component.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	sendDetonation (const DtVector &geocentricPosition)
	DtFixedWingActuatorComponent ()
	default constructor; not implemented
	DtFixedWingActuatorComponent (const DtFixedWingActuatorComponent &orig)
	copy constructor; not implemented
const DtFixedWingActuatorComponent &	operator= (const DtFixedWingActuatorComponent &orig)
	assignment operator; not implemented
virtual double	calculateHeading (double oldHeading, double steering, double dT, double speed, double turningRadius)
	These functions are for when the FWEs are on the GROUND.
virtual void	calculateScalarVelocityAndAcceleration (double oldPitch, double &scalarVelocity, double &scalarAcceleration)
	Computes the speed and acceleration for this tick, i.e. to publish.
virtual double	calculateMaxGroundSpeed ()
	These functions are for when the FWEs are on the GROUND.
virtual double	calculateMaxGroundAcceleration ()
	These functions are for when the FWEs are on the GROUND.
virtual double	calculateAcceleration (double pitch, double maxSpeed, double maxAccel, double newSpeed)
	Calculate the acceleration based on the speed now (i.e., updated from last tick's speed using last tick's acceleration) and the max speed and accel limits.
virtual double	calculateAccelerationFromThrottle ()
	These functions are for when the FWEs are on the GROUND.
virtual double	calculateAccelerationFromSlope (double slope)
	Slope is rise over run, i.e. tan(pitch)
virtual double	calculateAccelerationFromResistance (double maxSpeed, double maxAccel)
	These functions are for when the FWEs are on the GROUND.
virtual double	calculateAccelerationFromBrake (double otherAccels)
	These functions are for when the FWEs are on the GROUND.
virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyAcceleration, const DtVector &oldBodyVelocity, double newHeading)
	These functions are for when the FWEs are on the GROUND.
virtual void	calculateOrientationAndPositionOnGround (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
	These functions are for when the FWEs are on the GROUND.
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
DtFixedWingEntityStateRepository *	myFixedWingEntityState
DtFixedWingActuatorDescriptor *	myFixedWingActuatorDescriptor
DtFixedWingFlightPSR *	myProcessState
	Container for state data associated with this component.
bool	mySentFallingMessage
	Used to make sure fall message is only sent once.
bool	myPutTaxiingPlaneOnGround
	Used to make sure a taxiing, destroyed aircraft is only set down on the terrain once.
DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
	Port group used to set what values should be set into the VRF state repository.
bool	myPreviouslyHadData
bool	myKeepParentPosition
Ports and Port Groups
DtInputPortGroup *	myFixedWingControlPortGroup
	Input Port Group Name: fixed-wing-control Input Port Group Description: Provides input to the fixed-wing actuator (flight-kinematics).
DtConstrainedAnalogInputPort *	myThrottlePort
	Input Port Name: throttle Input Port Description: Input Port Range: 0.
DtConstrainedDualAxisAnalogInputPort *	myStickPort
	Input Port Name: stick Input Port Description: Input Port Range: X:-1.
DtConstrainedAnalogInputPort *	myPedalPort
	Input Port Name: pedal Input Port Description: Input Port Range: -1.
DtConstrainedAnalogInputPort *	myBrakePort
	Input Port Name: brake Input Port Description: Input Port Range: 0.
DtBooleanInputPort *	myFlapsDeployedPort
	Input Port Name: flaps Input Port Description: Input Port Range: Input Port Default Value: false Input Group Parent: fixed-wing-control.
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

Detailed Description

DtFixedWingActuatorComponent provides a simple, kinematics-based model for air motion based on throttle, stick, and pedal inputs.

End User Description: DtFixedWingActuatorComponent is based on the original DtFixedWingActuatorComponent, but instead of stick and pedal control values causing changes in rotational acceleration, in this simplified model they effect changes in rotational velocity instead. So 0 x/y stick and 0 pedal will result in no rotation of the airframe.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

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).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtFixedWingActuatorComponent::~DtFixedWingActuatorComponent ( )

virtual

destructor Removes process state from process state manager before deleting it.

DtFixedWingActuatorComponent::DtFixedWingActuatorComponent ( )

protected

default constructor; not implemented

DtFixedWingActuatorComponent::DtFixedWingActuatorComponent ( const DtFixedWingActuatorComponent &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtFixedWingActuatorComponent::init ( )

virtual

to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.

Reimplemented from DtActuatorComponent.

virtual const char* DtFixedWingActuatorComponent::type ( ) const

virtual

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns

DtFixedWingActuatorType

Implements DtSimComponent.

virtual void DtFixedWingActuatorComponent::tick ( )

virtual

Calls either doFlying or doTaxiing, based on a onGround() call to myFixedWingEntityState.

Reimplemented from DtSimComponent.

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

static

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

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).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns

New instance of this class.

virtual void DtFixedWingActuatorComponent::calculateBodyVelocity ( const DtVector &  oldRelativeVelocity, const DtDcm &  newLocalOrientation, DtVector &  newBodyVelocity  )

virtual

Put current velocity into body coordinates (AFTER rotating body).

Uses myLocalToBodyMatrix, which is calculated by calculateOrientation(). Stores the result in myNormalizedBodyVelocity.

virtual void DtFixedWingActuatorComponent::calculateAirborneAcceleration ( const DtVector  oldLocalPosition, double  oldSpeed, const DtDcm &  newLocalOrientation, const DtVector &  newBodyVelocity, double  throttle, DtVector &  newRelativeAcceleration  )

virtual

Calculates the sum acceleration from myBodyGravity, myBodyDrag and myBodyThrust.

Stores the result in myRelativeAcceleration. This function should only be called when the FWE is in the AIR!

virtual void DtFixedWingActuatorComponent::doFlying ( )

protectedvirtual

When the plane is in the air, this does the actual flying.

virtual void DtFixedWingActuatorComponent::doTaxiing ( )

protectedvirtual

When the FWE is on the ground, this does the actual taxiing.

virtual bool DtFixedWingActuatorComponent::isTouchingDown ( const DtVector &  newLocalPosition, const DtVector &  newRelativeVelocity  )

protectedvirtual

Returns true of false depending on whether the aircraft is currently landing or not.

virtual bool DtFixedWingActuatorComponent::isTakingOff ( bool  isOnGround, double  speed  )

protectedvirtual

Returns true of false depending on whether the aircraft is currently taking off or not.

virtual bool DtFixedWingActuatorComponent::updateGroundInteractionPoints ( DtGroundInteractionPt *  left, DtGroundInteractionPt *  right, DtGroundInteractionPt *  nose, DtGroundInteractionPt *  center, const DtDcm &  localOrientation, const DtVector &  localPosition, double  halfHeightOfTerrainIntersectChord  )

protectedvirtual

virtual double DtFixedWingActuatorComponent::calculateYawRate ( double  pedal )

protectedvirtual

These functions are for when the FWEs are in the AIR.

They are NOT supposed to be called when the FWEs are on the GROUND.

Find yaw rate.

virtual double DtFixedWingActuatorComponent::calculatePitchRate ( double  stickYValue )

protectedvirtual

Find pitch rate.

virtual double DtFixedWingActuatorComponent::calculateRollRate ( double  stickXValue )

protectedvirtual

Find roll rate.

virtual void DtFixedWingActuatorComponent::calculateBodyRotationRates ( double  pedal, double  stickXValue, double  stickYValue, DtVector &  newBodyRotationRates  )

protectedvirtual

virtual void DtFixedWingActuatorComponent::calculateOrientation ( const DtDcm &  oldLocalOrientation, const DtVector &  newBodyRotationRates, DtDcm &  newLocalOrientation  )

protectedvirtual

Uses current local orientation, rotationRates in SR, and dT.

Results placed in object pointed to by orientation argument.

virtual void DtFixedWingActuatorComponent::calculateBodyGravity ( const DtVector  oldLocalPosition, const DtDcm &  newLocalOrientation, DtVector &  newBodyGravityAcceleration  )

protectedvirtual

Put acceleration due to gravity in body coordinates.

virtual void DtFixedWingActuatorComponent::calculateThrustAcceleration ( double  throttle, DtVector &  newBodyThrustAccleration  )

protectedvirtual

Calculate scalar accel in direction of thrust based on the throttle port and the maximum thrust, and store the value in myBodyThrust[0].

virtual void DtFixedWingActuatorComponent::calculateDragAcceleration ( double  oldSpeed, const DtVector &  newBodyVelocity, bool  flapsDeployed, DtVector &  newBodyDragAccleration  )

protectedvirtual

Calculate scalar drag accel opposite direction of current velocity.

Stores the result in myBodyDrag. This function should only be called when the FWE is in the AIR! When flapsDeployed is true, the drag from flaps is factored in as well.

virtual void DtFixedWingActuatorComponent::fallFromSky ( const DtString &  reason = DtString::nullString() )

protectedvirtual

Causes the entity to fall from the sky.

If this is the first time this method was called since the entity has been flying correctly, the optional reason message is passed to the object console for the entity.

virtual bool DtFixedWingActuatorComponent::collidesWithGround ( const DtVector &  oldLocalPosition, const DtVector &  newLocalPosition, DtVector &  localCenterGoundPosition  )

protectedvirtual

void DtFixedWingActuatorComponent::integrate ( const DtVector &  oldLocalPosition, const DtVector &  oldRelativeVelocity, const DtVector &  newRelativeAcceleration, DtVector &  newLocalPosition, DtVector &  newRelativeVelocity, double  maxSpeed = 0  )

protected

Integrates myRelativeVelocity and myLocalPosition.

virtual void DtFixedWingActuatorComponent::useFuel ( double  fuelUsed )

protectedvirtual

Assumes the fuel resource has resource name "fuel" If not found, fuel consumption not will not be modelled.

virtual double DtFixedWingActuatorComponent::fuelLeft ( ) const

protectedvirtual

virtual double DtFixedWingActuatorComponent::calculateHeading ( double  oldHeading, double  steering, double  dT, double  speed, double  turningRadius  )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual void DtFixedWingActuatorComponent::calculateScalarVelocityAndAcceleration ( double  oldPitch, double &  scalarVelocity, double &  scalarAcceleration  )

protectedvirtual

Computes the speed and acceleration for this tick, i.e. to publish.

virtual double DtFixedWingActuatorComponent::calculateMaxGroundSpeed ( )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual double DtFixedWingActuatorComponent::calculateMaxGroundAcceleration ( )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual double DtFixedWingActuatorComponent::calculateAcceleration ( double  pitch, double  maxSpeed, double  maxAccel, double  newSpeed  )

protectedvirtual

Calculate the acceleration based on the speed now (i.e., updated from last tick's speed using last tick's acceleration) and the max speed and accel limits.

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromThrottle ( )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromSlope ( double  slope )

protectedvirtual

Slope is rise over run, i.e. tan(pitch)

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromResistance ( double  maxSpeed, double  maxAccel  )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromBrake ( double  otherAccels )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual DtVector DtFixedWingActuatorComponent::calculateProjectedLocation ( const DtVector &  oldLocalPosition, const DtVector &  newBodyAcceleration, const DtVector &  oldBodyVelocity, double  newHeading  )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual void DtFixedWingActuatorComponent::calculateOrientationAndPositionOnGround ( const DtVector &  newLocalProjectedLocation, double  newHeading, DtDcm &  newLocalOrientation, DtVector &  newLocalPosition  )

protectedvirtual

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual void DtFixedWingActuatorComponent::updateRepository ( const DtVector &  newLocalPosition, const DtVector &  newRelativeVelocity, const DtVector &  newRelativeAcceleration, const DtDcm &  newLocalOrientation, const DtVector &  newBodyRotationRates, bool  isOnGround, const DtAppearance &  newAppearance  )

protectedvirtual

virtual void DtFixedWingActuatorComponent::updateDisplay ( ) const

protectedvirtual

virtual double DtFixedWingActuatorComponent::maxThrustAcceleration ( ) const

protectedvirtual

These accessors to the actuator's parameters are provided for use by the controllers that must control it.

virtual double DtFixedWingActuatorComponent::maxClimbRate ( ) const

protectedvirtual

virtual double DtFixedWingActuatorComponent::maxYawVelocity ( ) const

protectedvirtual

virtual double DtFixedWingActuatorComponent::maxPitchVelocity ( ) const

protectedvirtual

virtual double DtFixedWingActuatorComponent::maxRollVelocity ( ) const

protectedvirtual

virtual double DtFixedWingActuatorComponent::maxAltitude ( ) const

protectedvirtual

virtual bool DtFixedWingActuatorComponent::createPortGroups ( )

protectedvirtual

Creates the local port groups.

Reimplemented from DtSimComponent.

virtual bool DtFixedWingActuatorComponent::createPorts ( )

protectedvirtual

Creates the input ports and adds them to the component.

Reimplemented from DtSimComponent.

virtual bool DtFixedWingActuatorComponent::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 void DtFixedWingActuatorComponent::sendDetonation ( const DtVector &  geocentricPosition )

protectedvirtual

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

protected

assignment operator; not implemented

Member Data Documentation

DtFixedWingEntityStateRepository* DtFixedWingActuatorComponent::myFixedWingEntityState

protected

DtFixedWingActuatorDescriptor* DtFixedWingActuatorComponent::myFixedWingActuatorDescriptor

protected

DtInputPortGroup* DtFixedWingActuatorComponent::myFixedWingControlPortGroup

protected

Input Port Group Name: fixed-wing-control
Input Port Group Description: Provides input to the fixed-wing actuator (flight-kinematics).

DtConstrainedAnalogInputPort* DtFixedWingActuatorComponent::myThrottlePort

protected

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

to 1.
Input Port Default Value:
Input Group Parent: fixed-wing-control

DtConstrainedDualAxisAnalogInputPort* DtFixedWingActuatorComponent::myStickPort

protected

Input Port Name: stick
Input Port Description:
Input Port Range: X:-1.

to 1., Y:-1. to 1.
Input Port Default Value:
Input Group Parent: fixed-wing-control

DtConstrainedAnalogInputPort* DtFixedWingActuatorComponent::myPedalPort

protected

Input Port Name: pedal
Input Port Description:
Input Port Range: -1.

to 1.
Input Port Default Value:
Input Group Parent: fixed-wing-control

DtConstrainedAnalogInputPort* DtFixedWingActuatorComponent::myBrakePort

protected

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

to 1.
Input Port Default Value:
Input Group Parent: fixed-wing-control

DtBooleanInputPort* DtFixedWingActuatorComponent::myFlapsDeployedPort

protected

Input Port Name: flaps
Input Port Description:
Input Port Range:
Input Port Default Value: false
Input Group Parent: fixed-wing-control.

DtFixedWingFlightPSR* DtFixedWingActuatorComponent::myProcessState

protected

Container for state data associated with this component.

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

bool DtFixedWingActuatorComponent::mySentFallingMessage

protected

Used to make sure fall message is only sent once.

bool DtFixedWingActuatorComponent::myPutTaxiingPlaneOnGround

protected

Used to make sure a taxiing, destroyed aircraft is only set down on the terrain once.

DtUpdateRepositoryOutputPortGroup* DtFixedWingActuatorComponent::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository.

All values are in local coordinates

bool DtFixedWingActuatorComponent::myPreviouslyHadData

protected

bool DtFixedWingActuatorComponent::myKeepParentPosition

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/fixedWingActuatorComponent.h