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rotaryWingEntityStateRepository.h
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1 /*******************************************************************************
2 ** Copyright (c) 1999 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
9 #pragma once
10 
11 #include <vlutil/vlMachineTypes.h>
12 #include <matrix/vlVector.h>
13 #include "vrfobjcore/groundInteractionPt.h"
14 #include "vrfobjcore/vrfMovingObjectStateRepository.h"
15 
16 class DtRotaryWingEntityParameters;
17 
24 #include "vrfobjcore/vrfobjcoreDefines.h"
25 class DT_DLL_vrfobjcore DtRotaryWingEntityStateRepository : public DtVrfMovingObjectStateRepository
26 {
27 public:
28 
30  DtRotaryWingEntityStateRepository (DtVrfObject* vrfObject,
31  const DtObjectType& objectType,
32  DtVrfObjectParameters* parameters,
33  const DtString& rwName = DtString::nullString(),
34  DtReaderWriterRegistry* parentRegistry = 0);
35 
37  DtRotaryWingEntityStateRepository (const DtRotaryWingEntityStateRepository & orig,
38  const DtString& rwName = DtString::nullString(),
39  DtReaderWriterRegistry* parentRegistry = 0);
40 
42  const DtRotaryWingEntityStateRepository & operator= (const DtRotaryWingEntityStateRepository & orig);
43 
45  virtual ~DtRotaryWingEntityStateRepository();
46 
47  virtual DtSimObjectStateRepository* clone
48  (const DtString& rwName = DtString::nullString(),
49  DtReaderWriterRegistry* parentRegistry = 0) const;
50 
51  virtual bool init();
52 
54  virtual DtString type() const;
55 
57  virtual const int vrfMovingObjectStateRepositorySubType() const;
58 
60  virtual const int rotaryWingEntityStateRepositorySubType() const;
61 
62  static DtVrfObjectStateRepository* creator (const DtString& name,
63  DtVrfObject* vrfObject,
64  const DtObjectType& objectType,
65  DtVrfObjectParameters* parameters,
66  DtReaderWriterRegistry* parentRegistry);
67 
70  static DtRotaryWingEntityStateRepository* isRotaryWingEntityStateRepository(
71  DtSimObjectStateRepository* repository);
72 
73  static const DtRotaryWingEntityStateRepository* isRotaryWingEntityStateRepository
74  (const DtSimObjectStateRepository* repository);
75 
76  virtual bool createParameters();
77 
78  virtual void initializeFromParameters();
79 
80  virtual const DtRotaryWingEntityParameters* rotaryWingEntityParameters() const;
81 
84  virtual DtReal altitude() const;
85  virtual void setAltitude (const DtReal val);
87 
90  virtual bool isCheckingTerrainDistance() const;
91  virtual void setIsCheckingTerrainDistance (const bool val);
92  virtual DtReal maxAltitude() const;
93  virtual void setMaxAltitude (const DtReal val);
95 
98  virtual const DtVector & desiredInertialPos() const;
99  virtual void setDesiredInertialPos(const DtVector & pos);
100 
101  virtual const DtVector & desiredInertialVel() const;
102  virtual void setDesiredInertialVel(const DtVector & vel);
103 
104  virtual const DtVector & desiredInertialAcc() const;
105  virtual void setDesiredInertialAcc(const DtVector & acc);
106 
107  virtual DtReal desiredInertialHead() const;
108  virtual void setDesiredInertialHead(DtReal head);
109 
110  virtual DtReal positionSelector() const;
111  virtual void setPositionSelector(DtReal val);
112 
113  virtual DtReal velocitySelector() const;
114  virtual void setVelocitySelector(DtReal val);
115 
116  virtual DtReal accelerationSelector() const;
117  virtual void setAccelerationSelector(DtReal val);
118 
119  virtual DtReal headingSelector() const;
120  virtual void setHeadingSelector(DtReal val);
121 
122  virtual DtReal aggressiveness() const;
123  virtual void setAggressiveness(DtReal val);
125 
128  virtual bool landed() const;
129  virtual void setLanded(bool value);
131 
134  virtual boost::tribool onTerrainSurface() const;
135 
138  virtual void getSelf(DtlObjPtr args, const DtReaderWriter::SearchPaths& searchPaths,
139  const DtVariableBindingsList& variableBindings);
140 
142  virtual void setJoystickControl (const bool val);
143  virtual bool joystickControl() const;
144 
152  virtual void land(const DtVector& location, const DtReal heading);
153 
154 
183  virtual void place(const DtVector& location, const DtReal heading,
184  bool clampToGroundFlag = true, bool* dataAvailable = 0,
185  bool requireAllData = false);
186 
200  virtual void placeAtAltitude(const DtVector& desiredLocalPosition,
201  const DtReal newHeading, bool* dataAvailable = 0);
202 
206  virtual const DtGroundInteractionPt* noseSupport() const;
207  virtual DtGroundInteractionPt* noseSupport();
208  virtual void setNoseSupport(const DtVector& noseSupport);
209 
220  virtual void clampToGround (const DtVector& location, const DtReal heading,
221  bool* dataAvailable = 0, bool requireAllData = false);
222 
224  virtual void restoreEntity();
225 
227 
228  virtual double maxClimbRate() const;
229  virtual void setMaxClimbRate(double value);
230 
231  virtual double maxYawRate() const;
232  virtual void setMaxYawRate(double value);
233 
234  virtual double maxPitchRate() const;
235  virtual void setMaxPitchRate(double value);
236 
237  virtual double maxRollRate() const;
238  virtual void setMaxRollRate(double value);
239 
240  virtual double maxYawAcceleration() const;
241  virtual void setMaxYawAcceleration(double value);
242 
243  virtual double maxPitchAcceleration() const;
244  virtual void setMaxPitchAcceleration(double value);
245 
246  virtual double maxRollAcceleration() const;
247  virtual void setMaxRollAcceleration(double value);
248 
249  virtual double zeroCollectiveLiftAcceleration() const;
250  virtual void setZeroCollectiveLiftAcceleration(double value);
251 
252  virtual double fullCollectiveLiftAcceleration() const;
253  virtual void setFullCollectiveLiftAcceleration(double value);
255 
256 private:
257 
259  DtRotaryWingEntityStateRepository();
260 
261 protected:
262 
263  DtVector myDesiredInertialPos;
264  DtVector myDesiredInertialVel;
265  DtVector myDesiredInertialAcc;
266  DtReal myDesiredInertialHead;
267  DtReal myPositionSelector;
268  DtReal myVelocitySelector;
269  DtReal myAccelerationSelector;
270  DtReal myHeadingSelector;
271  DtReal myAggressiveness;
272 
273 
275 
276  DtRwReal myMaxClimbRate;
277  DtRwReal myMaxYawRate;
278  DtRwReal myMaxPitchRate;
279  DtRwReal myMaxRollRate;
280  DtRwReal myMaxYawAcceleration;
281  DtRwReal myMaxPitchAcceleration;
282  DtRwReal myMaxRollAcceleration;
283  DtRwReal myZeroCollectiveLiftAcceleration;
284  DtRwReal myFullCollectiveLiftAcceleration;
286 
288  bool myJoystickControl;
289 
290  DtReal myAltitude;
291  bool myIsCheckingTerrainDistance;
292 
294  DtReal myMaxAltitude;
295 
297  DtRwBoolean myLanded;
298 };
299 
Document ID: Generated on Thu Mar 23 18:54:12 EDT 2017 from SVN revision 174804
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