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VR-Forces 4.6.1 Class Documentation
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VR-Forces 4.6.1 Class Documentation
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Provides a simple actuator model for surface vessels. More...
Public Member Functions | |
| DtSubSurfaceEntitySimpleActuator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| Constructor. | |
| virtual | ~DtSubSurfaceEntitySimpleActuator () |
| Destructor. | |
| virtual bool | init () |
| Calls the base init, then sets initial values for PSR depth rate and clamp depth. | |
| virtual const char * | type () const |
| Returns a string identifies the class type of component. | |
 Public Member Functions inherited from DtSurfaceEntitySimpleActuator | |
| DtSurfaceEntitySimpleActuator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSurfaceEntitySimpleActuator () |
| Destructor. | |
| virtual bool | postAddComponentsInit () |
| to initialize the PSR after the components have been created and initialized | |
| virtual void | initProcessSR () |
| the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntitySimpleActuatorDescriptor | |
| virtual void | decrementFuelResource (double fuelUsed) |
| Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount. | |
| Public Member Functions inherited from DtActuatorComponent | |
| virtual | ~DtActuatorComponent () |
| destructor | |
| virtual DtSimRadio * | radio () |
| virtual bool | tickWhileDestroyed () const |
| By default, all actuators tick when the entity is destroyed. | |
| Public Member Functions inherited from DtSimComponent | |
| DtSimComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSimComponent () |
| destructor | |
| void | setParentSystem (DtComponentSystem *system) |
| Sets the parent system of this component. | |
| virtual 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 |
| 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 DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
Protected Member Functions | |
| virtual bool | createPorts () |
| Creates the depthRate and clampDepth ports, and calls the parent createPorts() to create the rest. | |
| virtual void | tick () |
| Ticks the parent, then sets depth ports/data received. | |
| virtual double | updateVerticalSpeed (const double dt) |
| Sets the vertical speed according to the input port. | |
| virtual void | adjustAttitude (const double newSpeed, const DtVector &position, const double yawRate, double &roll, double &pitch, double &altitude) |
| Adjusts the attitude of the entity for improved appearance. | |
| virtual double | altitudeFromDepth (double depth, double surfaceAltitude) |
| This function computes the altitude of the entity's origin from a depth. | |
| virtual double | depthFromAltitude (double altitude, double surfaceAltitude) |
| DtSubSurfaceEntitySimpleActuator () | |
| default constructor; not implemented | |
| DtSubSurfaceEntitySimpleActuator (const DtSubSurfaceEntitySimpleActuator &orig) | |
| copy constructor; not implemented | |
| const DtSubSurfaceEntitySimpleActuator & | operator= (const DtSubSurfaceEntitySimpleActuator &orig) |
| assignment operator; not implemented | |
| Protected Member Functions inherited from DtSurfaceEntitySimpleActuator | |
| virtual bool | createPortGroups () |
| Creates the mySurfaceControlPortGroup input port group and adds it to the component. | |
| virtual void | updateHeading (const double dT, double &newHeading) |
| virtual void | updateVelocity (const double dT, const double newHeading, const double newVerticalSpeed, double &acceleratingDT, double &newSpeed, DtVector &newVelocity, bool &maxSpeedAchieved) |
| Update the state of velocity. | |
| virtual void | updateOrientationAndPosition (const double dT, const double acceleratingDT, const double newHeading, DtVector &newVelocity, const double newSpeed, DtDcm &newBodyToLocalMatrix, DtVector &newPosition) |
| Update the state of position from the velocity and acceleration in effect over the last tick (i.e., in the current vrfKinematicState). | |
| virtual void | setAltitude (DtVector &localPosition, const Coordinate_System *cs, const double altitudeAdjustment) |
| Sets the altitude of the entity. | |
| virtual bool | getTerrainSurfaces (const DtVector &databaseLocation, double &groundHeight, DtSurface &groundSurface, DtVector &groundNormal, double &waterHeight, DtSurface::DtMedium &topSurfaceMedium, bool *dataAvailable=0, bool overrideBlockingAssert=false) |
| Gets the characteristics of the terrain surface and sea floor. | |
| virtual bool | isShipAground (const DtVector &localPosition, const DtDcm &bodyToLocalMatrix, DtSurface::DtMedium topMedium=DtSurface::WaterSurface) |
| This function determines if the ship is aground at the given location and the given orientation. | |
| virtual void | sinkingAttitude (const DtVector &newPosition, DtDcm &newBodyToLocalMatrix) |
| This function sets the attitude for sinking ships. | |
| virtual void | setOrientationToBottom (const DtVector &newPosition, const double newHeading, const DtVector &groundNormal, DtDcm &newBodyToLocalMatrix) |
| This function sets the orientation of the entity to that of the underwater polygon underneath newPosition, and given the newHeading. | |
| virtual void | computeNewRates (const double turnRate, const double newSpeed, const double newHeading, const double acceleration, const DtDcm &bodyToLocalMatrix, DtVector &bodyRotationRates, DtVector &relativeAcceleration, double &limitedAcceleration) |
| Computes the new values for acceleration (relative to the database) and rotation rate (body) based on the control port inputs. | |
| virtual void | sinkingRates (DtVector &newPosition, DtVector &newVelocity, DtVector &newRelativeAcceleration, DtVector &newBodyRotationRates) |
| The function that is used to compute body rotation rates and acceleration for the next tick, when the entity is sinking. | |
| virtual void | unpoweredDriftRates (const double newSpeed, const double newHeading, DtVector &newBodyRotationRates, DtVector &newRelativeAcceleration) |
| Computes body rotation rates and new acceleration vector for an entity that is drifting. | |
| double | driftDecelerationMagnitude () const |
| Computes the magnitude of the deceleration of a drifting ship. | |
| virtual void | updateRepository (const DtVector &newPosition, const DtVector &newVelocity, const DtVector &newAcceleration, const DtTaitBryan &newOrientation, const DtVector &newBodyRotationRates) |
| Copy newly calculated state data in the arguments into the object's state repository (LocalPosition, RelativeVelocity, RelativeAcceleration, LocalOrientationWrtDatabase, and RotationalVelocity. | |
| virtual double | computeFuelUsed (const double dT) |
| Computes the amount of fuel used based on the speed, dT, and the fuel efficiency given in the surface entity state repository. | |
| DtSurfaceEntityStateRepository * | surfaceEntityState (void) const |
| virtual bool | createPSR () |
| Creates myProcessState data member, and adds it to our process state repository manager. | |
| DtSurfaceEntitySimpleActuator () | |
| default constructor; not implemented | |
| DtSurfaceEntitySimpleActuator (const DtSurfaceEntitySimpleActuator &orig) | |
| copy constructor; not implemented | |
| const DtSurfaceEntitySimpleActuator & | operator= (const DtSurfaceEntitySimpleActuator &orig) |
| assignment operator; not implemented | |
| Protected Member Functions inherited from DtActuatorComponent | |
| DtActuatorComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString& name, | |
| virtual void | setRadio (DtSimRadio *radio) |
| DtActuatorComponent () | |
| Default constructor; should not be called. | |
| Protected Member Functions inherited from DtSimComponent | |
| virtual double | computeCurrentTime () |
| Compute current time and myDT. | |
| bool | testInvariant () const |
| DtVrfProcessStateRepository * | createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true) |
| Creates a PSR for this component and registers it with the PSR manager. | |
| 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 | |
Ports and Port Groups | |
| DtAnalogInputPort * | myDepthRatePort |
| Desired depth change rate, in m/s. | |
| DtAnalogInputPort * | myClampDepthPort |
| Final desired depth that entity is trying to change to. | |
| double | myDepth |
| Computed and cached within a tick, to avoid recomputation. | |
| double | myAltitudeRate |
| The negative of depthRate on the input port, or 0 if the port isn't active. | |
| Protected Attributes inherited from DtSurfaceEntitySimpleActuator | |
| DtSurfaceEntityStateRepository * | mySurfaceEntityState |
| Cache some pointers. | |
| const DtSurfaceEntityParameters * | myParameters |
| DtSurfaceEntityActuatorDescriptor * | myDescriptor |
| DtUpdateRepositoryOutputPortGroup * | myUpdateRepositoryOutputPortGroup |
| Port group used to set what values should be set into the VRF state repository. | |
| DtSurfaceMovementPSR * | myProcessState |
| Container for state data associated with this component. | |
| bool | myOutOfFuelWarningPrinted |
| Remembers if the warning has been printed, so it's only printed once. | |
| double | myMaxRollRate |
| Remember a reasonable value for maximum roll rate for this entity, based on mass. | |
| bool | myAgroundAndDestroyed |
| Remembered after this state is first entered, to avoid recomputation in future ticks. | |
| DtInputPortGroup * | mySurfaceControlPortGroup |
| Input Port Group Name: surface-control Input Port Group Description: | |
| DtAnalogInputPort * | myAccelerationPort |
| Acceleration can be positive or negative. | |
| DtAnalogInputPort * | myClampSpeedPort |
| Clamp speed is the speed that the controller is trying to accelerate (or decelerate) to; if dT is unexpectedly large, the actuator will accelerate only to this speed, then keep speed constant for the rest of the tick. | |
| DtAnalogInputPort * | myTurnRatePort |
| Turn rate in radians/sec, with positive meaning a turn to the right. | |
| DtAnalogInputPort * | myFinalHeadingPort |
| Final heading that the entity is clamped to, if dT is too large. | |
| double | mySeaFloorHeight |
| Computed at the beginning of every tick; remembered for use in the tick: | |
| double | myWaterHeight |
| bool | myIsAground |
| double | mySinkingPitchRate |
| Parameters that define how this ship will sink. | |
| double | mySinkingRollRate |
| double | mySinkingStartRate |
| Protected Attributes inherited from DtActuatorComponent | |
| DtSimRadio * | myRadio |
| Actuators can send messages. | |
| Protected Attributes inherited from DtSimComponent | |
| DtVrfObject * | myEntity |
| DtVrfObjectStateRepository * | myLocalStateRepository |
| DtSimManager * | mySimManager |
| DtComponentSystem * | mySystem |
| Pointer to the DtComponentSystem that this component belongs. | |
| DtListItem * | myListItem |
| DtInputPortMap | myInputPortList |
| DtOutputPortMap | myOutputPortList |
| DtInputPortGroupMap | myInputPortGroupList |
| DtOutputPortGroupMap | myOutputPortGroupList |
| int | myPriority |
| double | myMinTickPeriod |
| double | myMinTickPeriodVariance |
| double | myNextTickTime |
| double | myLastTickSimTime |
| double | myDT |
| bool | myIsEnabled |
| Indicates whether this component should be enabled for ticking or not. | |
| bool | myFirstTick |
| Initialized to true in the constructor, set to false by the first call to postTick. | |
| bool | myIsThreadSafe |
| Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false. | |
| const DtComponentDescriptor * | myComponentDescriptor |
| std::list < DtVrfProcessStateRepository * > | myComponentPsrs |
| List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed. | |
| bool | myTickEveryFrame |
| Flag indicating that tickPeriod is set to 0, and the component will tick every frame. | |
| 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. | |
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 |
Provides a simple actuator model for surface vessels.
Provides a simple, kinematics-based model for sub surface vessels; derived from surface entity simple actuator, but includes depth inputs.
End User Description: A simple subsurface ship actuator that provides for vessels to move according to acceleration, speed and turn commands. In effect, low level actions such as setting the engine commands (forward/back, amount) and rudder commands (degrees) are abstracted away. The inputs are simply desired acceleration, desired turn radius, and final speed/heading. This makes this actuator something of a low-level controller. The DtSubSurfaceEntitySimpleActuator converts acceleration and turn radius inputs into orientation (heading), acceleration, velocity, and position.
In addition, this actuator has depth rate and clamp depth inputs
Uses Descriptor Type: DtSubSurfaceEntitySimpleActuatorDescriptor
| DtSubSurfaceEntitySimpleActuator::DtSubSurfaceEntitySimpleActuator | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
Constructor.
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virtual |
Destructor.
Removes myProcessState from the process state repository manager. Deletes all ports and port groups.
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protected |
default constructor; not implemented
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protected |
copy constructor; not implemented
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virtual |
Calls the base init, then sets initial values for PSR depth rate and clamp depth.
Also sets mySurfacedAltitude.
Reimplemented from DtSurfaceEntitySimpleActuator.
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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.
Reimplemented from DtSurfaceEntitySimpleActuator.
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static |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
Reimplemented from DtSurfaceEntitySimpleActuator.
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protectedvirtual |
Creates the depthRate and clampDepth ports, and calls the parent createPorts() to create the rest.
Reimplemented from DtSurfaceEntitySimpleActuator.
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protectedvirtual |
Ticks the parent, then sets depth ports/data received.
Reimplemented from DtSurfaceEntitySimpleActuator.
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protectedvirtual |
Sets the vertical speed according to the input port.
Negates it so that positive is UP.
Reimplemented from DtSurfaceEntitySimpleActuator.
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protectedvirtual |
Adjusts the attitude of the entity for improved appearance.
For subsurface: the roll is 0. The pitch is determined by the depthRate and speed: it is set to match depthRate/speed. However, if speed is very low pitch is left to 0. Pitch is constrained to a maximum. AltitudeAdj is left at 0. This value is not used for in setting a subsurface vessel altitude.
Reimplemented from DtSurfaceEntitySimpleActuator.
|
protectedvirtual |
This function computes the altitude of the entity's origin from a depth.
Depth is the distance of the bottom of the bounding box below the surface of the water (in meters; positive number means deeper, i.e. the negative of altitude). The function uses the latticeOffset of the bounding volume, which is the vector from the entity's origin to the center of the bounding box...but in topographic coordinates, so the Z component is positive-down. So the formula is altitude = -depth + bb.halfHeight + bb.latticeOffset[2] + surfaceAlt. Example: origin at center of bb, surfaceAltitude = 0: depth of 0 => altitude is 1/2 bb height, putting the bottom of the bb at the surface altitude. Example: origin at bottom of bb (latticeOffset[2]= -halfHeight): depth of 20 => altitude= -20 + halfHeight - halfHeight = -20, putting the bottom of the bb at -20.
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inlineprotectedvirtual |
|
protected |
assignment operator; not implemented
|
protected |
Desired depth change rate, in m/s.
Note that increasing depth is decreasing altitude.
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protected |
Final desired depth that entity is trying to change to.
This prevents overshoot if dT is unexpectedly large one tick.
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protected |
Computed and cached within a tick, to avoid recomputation.
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protected |
The negative of depthRate on the input port, or 0 if the port isn't active.