DtSensorGimbalController Class Reference

This class is responsible for controlling the aiming of a sensor on a gimbal. More...

Inheritance diagram for DtSensorGimbalController:

Public Member Functions
	DtSensorGimbalController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtSensorGimbalController ()
	Destructor.
virtual bool	init ()
	Calls setRadio()
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	This gives the thread of control to the component.
virtual void	bindLuaFunctions (lua_State *L)
	Binds method for this class to the lua state.
virtual void	bindLuaGlobals (lua_State *L)
	Override to bind lua globals.
virtual bool	isUnderManualControl () const
	Methods accessible via Lua extensions.
virtual std::string	mode () const
	Returns the current gimbal mode.
Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString& name,
virtual	~DtControllerComponent ()
	destructor
virtual DtSimRadio *	radio ()
	The radio this component is listening to.
virtual void	taskNotify (const DtSimTask &task)
	This is used by the entity to notify all controllers that a new task has been received.
virtual void	clearTask ()
	Called when you want to clear out this component's task state.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual 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
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorld *	physicalWorld () const
virtual DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrain *	terrainAttachedTo () const
virtual DtVrfObject *	entity ()
	Gets the entity.
virtual const DtVrfObject *	entity () const
virtual DtSimManager *	simManager ()
	Gets the sim manager.
virtual const DtSimManager *	simManager () const
virtual const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_System *	coordinateSystem ()
virtual DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository.
virtual const DtVrfObjectStateRepository *	localStateRepository () const
virtual void	enable ()
	Is this component enabled or not.
virtual void	disable ()
	Is this component enabled or not.
virtual bool	isEnabled ()
	Is this component enabled or not.
virtual void	setIsEnabled (bool yesNo)
	Is this component enabled or not.
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	pseudo-copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
bool	operator== (const DtReaderWriter &) const
	Equivalence operator.
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (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.
Public Member Functions inherited from DtJoystickControllerInterface
	DtJoystickControllerInterface (DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc)
	CTOR.
virtual	~DtJoystickControllerInterface ()
	destructor
virtual bool	joystickEnabled () const
Public Member Functions inherited from DtBindableLuaComponent< DtSensorGimbalController >
	DtBindableLuaComponent (const DtVrfObject *entity, const DtString &componentName, const DtString &componentType)
virtual	~DtBindableLuaComponent ()
bool	shouldBind (lua_State *L) const
Public Member Functions inherited from DtBindableLuaComponentInterface
	DtBindableLuaComponentInterface (const DtVrfObject *entity, const DtString &componentName, const DtString &componentType)
	CTOR.
virtual	~DtBindableLuaComponentInterface ()
	DTOR.
virtual void	bind (DtVrfObject *, const DtString &scriptId, lua_State *)
	Starts the binding process.
virtual DtString	bindableName (const DtString &) const
	Returns a name suitable for binding. Replaces spaces and - with _.

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions
virtual bool	createPortGroups ()
	Creates and initializes port groups.
virtual bool	createPorts ()
	Overridden to create local ports.
virtual DtSensorGimbalControllerPSR *	createPSR ()
	Create the PSR.
virtual void	restoreDefaultAiming ()
	Reset to default aiming mode and position: a fixed angle at the configured neutral angle.
virtual void	aimSensorAtPoint (const DtVector &worldLocation)
	Attempts to aim the sensor at the given world location.
virtual void	trackObject (const DtVrfObject *objectToTrack)
	Attempts to track the given object.
virtual void	aimSensorAtAngle (double azimuth, double elevation)
	Attempts to aim the sensor at the given azimuth an elevation, in radians relative to the orientation of the entity.
virtual void	scanSensor ()
	Scans back and forth across an area.
virtual void	searchAndTrackObject (const DtVrfObject *objectToTrack)
	Scans back and forth across an area until it finds the given object to track.
virtual void	currentPositionAzimuthAndElevation (DtVector &offset, double &az, double &el) const
	Gets current body relative positional offset and aiming azimuth and elevation.
virtual void	currentWorldLocationAndOrientation (DtVector &location, DtTaitBryan &orientation) const
	Gets current world orientation and location of sensor gimbal.
virtual DtArticulatedPartStateRepository *	gimbalAzimuthPart ()
	Part for gimbal azimuth rotation.
virtual const DtArticulatedPartStateRepository *	gimbalAzimuthPart () const
virtual DtArticulatedPartStateRepository *	gimbalElevationPart ()
	Part for gimbal elevation rotation.
virtual const DtArticulatedPartStateRepository *	gimbalElevationPart () const
virtual bool	findLocationOfSensorAiming (const DtVector &sensorLocation, const DtTaitBryan &orientation, DtVector &aimingPoint) const
	Finds the location where the sensor is currently aiming.
virtual void	calcAndSetPortValues (const DtString &functionGroup, const DtString &function, double value, bool repeat)
	Override to set.
virtual void	joystickConnected ()
	Called when joystick is connected for this controller.
virtual void	joystickDisconnected ()
	Called when joystick is disconnected for this controller.
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor
	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
virtual void	setRadio (DtSimRadio *radio)
Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
	Compute current time and myDT.
bool	testInvariant () const
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 Member Functions inherited from DtJoystickControllerInterface
virtual void	processJoyDeviceRequest (DtSimMessage *msg)
virtual void	processJoystickControlMessage (DtSimMessage *msg)

Static Protected Member Functions
static DtRwColor	randomFieldOfViewColor ()
	Generates a new random color (RGBA) for the sensor field of view.
Static Protected Member Functions inherited from DtJoystickControllerInterface
static void	joyDeviceRequestCallback (DtSimMessage *msg, void *usr)
static void	joystickControlMessageCallback (DtSimMessage *msg, void *usr)

Protected Attributes
DtSensorGimbalControllerDescriptor *	mySensorGimbalDescriptor
DtSensorGimbalControllerPSR *	myProcessState
bool	myDataNeededForAimingPoint
	Whether the data is not yet loaded to find the aiming point.
bool	myJoystickConnected
DtVector	myWorldLocationForAimingPoint
	World location and orientation for determining the aiming point when data was not initially available.
DtTaitBryan	myWorldOrientationForAimingPoint
	World location and orientation for determining the aiming point when data was not initially available.
Ports and Port Groups
DtInputPortGroup *	mySensorOffsetInputPortGroup
	Input Port Group Name: sensor-offset Input Port Group Description: Allows the actuator to communicate the orientation offset of the sensor relative to the entity.
DtOrientationInputPort *	myOrientationInputPort
	Input Port Name: orientation Input Port Description: Specifies the orientation of the sensor relative to the entity on which it is mounted.
DtVectorInputPort *	myPositionInputPort
	Input Port Name: position Input Port Description: Specifies the position of the sensor in body coordinates relative to the entity which it is mounted on.
DtAnalogOutputPort *	myOrderedElevationPort
	Output Port Name: ordered-elevation Output Port Description: Elevation at which to attempt to aim the gimbal, in radians.
DtAnalogOutputPort *	myOrderedAzimuthPort
	Output Port Name: ordered-azimuth Output Port Description: Azimuth at which to attempt to aim the gimbal, in radians.
DtIntegerOutputPort *	myElevationRotationRatePercentagePort
	Output Port Name: elevation-rotation-rate-percentage Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the elevation.
DtIntegerOutputPort *	myAzimuthRotationRatePercentagePort
	Output Port Name: azimuth-rotation-rate-percentage Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the azimuth.
DtStringOutputPort *	myTargetObjectPort
	Output Port Name: target-object Output Port Description: Name of the object the sensor is targeting.
DtVectorOutputPort *	myTargetLocationPort
	Output Port Name: target-location Output Port Description: Location the sensor is targeting.
DtIntegerOutputPort *	myTrackingModePort
	Output Port Name: tracking-mode Output Port Description: Tracking mode of the sensor.
DtAnalogOutputPort *	myZoomLevelPort
	Output Port Name: zoom-level Output Port Description: Current zoom level.
DtIntegerOutputPort *	myFieldOfViewColorPort
	Output Port Name: field-of-view-color Output Port Description: Color of the sensor's field of view.
Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
	Controller components can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
bool	myIsThreadSafe
	Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false.
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
	List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed.
bool	myTickEveryFrame
	Flag indicating that tickPeriod is set to 0, and the component will tick every frame.
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.
Protected Attributes inherited from DtJoystickControllerInterface
const DtJoyDeviceControllerDescriptorInterface *	myJoyDeviceControllerDescriptor
bool	myJoystickEnabled
DtSimManager *	myJoystickSimManager
DtVrfObject *	myJoystickOwner

Private Member Functions
	DtSensorGimbalController ()
	default constructor; not implemented
	DtSensorGimbalController (const DtSensorGimbalController &orig)
	copy constructor; not implemented
const DtSensorGimbalController &	operator= (const DtSensorGimbalController &orig)
	assignment operator; not implemented
virtual void	processSetAimGimbal (DtSimMessage *msg)
	Processes a command to set the aiming of the gimbal.
static void	setAimGimbalCallback (DtSimMessage *msg, void *usr)
	Processes a command to set the aiming of the gimbal.
virtual void	processSetZoomSensor (DtSimMessage *msg)
	Processes a command to set the zoom level of a gimbaled sensor.
static void	setZoomSensorCallback (DtSimMessage *msg, void *usr)
	Processes a command to set the zoom level of a gimbaled sensor.
virtual void	processSetManualControl (DtSimMessage *msg)
	Processes a command to set the manual control flag.
static void	setManualControlCallback (DtSimMessage *msg, void *usr)
	Processes a command to set the manual control flag.
virtual void	processSetFieldOfViewColor (DtSimMessage *msg)
	Processes a command to set color of the sensor field of view.
static void	setFieldOfViewColorCallback (DtSimMessage *msg, void *usr)
	Processes a command to set color of the sensor field of view.
virtual void	processGimbalControl (DtSensorFieldOfViewControlInter *ctrlInter)
	Processes a direct control command for the aiming of the gimbal.
static void	setGimbalControlCallback (DtSensorFieldOfViewControlInter *ctrlInter, void *usr)
	Processes a direct control command for the aiming of the gimbal.

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

This class is responsible for controlling the aiming of a sensor on a gimbal.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtSensorGimbalController::DtSensorGimbalController	(	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 DtSensorGimbalController::~DtSensorGimbalController ( )

virtual

Destructor.

DtSensorGimbalController::DtSensorGimbalController ( )

private

default constructor; not implemented

DtSensorGimbalController::DtSensorGimbalController ( const DtSensorGimbalController &  orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtSensorGimbalController::init ( )

virtual

Calls setRadio()

Reimplemented from DtControllerComponent.

virtual bool DtSensorGimbalController::postAddComponentsInit ( )

virtual

Called after all components have been created, initialized and added to the component manager.

Override this function if you need to do any further initialization after all other components have been created.

Reimplemented from DtSimComponent.

virtual const char* DtSensorGimbalController::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

DtSensorGimbalControllerType

Implements DtControllerComponent.

virtual void DtSensorGimbalController::tick ( )

virtual

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

static void DtSensorGimbalController::setAimGimbalCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set the aiming of the gimbal.

virtual void DtSensorGimbalController::processSetAimGimbal ( DtSimMessage *  msg )

virtual

Processes a command to set the aiming of the gimbal.

static void DtSensorGimbalController::setZoomSensorCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set the zoom level of a gimbaled sensor.

virtual void DtSensorGimbalController::processSetZoomSensor ( DtSimMessage *  msg )

virtual

Processes a command to set the zoom level of a gimbaled sensor.

static void DtSensorGimbalController::setManualControlCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set the manual control flag.

Does not change sensor gimbal operation, but can be queried to see if someone is currently in manual control of the sensor.

virtual void DtSensorGimbalController::processSetManualControl ( DtSimMessage *  msg )

virtual

Processes a command to set the manual control flag.

Does not change sensor gimbal operation, but can be queried to see if someone is currently in manual control of the sensor.

static void DtSensorGimbalController::setFieldOfViewColorCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set color of the sensor field of view.

virtual void DtSensorGimbalController::processSetFieldOfViewColor ( DtSimMessage *  msg )

virtual

Processes a command to set color of the sensor field of view.

static void DtSensorGimbalController::setGimbalControlCallback ( DtSensorFieldOfViewControlInter *  ctrlInter, void *  usr  )

static

Processes a direct control command for the aiming of the gimbal.

virtual void DtSensorGimbalController::processGimbalControl ( DtSensorFieldOfViewControlInter *  ctrlInter )

virtual

Processes a direct control command for the aiming of the gimbal.

virtual bool DtSensorGimbalController::isUnderManualControl ( ) const

virtual

Methods accessible via Lua extensions.

Returns the manual control setting.

virtual std::string DtSensorGimbalController::mode ( ) const

virtual

Returns the current gimbal mode.

virtual void DtSensorGimbalController::bindLuaFunctions ( lua_State *  L )

virtual

Binds method for this class to the lua state.

This simple method will send an object console message to the entity that implements this task

Implements DtBindableLuaComponentInterface.

virtual void DtSensorGimbalController::bindLuaGlobals ( lua_State *  )

virtual

Override to bind lua globals.

Implements DtBindableLuaComponentInterface.

static DtSimComponent* DtSensorGimbalController::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 bool DtSensorGimbalController::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtSensorGimbalController::createPorts ( )

protectedvirtual

Overridden to create local ports.

Reimplemented from DtSimComponent.

virtual DtSensorGimbalControllerPSR* DtSensorGimbalController::createPSR ( )

protectedvirtual

Create the PSR.

virtual void DtSensorGimbalController::restoreDefaultAiming ( )

protectedvirtual

Reset to default aiming mode and position: a fixed angle at the configured neutral angle.

virtual void DtSensorGimbalController::aimSensorAtPoint ( const DtVector &  worldLocation )

protectedvirtual

Attempts to aim the sensor at the given world location.

virtual void DtSensorGimbalController::trackObject ( const DtVrfObject *  objectToTrack )

protectedvirtual

Attempts to track the given object.

virtual void DtSensorGimbalController::aimSensorAtAngle ( double  azimuth, double  elevation  )

protectedvirtual

Attempts to aim the sensor at the given azimuth an elevation, in radians relative to the orientation of the entity.

virtual void DtSensorGimbalController::scanSensor ( )

protectedvirtual

Scans back and forth across an area.

Default behavior is to scan through the allowable azimuth range while leaving the elevation set to the neutral elevation.

virtual void DtSensorGimbalController::searchAndTrackObject ( const DtVrfObject *  objectToTrack )

protectedvirtual

Scans back and forth across an area until it finds the given object to track.

Then it tries to track the object. If the target is lost, returns to scanning.

virtual void DtSensorGimbalController::currentPositionAzimuthAndElevation ( DtVector &  offset, double &  az, double &  el  ) const

protectedvirtual

Gets current body relative positional offset and aiming azimuth and elevation.

virtual void DtSensorGimbalController::currentWorldLocationAndOrientation ( DtVector &  location, DtTaitBryan &  orientation  ) const

protectedvirtual

Gets current world orientation and location of sensor gimbal.

virtual DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalAzimuthPart ( )

protectedvirtual

Part for gimbal azimuth rotation.

virtual const DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalAzimuthPart ( ) const

protectedvirtual

virtual DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalElevationPart ( )

protectedvirtual

Part for gimbal elevation rotation.

virtual const DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalElevationPart ( ) const

protectedvirtual

virtual bool DtSensorGimbalController::findLocationOfSensorAiming ( const DtVector &  sensorLocation, const DtTaitBryan &  orientation, DtVector &  aimingPoint  ) const

protectedvirtual

Finds the location where the sensor is currently aiming.

Returns true if data was available to complete the operation. All coordinates are local.

virtual void DtSensorGimbalController::calcAndSetPortValues ( const DtString &  functionGroup, const DtString &  function, double  value, bool  repeat  )

protectedvirtual

Override to set.

Implements DtJoystickControllerInterface.

virtual void DtSensorGimbalController::joystickConnected ( )

protectedvirtual

Called when joystick is connected for this controller.

Implements DtJoystickControllerInterface.

virtual void DtSensorGimbalController::joystickDisconnected ( )

protectedvirtual

Called when joystick is disconnected for this controller.

Implements DtJoystickControllerInterface.

static DtRwColor DtSensorGimbalController::randomFieldOfViewColor ( )

staticprotected

Generates a new random color (RGBA) for the sensor field of view.

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

private

assignment operator; not implemented

Member Data Documentation

DtSensorGimbalControllerDescriptor* DtSensorGimbalController::mySensorGimbalDescriptor

protected

DtSensorGimbalControllerPSR* DtSensorGimbalController::myProcessState

protected

bool DtSensorGimbalController::myDataNeededForAimingPoint

protected

Whether the data is not yet loaded to find the aiming point.

DtVector DtSensorGimbalController::myWorldLocationForAimingPoint

protected

World location and orientation for determining the aiming point when data was not initially available.

DtTaitBryan DtSensorGimbalController::myWorldOrientationForAimingPoint

protected

World location and orientation for determining the aiming point when data was not initially available.

bool DtSensorGimbalController::myJoystickConnected

protected

DtInputPortGroup* DtSensorGimbalController::mySensorOffsetInputPortGroup

protected

Input Port Group Name: sensor-offset
Input Port Group Description: Allows the actuator to communicate the orientation offset of the sensor relative to the entity.

DtOrientationInputPort* DtSensorGimbalController::myOrientationInputPort

protected

Input Port Name: orientation
Input Port Description: Specifies the orientation of the sensor relative to the entity on which it is mounted.

Input Port Range:
Input Port Default Value: 0,0,0
Input Group Parent: sensor-offset

DtVectorInputPort* DtSensorGimbalController::myPositionInputPort

protected

Input Port Name: position
Input Port Description: Specifies the position of the sensor in body coordinates relative to the entity which it is mounted on.

Input Port Range:
Input Port Default Value: 0,0,0
Input Group Parent: sensor-offset

DtAnalogOutputPort* DtSensorGimbalController::myOrderedElevationPort

protected

Output Port Name: ordered-elevation
Output Port Description: Elevation at which to attempt to aim the gimbal, in radians.

Output Port Range:
Output Group Parent:

DtAnalogOutputPort* DtSensorGimbalController::myOrderedAzimuthPort

protected

Output Port Name: ordered-azimuth
Output Port Description: Azimuth at which to attempt to aim the gimbal, in radians.

Output Port Range:
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myElevationRotationRatePercentagePort

protected

Output Port Name: elevation-rotation-rate-percentage
Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the elevation.

Output Port Range:0-100
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myAzimuthRotationRatePercentagePort

protected

Output Port Name: azimuth-rotation-rate-percentage
Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the azimuth.

Output Port Range:0-100
Output Group Parent:

DtStringOutputPort* DtSensorGimbalController::myTargetObjectPort

protected

Output Port Name: target-object
Output Port Description: Name of the object the sensor is targeting.

Output Port Range:
Output Group Parent:

DtVectorOutputPort* DtSensorGimbalController::myTargetLocationPort

protected

Output Port Name: target-location
Output Port Description: Location the sensor is targeting.

Output Port Range:
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myTrackingModePort

protected

Output Port Name: tracking-mode
Output Port Description: Tracking mode of the sensor.

Output Port Range: Values specified by DtSensorTrackingMode enum
Output Group Parent:

DtAnalogOutputPort* DtSensorGimbalController::myZoomLevelPort

protected

Output Port Name: zoom-level
Output Port Description: Current zoom level.

Output Port Range: 1.0 to maximum zoom level
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myFieldOfViewColorPort

protected

Output Port Name: field-of-view-color
Output Port Description: Color of the sensor's field of view.

Output Port Range: RGBA value
Output Group Parent:

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

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