DtHumanFollowController is a controller that models following behavior for humans. More...

Inheritance diagram for DtHumanFollowController:

Public Member Functions
	DtHumanFollowController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtHumanFollowController ()
	destructor
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual bool	init ()
	Init. Call immediately after construction.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	tick ()
	Calculate new control values.
virtual void	processFollowEntityTask (DtSimMessage *msg)
virtual const DtUUID &	entityToFollow ()
	What entity are we following? This accessor has the side effect of setting myProcessState->myEntityToFollow to DtString::nullString(), if the entity is not tasked and myEntityToFollow is not already the null string.
virtual void	setEntityToFollow (const DtUUID &entity)
virtual const DtVector &	offsetVector () const
	The offset from the entity's position to follow at, in entity coordinates.
virtual void	setOffsetVector (const DtVector &offsets)
virtual void	registerTaskMsgCallbacks ()
	Overrides this so it can register its interest in followEntity commands.
virtual bool	setupDestination ()
	Sets the world destination in the process state repository to the location of the entity we're following plus the indicated offset and then calls down to the base class.
virtual bool	passedDestination ()
	Overrides to force the entity to be near the destination as well as across the 'destination' line to be considered past the destination.
virtual double	findDesiredSpeed ()
	Overrides so we can speed up when falling behind and slow down if we get past the position we're supposed to be in.
virtual double	findDesiredHeading ()
	Overrides so the entity won't turn toward the destination point when it is close to or past the destination; rather, in these cases, it assumes the heading of the lead entity.
virtual void	stop ()
	Overrides so we don't complete the task when we're at the right location with regard to the followed entity.
virtual void	clearTask ()
	If component is currently tasked, calls clearPendingSubtasks(), sets the tasked flag to false, and calls clearCurrentTaskMesage() to clear out the current task message.
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	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
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	followEntityCallback (DtSimMessage msg, void usrData)
	Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,

Protected Member Functions
	DtHumanFollowController (const DtHumanFollowController &orig)
	copy constructor; shallow; does not copy the ports.
const DtHumanFollowController &	operator= (const DtHumanFollowController &orig)
	assignment operator; see comments on copy constructor!
virtual void	setSmoother (const DtVector &location)
	Sets the current location, velocity and acceleration in the smoother.
virtual DtVector	smoothedLocation ()
	Gets the smoothed location from the smoother at the current time (sim time).
virtual bool	nearDestination ()
	Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).
virtual double	distanceToDestination () const
	This is the distance to the station, i.e.
virtual DtVector	localDestination () const
	This is the station (leader + offset) in local coordinates, run through the smoother; unless using the nav interface and there is a valid transition point (see DtActiveBotNavInterface), in which case that is the local destination.
virtual bool	getDestination (DtVector &destination) const
	getDestination()
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 determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
virtual bool	destinationIsInsideObstruction (const DtVector &localDestination) const
	Returns whether or not current destination is inside an obstruction.
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPorts ()
	Creates myDestinationOutputPort.
virtual void	moveToDestination ()
	Attempts to move to the destination location. Override to provide movement functionality.
virtual void	computeTopoVectors ()
	Computes myTopoDestinationMoveUnit and myTopoDestinationToEntity for use in desiredHeading and desiredSpeed.
virtual bool	usingNavBot ()
virtual void	moveUsingNavData ()
	Uses calculations from the navBot to control the entity or end the task.
virtual void	processNavAreaChanged ()
virtual bool	needToUpdateNavInterfaceDestination (const DtVector &newLocalDestination)
	Determine if the navBot (path planning) interface needs to be reset with a new destination.
virtual DtVector	predictedDestination ()
	Gets a goal (destination) location to use as the target for moving.
virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick.
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	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 ()

Static Protected Member Functions
static void	navAreaChangedCallback (void *usr)

Protected Attributes
DtVrfObject *	myEntityToFollow
	Set fresh each frame in setupDestination().
DtHumanStateRepository *	myHumanStateRepository
	Cache pointer to our specific type of state repository.
DtHumanFollowPSR *	myProcessState
	Container for state data associated with this component.
DtVector	myLocalDestination
	The Destination is the location of the station (leader + offset), either raw (if using the nav interface) or smoothed (if using this location to direct movement directly).
DtVector	myWorldDestination
	The geoc version of the above, for output to the Destination output port.
DtVector	myLocalDestinationMove
	The direction of movement of myLocalDestination from the last tick to the present.
DtVector	myTopoDestinationMoveUnit2D
	Unit vector for the above, in topo coordinates.
DtVector	myTopoDestinationToEntity2D
	Vector from myLocalDestination to entity, in topo coordinates.
DtVector	myPredictedDestination
	This is the smoothed movement target position.
DtVector	myStationLocation
	The location of the station (i.e.
DtVector	myLookAheadStationLocation
	The location of the station at a time targetLookAheadTime in the future.
double	myAtDistanceSquared
	Square of distance we're considered to be 'at' our destination (within 1/4 meter).
double	myNearDistanceSquared
	Square of distance we're considered to be 'near' our destination (within 3 meters).
double	myFarCatchUpFactor
	Multiplicative factor used to compute the appropriate speed when we need to catch up to the entity we're following and we're far from where we need to be.
bool	myIgnoreNavData
	Used to force the navigation interface to be ignored.
DtVector	myTransitionPoint
DtActiveBotNavInterface *	myNavInterface
DtVector	myNavInterfaceCurrentDestination
double	myNavInterfaceDestinationSetTime
DtHumanFollowControllerDescriptor *	myComponentDescriptor
DtTrigonometricSmoother *	myLeaderSmoother
Ports and Port Groups
DtCollisionInputPort *	myCollisionAvoidancePort
	Input Port Name: potential-collision-info Input Port Description: Input Port Range: Input Port Default Value: Input Group Parent: collision-avoidance-control.
DtInputPortGroup *	myCollisionAvoidancePortGroup
	Input Port Group Name: collision-avoidance-control Input Port Group Description:
DtHumanMovementControlOutputPortGroup *	myHumanMovementControlOutputPortGroup
	Output Group Name: movement-control .
DtVectorOutputPort *	myDestinationOutputPort
	Output Port Name: destination Output Port Description: Specifies the current destination of the entity in geocentric coordinates.
DtBooleanOutputPort *	myIsMovingPort
	Output Port Name: is-moving Output Port Description: Indicates the entity is being actively moved by this controller.

bool	myNearDestination
	These members refer to the entity position relative to myLocalDestination.
bool	myPassedDestination
	These members refer to the entity position relative to myLocalDestination.
bool	myAtDestination
	These members refer to the entity position relative to myLocalDestination.
double	myDistanceSquared
	These members refer to the entity position relative to myLocalDestination.
bool	myDestinationIsInsideObstruction
	These members refer to the entity position relative to myLocalDestination.
double	myCurrentSpeed
	These members refer to the entity position relative to myLocalDestination.

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

DtHumanFollowController is a controller that models following behavior for humans.

Developer Description: Each simulation frame the destination to which the entity moves is recalculated to be in the right place with respect to the followed entity.

Uses Descriptor Type: DtHumanFollowControllerDescriptor

Constructor & Destructor Documentation

DtHumanFollowController::DtHumanFollowController	(	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 DtHumanFollowController::~DtHumanFollowController ( )

virtual

destructor

DtHumanFollowController::DtHumanFollowController ( const DtHumanFollowController & orig )

protected

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual const char* DtHumanFollowController::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: DtHumanFollowControllerType

Implements DtTaskControllerComponent.

virtual bool DtHumanFollowController::init ( )

virtual

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual bool DtHumanFollowController::createPSR ( )

virtual

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 DtHumanFollowController::tick ( )

virtual

Calculate new control values.

Reimplemented from DtSimComponent.

static void DtHumanFollowController::followEntityCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.

virtual void DtHumanFollowController::processFollowEntityTask ( DtSimMessage * msg )

virtual

virtual const DtUUID& DtHumanFollowController::entityToFollow ( )

virtual

What entity are we following? This accessor has the side effect of setting myProcessState->myEntityToFollow to DtString::nullString(), if the entity is not tasked and myEntityToFollow is not already the null string.

virtual void DtHumanFollowController::setEntityToFollow ( const DtUUID & entity )

virtual

virtual const DtVector& DtHumanFollowController::offsetVector ( ) const

virtual

The offset from the entity's position to follow at, in entity coordinates.

This comes from the follow task message.

virtual void DtHumanFollowController::setOffsetVector ( const DtVector & offsets )

virtual

static DtSimComponent* DtHumanFollowController::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 DtHumanFollowController::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register its interest in followEntity commands.

Reimplemented from DtTaskControllerComponent.

virtual bool DtHumanFollowController::setupDestination ( )

virtual

Sets the world destination in the process state repository to the location of the entity we're following plus the indicated offset and then calls down to the base class.

Creates a smoother if one does not exist.
Also computes myLookAheadStationLocation by adding leader velocity * destinationSmoothingPeriod (from the descriptor) to the station position, i.e. myLocalDestination; then calls setSmoother().
If the station location (myLocalDestination) has changed since last tick, sets myPredictedDestination by calling predictedDestination(), then checks to see if the nav (path planning) interface should be given a new destination by calling needToUpdateNavInterfaceDestination(). If so,

virtual bool DtHumanFollowController::passedDestination ( )

virtual

Overrides to force the entity to be near the destination as well as across the 'destination' line to be considered past the destination.

virtual double DtHumanFollowController::findDesiredSpeed ( )

virtual

Overrides so we can speed up when falling behind and slow down if we get past the position we're supposed to be in.

virtual double DtHumanFollowController::findDesiredHeading ( )

virtual

Overrides so the entity won't turn toward the destination point when it is close to or past the destination; rather, in these cases, it assumes the heading of the lead entity.

virtual void DtHumanFollowController::stop ( )

virtual

Overrides so we don't complete the task when we're at the right location with regard to the followed entity.

Simply calls DtGroundMoveToControllerComponent::doMoving().

virtual void DtHumanFollowController::clearTask ( )

virtual

If component is currently tasked, calls clearPendingSubtasks(), sets the tasked flag to false, and calls clearCurrentTaskMesage() to clear out the current task message.

Reimplemented from DtSingleTaskControllerComponent.

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

protected

assignment operator; see comments on copy constructor!

virtual void DtHumanFollowController::setSmoother ( const DtVector & location )

protectedvirtual

Sets the current location, velocity and acceleration in the smoother.

In this implementation, the location argument is used as the location, and the leader velocity and acceleration are used for those parameters. "Current" time is sim time. The smoother used is DtTrigonometricSmoother myLeaderSmoother.
Called from setupDestination().

virtual DtVector DtHumanFollowController::smoothedLocation ( )

protectedvirtual

Gets the smoothed location from the smoother at the current time (sim time).

If the leader speed is below a threshold (0.1 m/s), then the station location is used.
In this implementation, the smoother used is DtTrigonometricSmoother myLeaderSmoother. This function can be overridden if another smoothing approach is desired.

virtual bool DtHumanFollowController::nearDestination ( )

protectedvirtual

Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).

If the distance to the destination is less than the near distance in the descriptor, myNearDestination is set true. myNearDestination is also the return value.

virtual double DtHumanFollowController::distanceToDestination ( ) const

protectedvirtual

This is the distance to the station, i.e.

leader position + offset. The value returned is the SQUARE of the 2D distance (horizontal in topo coordinates).

virtual DtVector DtHumanFollowController::localDestination ( ) const

protectedvirtual

This is the station (leader + offset) in local coordinates, run through the smoother; unless using the nav interface and there is a valid transition point (see DtActiveBotNavInterface), in which case that is the local destination.

virtual bool DtHumanFollowController::getDestination ( DtVector & destination ) const

protectedvirtual

getDestination()

Parameters

destination (Output) The position this object is trying to drive to in local coordinates. Calls localDestination().

Returns: true always.

virtual bool DtHumanFollowController::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 DtHumanFollowController::doMoving ( )

protectedvirtual

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

virtual bool DtHumanFollowController::destinationIsInsideObstruction ( const DtVector & localDestination ) const

protectedvirtual

Returns whether or not current destination is inside an obstruction.

virtual bool DtHumanFollowController::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtHumanFollowController::createPorts ( )

protectedvirtual

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual void DtHumanFollowController::moveToDestination ( )

protectedvirtual

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

virtual void DtHumanFollowController::computeTopoVectors ( )

protectedvirtual

Computes myTopoDestinationMoveUnit and myTopoDestinationToEntity for use in desiredHeading and desiredSpeed.

Uses myLocalDestinationMove and the entity location.

virtual bool DtHumanFollowController::usingNavBot ( )

protectedvirtual

Returns: True if the controller is currently using the navigation system bot to control movement.

virtual void DtHumanFollowController::moveUsingNavData ( )

protectedvirtual

Uses calculations from the navBot to control the entity or end the task.

Assumes that myNavInterface is valid and that myIgnoreNavData is false.

static void DtHumanFollowController::navAreaChangedCallback ( void * usr )

staticprotected

virtual void DtHumanFollowController::processNavAreaChanged ( )

protectedvirtual

virtual bool DtHumanFollowController::needToUpdateNavInterfaceDestination ( const DtVector & newLocalDestination )

protectedvirtual

Determine if the navBot (path planning) interface needs to be reset with a new destination.

virtual DtVector DtHumanFollowController::predictedDestination ( )

protectedvirtual

Gets a goal (destination) location to use as the target for moving.

If there is a myLeaderSmoother, then this location is obtained from the smoother. Otherwise, the myLocalDestination is used (i.e., the station relative to the leader). Once this location is determined, the ground elevation at that point is found, and that is the (3D) point returned.

virtual void DtHumanFollowController::updateTaskVisualizations ( )

protectedvirtual

Called to update task visualizations after every tick.

Implemented by subclasses.

Reimplemented from DtTaskControllerComponent.

Member Data Documentation

DtVrfObject* DtHumanFollowController::myEntityToFollow

protected

Set fresh each frame in setupDestination().

DtHumanStateRepository* DtHumanFollowController::myHumanStateRepository

protected

Cache pointer to our specific type of state repository.

DtHumanFollowPSR* DtHumanFollowController::myProcessState

protected

Container for state data associated with this component.

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

DtCollisionInputPort* DtHumanFollowController::myCollisionAvoidancePort

protected

Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.

DtInputPortGroup* DtHumanFollowController::myCollisionAvoidancePortGroup

protected

Input Port Group Name: collision-avoidance-control
Input Port Group Description:

DtHumanMovementControlOutputPortGroup* DtHumanFollowController::myHumanMovementControlOutputPortGroup

protected

Output Group Name: movement-control
.

DtVectorOutputPort* DtHumanFollowController::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:

DtBooleanOutputPort* DtHumanFollowController::myIsMovingPort

protected

Output Port Name: is-moving
Output Port Description: Indicates the entity is being actively moved by this controller.

Output Port Range:
Output Group Parent:

DtVector DtHumanFollowController::myLocalDestination

protected

The Destination is the location of the station (leader + offset), either raw (if using the nav interface) or smoothed (if using this location to direct movement directly).

DtVector DtHumanFollowController::myWorldDestination

protected

The geoc version of the above, for output to the Destination output port.

DtVector DtHumanFollowController::myLocalDestinationMove

protected

The direction of movement of myLocalDestination from the last tick to the present.

DtVector DtHumanFollowController::myTopoDestinationMoveUnit2D

protected

Unit vector for the above, in topo coordinates.

DtVector DtHumanFollowController::myTopoDestinationToEntity2D

protected

Vector from myLocalDestination to entity, in topo coordinates.

DtVector DtHumanFollowController::myPredictedDestination

protected

This is the smoothed movement target position.

If not using the nav interface, it is the smoothed station location (same as myLocalDestination). If using the nav interface, it is the smoothed lookahead location.

DtVector DtHumanFollowController::myStationLocation

protected

The location of the station (i.e.

the desired offset location from leader location). In local coordinates.

DtVector DtHumanFollowController::myLookAheadStationLocation

protected

The location of the station at a time targetLookAheadTime in the future.

In local coordinates.

bool DtHumanFollowController::myNearDestination

protected