DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot. More...

Inheritance diagram for DtSimpleRotaryWingPilot:

Public Member Functions
	DtSimpleRotaryWingPilot (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtSimpleRotaryWingPilot ()
	destructor
virtual void	setDesiredInertialPos (DtReal localX, DtReal localY, DtReal localZ)
	Various methods to set state below.
virtual void	setDesiredInertialPos (const DtVector &localPosition)
virtual void	setDesiredInertialVel (DtReal vx, DtReal vy, DtReal vz)
	Desired inertial velocity, in local (database) coordinates.
virtual void	setDesiredInertialVel (const DtVector &vel)
virtual bool	init ()
	Calls the parent�s init() to initialize the ports.
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Calculate new control values.
Public Member Functions inherited from DtRotaryWingPilotController
	DtRotaryWingPilotController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtRotaryWingPilotController ()
	destructor
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedAnalogOutputPort *	collectivePort ()
virtual DtConstrainedDualAxisAnalogOutputPort *	cyclicPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual bool	createGuidancePortGroup ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredPositionPort ()
virtual bool	createDesiredVelocityPort ()
virtual bool	createDesiredAccelerationPort ()
virtual bool	createDesiredHeadingPort ()
virtual bool	createPositionSelectorPort ()
virtual bool	createVelocitySelectorPort ()
virtual bool	createAccelerationSelectorPort ()
virtual bool	createHeadingSelectorPort ()
virtual bool	createAggressivenessPort ()
virtual bool	createPowerDownPort ()
virtual DtVectorInputPort *	desiredPositionPort ()
	Accessors for guidance ports.
virtual DtVectorInputPort *	desiredVelocityPort ()
virtual DtVectorInputPort *	desiredAccelerationPort ()
virtual DtAnalogInputPort *	desiredHeadingPort ()
virtual DtAnalogInputPort *	positionSelectorPort ()
virtual DtAnalogInputPort *	velocitySelectorPort ()
virtual DtAnalogInputPort *	accelerationSelectorPort ()
virtual DtAnalogInputPort *	headingSelectorPort ()
virtual DtAnalogInputPort *	aggressivenessPort ()
virtual DtBooleanInputPort *	powerDownPort ()
virtual bool	createRotaryWingControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
virtual bool	createCollectivePort ()
virtual bool	createCyclicPort ()
virtual bool	createPedalPort ()
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 bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values.
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	postTick ()
	This function is called immediately after tick() is called.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (std::string &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 DtTaskVisualizationMap &	taskVisualizations ()
	Returns the list of task visualizations for this component.
virtual bool	taskVisualizationsActive () const
	Returns true if task visualizations are currently active for this component.
virtual bool	taskVisualizationsEnabled () const
	Returns true if task visualizations are enabled for this component.
virtual void	enable ()
	Is this component enabled or not.
virtual void	disable ()
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
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 (std::string &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 (std::string &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.
bool	isReadonly () const
virtual void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to original 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 bool	changedSinceLastChecked ()
	Returns true if this objects value has changed since the last time this function was called.
virtual bool	peekChangedSinceLastChecked () const
	Returns the value that changedSinceLastChecked would return but does not reset the internal flag.
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
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)
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 ()
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 ()
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 &)
	Restores 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	vectorBound (DtVector &vec, DtReal bound)
	Return the vector bound at the specified magnitude.
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
static DtReal	xyDistSquared (DtVector a, DtVector b)
	Calculate the distance squared between the projections of the points onto the x-y plane.

Protected Member Functions
virtual void	getTransformationMatrices ()
	Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.
virtual void	checkLandNoFuel ()
	Lands the entity if the fuel is used up.
virtual double	desiredMaximumSpeed () const
	Maximum speed to check against.
virtual void	calculateDesiredAndActualLinearVelocity (DtVector &desiredBodyVel, DtVector &topoDesiredInertialVel, DtVector &actualBodyVel)
	Calculates the desired linear velocity and actual velocity of the entity.
virtual void	findEarthCurveDeltaPosition (DtVector fromPosition, DtVector toPosition, DtVector &deltaPosition, Coordinate_System *coordinateSystem)
	Given from and to positions in local coordinates, and a coordinate system, compute a delta position whose vertical component is the difference in altitudes of the from and to positions.
virtual void	computePositionRateControl (DtVector &dampingVelocity)
	Compute a velocity control value that is based on the speed of the entity toward the goal position.
virtual void	calculateDesiredLinearAcceleration (const DtVector &topoDesiredInertialVel, DtVector &desiredBodyAcc)
	Calculates the desired linear acceleration of the entity.
virtual void	calculateDesiredAngularVelocity (const DtVector &desiredBodyAcc, const DtVector &desiredBodyVel, const DtVector &actualBodyVel, DtVector &desiredAngularVel)
	Calculates the desired angular velocity of the entity.
virtual void	calculateDesiredAngularAcceleration (const DtVector &desiredAngularVel, DtVector &desiredAngularAcc)
	Calculates the desired angular acceleration from the desired angular velocity of the entity.
virtual double	calculateWhiteNoiseScaleFactor ()
	Get a scale factor for the random component.
virtual void	setCyclic (const DtVector &desiredAngularAcc, double noiseFactor)
	Sets the cyclic control output value using the specified desired angular acceleration.
virtual void	setCollective (const DtVector &desiredBodyAcc, double noiseFactor)
	Sets the collective control output value.
virtual void	setPedal (const DtVector &desiredAngularAcc, double noiseFactor)
	Sets the pedal control output value using the specified desired angular acceleration.
virtual void	setThrottle ()
	Sets the throttle control output value.
virtual DtReal	terrainAvoidanceVelocity () const
	Calculate an upward desired velocity to maintain a safe distance from the terrain.
virtual void	calculateControlAlignmentAngle (DtReal &alignmentAngle, bool &selector) const
	Calculate alignment based on controllers.
virtual void	calculateTargetAlignmentAngle (DtReal &alignmentAngle, bool &selector) const
	calculate alignment based on targets.
virtual void	adjustDesiredThrustZForClimbRate (DtVector &desiredThrustTopo, const double currentClimbRate)
	Increases the up (-z) thrust of the desired thrust passed in to account for decreasing acceleration as the climb rate limit is approached.
virtual void	adjustDesiredThrustXYForHorizontalVelocity (DtVector &desiredThrustTopo, const DtVector &currentVelocityTopo)
	Adjusts the horizontal component of the desired thrust to account for the air resistance of the current horizontal speed.
virtual void	boundHorizontalAcceleration (DtVector &desiredThrustTopo)
	Restricts the horizontal components of the given desired thrust so that the magnitude of the acceleration does not exceed full collective thrust.
virtual bool	createPorts ()
	Overridden to create rotary wing ports.
Protected Member Functions inherited from DtRotaryWingPilotController
virtual bool	createPortGroups ()
	Overridden to call createRotaryWingControlPortGroup() and createGuidancePortGroup()
virtual void	setStateFromPorts ()
	Sets the state repository variables from the ports.
	DtRotaryWingPilotController ()
	default constructor; not implemented
	DtRotaryWingPilotController (const DtRotaryWingPilotController &orig)
	copy constructor; not implemented
const DtRotaryWingPilotController &	operator= (const DtRotaryWingPilotController &orig)
	assignment operator; not implemented
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.
virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick.
virtual void	destroyTaskVisualizations ()
	Destroys all task visualizations for this component.
virtual void	destroyTaskVisualization (const DtString &name)
	Destroys an existing task visualization.
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.
double	calculateNextTaskVisTickTime () const
	Determines the next time the task visualizations should be ticked.
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter.
Protected Member Functions inherited from DtObjectDebugger< DtReaderWriter >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()
Protected Member Functions inherited from DtObjectDebugger< DtSimComponent >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()

Protected Attributes
DtRotaryWingPilotDescriptor *	myPilotDescriptor
	A pointer to the descriptor for this controller.
DtDcm	myBodyToRef
	The local orientation matrix.
DtDcm	myLocalToTopoDcm
	The local to topographic coordinate transformation matrix.
DtDcm	myTopoToLocalDcm
	The topographic to local coordinate transformation matrix.
Ports and Port Groups
DtVectorInputPort *	myTargetLocationInputPort
	Input Port Name: target-location Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.
Protected Attributes inherited from DtRotaryWingPilotController
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState
DtVector	myNormalizedBodyVelocity
DtOutputPortGroup *	myRotaryWingControlPortGroup
	Output Port Group Name: rotary-wing-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: The position of the throttle control.
DtConstrainedAnalogOutputPort *	myCollectivePort
	Output Port Name: collective Output Port Description: The position of the collective control.
DtConstrainedDualAxisAnalogOutputPort *	myCyclicPort
	Output Port Name: cyclic Output Port Description: The position of the collective control in X and Y.
DtConstrainedAnalogOutputPort *	myPedalPort
	Output Port Name: pedal Output Port Description: The position of the pedal controls.
DtInputPortGroup *	myGuidancePortGroup
	Input Port Group Name: guidance Input Port Group Description: Group of input ports that define the desired heading/position/velocity/acceleration and flight properties.
DtVectorInputPort *	myDesiredPositionPort
	Input Port Name: desired-position Input Port Description: The desired position of the entity.
DtVectorInputPort *	myDesiredVelocityPort
	Input Port Name: desired-velocity Input Port Description: The desired velocity of the entity Input Port Range: Database coordinates.
DtVectorInputPort *	myDesiredAccelerationPort
	Input Port Name: desired-acceleration Input Port Description: The desired acceleration of the entity Input Port Range: Database coordinates.
DtAnalogInputPort *	myDesiredHeadingPort
	Input Port Name: desired-heading Input Port Description: Input Port Range: -1.
DtAnalogInputPort *	myPositionSelectorPort
	Input Port Name: position-selector Input Port Description: Determines whether the desired-position port is used.
DtAnalogInputPort *	myVelocitySelectorPort
	Input Port Name: velocity-selector Input Port Description: Determines whether the desired-velocity port is used.
DtAnalogInputPort *	myAccelerationSelectorPort
	Input Port Name: acceleration-selector Input Port Description: Determines whether the desired-acceleration port is used.
DtAnalogInputPort *	myHeadingSelectorPort
	Input Port Name: heading-selector Input Port Description: Determines whether the desired-heading port is used.
DtAnalogInputPort *	myAggressivenessPort
	Input Port Name: aggressiveness Input Port Description: How aggressively the autopilot will move the controls to gain the desired values.
DtBooleanInputPort *	myPowerDownPort
	Input Port Name: power-down Input Port Description: Determines whether the control values will all be set to 0.
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.
DtTaskVisualizationMap	myTaskVisualizations
	The visualization objects to be drawn for this component.
double	myNextTaskVisTickTime
	The next tick time for updating the task visualizations.
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.
bool	myChangedFlag
	Set to true when value changes Set to false when value checked with changedSinceLastChecked.

Private Member Functions
	DtSimpleRotaryWingPilot ()
	default constructor not implemented
	DtSimpleRotaryWingPilot (const DtSimpleRotaryWingPilot &orig)
	copy constructor not implemented
DtSimpleRotaryWingPilot &	operator= (const DtSimpleRotaryWingPilot &orig)
	assignment operator not implemented

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()
Protected Types inherited from 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

DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot.

End User Description: It sets the helicopter controls to achieve desired position, velocity, acceleration, and orientation. These values are provided over a set of input ports. The controller than uses these values to calculate the needed control inputs for the actuator, and sends these values on the output ports.

Uses Descriptor Type: DtRotaryWingPilotDescriptor

Constructor & Destructor Documentation

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot	(	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 DtSimpleRotaryWingPilot::~DtSimpleRotaryWingPilot ( )

virtual

destructor

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot ( )

private

default constructor not implemented

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot ( const DtSimpleRotaryWingPilot & orig )

private

copy constructor not implemented

Member Function Documentation

virtual void DtSimpleRotaryWingPilot::setDesiredInertialPos	(	DtReal	localX,
		DtReal	localY,
		DtReal	localZ
	)

virtual

Various methods to set state below.

Desired inertial position, in local (database) coordinates

virtual void DtSimpleRotaryWingPilot::setDesiredInertialPos ( const DtVector & localPosition )

virtual

virtual void DtSimpleRotaryWingPilot::setDesiredInertialVel	(	DtReal	vx,
		DtReal	vy,
		DtReal	vz
	)

virtual

Desired inertial velocity, in local (database) coordinates.

virtual void DtSimpleRotaryWingPilot::setDesiredInertialVel ( const DtVector & vel )

virtual

virtual bool DtSimpleRotaryWingPilot::init ( )

virtual

Calls the parent�s init() to initialize the ports.

Returns true if initialization was successful.

Reimplemented from DtRotaryWingPilotController.

virtual const char* DtSimpleRotaryWingPilot::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: DtRotaryWingPilotControllerType

Reimplemented from DtRotaryWingPilotController.

static void DtSimpleRotaryWingPilot::vectorBound	(	DtVector &	vec,
		DtReal	bound
	)

static

Return the vector bound at the specified magnitude.

virtual void DtSimpleRotaryWingPilot::tick ( )

virtual

Calculate new control values.

Reimplemented from DtRotaryWingPilotController.

static DtSimComponent* DtSimpleRotaryWingPilot::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.

Reimplemented from DtRotaryWingPilotController.

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

private

assignment operator not implemented

virtual void DtSimpleRotaryWingPilot::getTransformationMatrices ( )

protectedvirtual

Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.

virtual void DtSimpleRotaryWingPilot::checkLandNoFuel ( )

protectedvirtual

Lands the entity if the fuel is used up.

virtual double DtSimpleRotaryWingPilot::desiredMaximumSpeed ( ) const

protectedvirtual

Maximum speed to check against.

virtual void DtSimpleRotaryWingPilot::calculateDesiredAndActualLinearVelocity	(	DtVector &	desiredBodyVel,
		DtVector &	topoDesiredInertialVel,
		DtVector &	actualBodyVel
	)

protectedvirtual

Calculates the desired linear velocity and actual velocity of the entity.

Also provides the desired velocity in topo coordinates for use by other methods. Uses local variables: myBodyToRef, myLocalToTopoDcm, myTopoToLocalDcm

virtual void DtSimpleRotaryWingPilot::findEarthCurveDeltaPosition	(	DtVector	fromPosition,
		DtVector	toPosition,
		DtVector &	deltaPosition,
		Coordinate_System *	coordinateSystem
	)

protectedvirtual

Given from and to positions in local coordinates, and a coordinate system, compute a delta position whose vertical component is the difference in altitudes of the from and to positions.

This will be a vector to follow around the curve of the earth, vs. a straight line in space between the positions. The length of the vector will not be accurate (neither straight line distance or around-the-earth distance, exactly) but it is assumed that the length is long enough to max out the control system anyway.

virtual void DtSimpleRotaryWingPilot::computePositionRateControl ( DtVector & dampingVelocity )

protectedvirtual

Compute a velocity control value that is based on the speed of the entity toward the goal position.

This is a derivative term in the control equation for reducing position error, and serves to damp the motion toward the goal (reducing overshoot). This control velocity is intended to be added to the velocity produced by the proportional position error computation.

If there is a goal velocity as well, that velocity is subtracted out of the entity velocity before computing the control value.

virtual void DtSimpleRotaryWingPilot::calculateDesiredLinearAcceleration	(	const DtVector &	topoDesiredInertialVel,
		DtVector &	desiredBodyAcc
	)

protectedvirtual

Calculates the desired linear acceleration of the entity.

Uses local variables: myBodyToRef, myLocalToTopoDcm, myTopoToLocalDcm

virtual void DtSimpleRotaryWingPilot::calculateDesiredAngularVelocity	(	const DtVector &	desiredBodyAcc,
		const DtVector &	desiredBodyVel,
		const DtVector &	actualBodyVel,
		DtVector &	desiredAngularVel
	)

protectedvirtual

Calculates the desired angular velocity of the entity.

virtual void DtSimpleRotaryWingPilot::calculateDesiredAngularAcceleration	(	const DtVector &	desiredAngularVel,
		DtVector &	desiredAngularAcc
	)

protectedvirtual

Calculates the desired angular acceleration from the desired angular velocity of the entity.

virtual double DtSimpleRotaryWingPilot::calculateWhiteNoiseScaleFactor ( )

protectedvirtual

Get a scale factor for the random component.

This is scaled by the inverse of the square root of the time step to approximate Gaussian White Noise.

virtual void DtSimpleRotaryWingPilot::setCyclic	(	const DtVector &	desiredAngularAcc,
		double	noiseFactor
	)

protectedvirtual

Sets the cyclic control output value using the specified desired angular acceleration.

virtual void DtSimpleRotaryWingPilot::setCollective	(	const DtVector &	desiredBodyAcc,
		double	noiseFactor
	)

protectedvirtual

Sets the collective control output value.

virtual void DtSimpleRotaryWingPilot::setPedal	(	const DtVector &	desiredAngularAcc,
		double	noiseFactor
	)

protectedvirtual

Sets the pedal control output value using the specified desired angular acceleration.

virtual void DtSimpleRotaryWingPilot::setThrottle ( )

protectedvirtual

Sets the throttle control output value.

virtual DtReal DtSimpleRotaryWingPilot::terrainAvoidanceVelocity ( ) const

protectedvirtual

Calculate an upward desired velocity to maintain a safe distance from the terrain.

virtual void DtSimpleRotaryWingPilot::calculateControlAlignmentAngle	(	DtReal &	alignmentAngle,
		bool &	selector
	)		const

protectedvirtual

Calculate alignment based on controllers.

An angle and a specifier are returned. The angle value is the amount by which the helicopter should rotate about its z-axis to align with the desired heading. If the selector is True, the angle is valid. Uses local variables: myBodyToRef

virtual void DtSimpleRotaryWingPilot::calculateTargetAlignmentAngle	(	DtReal &	alignmentAngle,
		bool &	selector
	)		const

protectedvirtual

calculate alignment based on targets.

An angle and a specifier are returned. The angle is value the helicopter should rotate by about its z-axis to align with the target. If the selector is True, the angle is valid. Uses local variables: myBodyToRef

virtual void DtSimpleRotaryWingPilot::adjustDesiredThrustZForClimbRate	(	DtVector &	desiredThrustTopo,
		const double	currentClimbRate
	)

protectedvirtual

Increases the up (-z) thrust of the desired thrust passed in to account for decreasing acceleration as the climb rate limit is approached.

I.e., to get a given vertical acceleration, a higher collective control setting will be required if the current climb rate is high– until at max climb rate, full collective is required just to maintain 0 vertical acceleration. Used in calculateDesiredLinearAcceleration. Thrust is in topo coordinates.

virtual void DtSimpleRotaryWingPilot::adjustDesiredThrustXYForHorizontalVelocity	(	DtVector &	desiredThrustTopo,
		const DtVector &	currentVelocityTopo
	)

protectedvirtual

Adjusts the horizontal component of the desired thrust to account for the air resistance of the current horizontal speed.

I.e., with a given horizontal speed vector, there will be drag (see actuator) such that at maximum (horizontal) speed, the full collective will be necessary to maintain 0 acceleration (in the direction of current velocity). If desiredThrust is in the opposite direction as velocity, then it will actually be reduced. Used in calculateDesiredLinearAcceleration. Thrust is in topo coordinates. The x and y components are changed. Current velocity is in topo coordinates.

virtual void DtSimpleRotaryWingPilot::boundHorizontalAcceleration ( DtVector & desiredThrustTopo )

protectedvirtual

Restricts the horizontal components of the given desired thrust so that the magnitude of the acceleration does not exceed full collective thrust.

The vertical thrust is given priority, and the horizontal gets to use what is left over. If the desired z component is positive, this function does nothing. Used in calculateDesiredLinearAcceleration. DesiredThrust is in topo coordinates. The z component is left unchanged, and the X and Y components are adjusted.

virtual bool DtSimpleRotaryWingPilot::createPorts ( )

protectedvirtual

Overridden to create rotary wing ports.

Reimplemented from DtRotaryWingPilotController.

static DtReal DtSimpleRotaryWingPilot::xyDistSquared	(	DtVector	a,
		DtVector	b
	)

static

Calculate the distance squared between the projections of the points onto the x-y plane.

Member Data Documentation

DtVectorInputPort* DtSimpleRotaryWingPilot::myTargetLocationInputPort

protected

Input Port Name: target-location
Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.

Input Port Range: Local database locations.

DtRotaryWingPilotDescriptor* DtSimpleRotaryWingPilot::myPilotDescriptor

protected

A pointer to the descriptor for this controller.

DtDcm DtSimpleRotaryWingPilot::myBodyToRef

protected

The local orientation matrix.

DtDcm DtSimpleRotaryWingPilot::myLocalToTopoDcm

protected

The local to topographic coordinate transformation matrix.

DtDcm DtSimpleRotaryWingPilot::myTopoToLocalDcm

protected

The topographic to local coordinate transformation matrix.

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

/exports/nfedora7-1/nightly/docs/vrforcesDevelopment.vrf4-6-branch/include/vrfmodel/simpleRotaryWingPilot.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation