Provides a simple, kinematics-based model for surface vessels. More...

Inheritance diagram for DtSurfaceEntitySimpleActuator:

Public Member Functions
	DtSurfaceEntitySimpleActuator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtSurfaceEntitySimpleActuator ()
	Destructor.
virtual bool	init ()
	Calls down to the base class, null checks entity(), calls createPSR(), and then caches the entity's state repository in mySurfaceEntityState.
virtual const char *	type () const
	Returns a string identifies the class type of component.
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	tick ()
	Calculates new kinematic state.
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	createPortGroups ()
	Creates the mySurfaceControlPortGroup input port group and adds it to the component.
virtual bool	createPorts ()
	Creates myAccelerationPort, myClampSpeedPort, myTurnRadiusPort, and myFinalHeadingPort and adds them to mySurfaceControlPortGroup.
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 double	updateVerticalSpeed (const double dT)
	Update the vertical speed.
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	adjustAttitude (const double newSpeed, const DtVector &position, const double yawRate, double &roll, double &pitch, double &altitudeAdj)
	Adjusts the attitude of the entity for improved appearance.
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
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.
Ports and Port Groups
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

Detailed Description

Provides a simple, kinematics-based model for surface vessels.

End User Description: A simple surface ship actuator that provides for ships 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 DtSurfaceEntitySimpleActuator converts acceleration and turn radius inputs into orientation (heading), acceleration, velocity, and position.

Uses Descriptor Type: DtSurfaceEntitySimpleActuatorDescriptor

Constructor & Destructor Documentation

DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator	(	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) Constructor

virtual DtSurfaceEntitySimpleActuator::~DtSurfaceEntitySimpleActuator ( )

virtual

Destructor.

Removes myProcessState from the process state repository manager. Deletes all ports and port groups.

DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator ( )

protected

default constructor; not implemented

DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator ( const DtSurfaceEntitySimpleActuator & orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtSurfaceEntitySimpleActuator::init ( )

virtual

Calls down to the base class, null checks entity(), calls createPSR(), and then caches the entity's state repository in mySurfaceEntityState.

Reimplemented from DtActuatorComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual const char* DtSurfaceEntitySimpleActuator::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: DtSurfaceEntitySimpleActuatorType

Implements DtSimComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual bool DtSurfaceEntitySimpleActuator::postAddComponentsInit ( )

virtual

to initialize the PSR after the components have been created and initialized

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntitySimpleActuator::initProcessSR ( )

virtual

the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntitySimpleActuatorDescriptor

virtual void DtSurfaceEntitySimpleActuator::tick ( )

virtual

Calculates new kinematic state.

The tick method carries out the following steps:

The tick() function checks whether dT (the time elapsed since the last tick call) is 0.0. If it is, tick() returns.
The soil type at the current location is checked. If it is not not a water surface, all movement is zeroed out, updateRepository() is called and the tick returns. If there isn't a terrain intersection at the current location (water or otherwise), the ship is allowed to sail on at altitude 0.
In order to store the values that have been calculated during the tick in the entity's state repository, updateRepository() is called.
The actuator calls dataReceived(). This is done as a convenience for future subclasses – this actuator does not examine the newData flag.

Reimplemented from DtSimComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::decrementFuelResource ( double fuelUsed )

virtual

Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount.

If the resource is not found, this function just returns. If the resource is found, the amount of fuel passed as the argument to the function is deducted from the resource. When the resource reaches 0, a warning is printed to the object console.
Uses PSR.setHasFuel() to set a flag in the PSR so that the actuator and controllers don't all have to look up fuel resources available.

static DtSimComponent* DtSurfaceEntitySimpleActuator::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 in DtSubSurfaceEntitySimpleActuator.

virtual bool DtSurfaceEntitySimpleActuator::createPortGroups ( )

protectedvirtual

Creates the mySurfaceControlPortGroup input port group and adds it to the component.

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntitySimpleActuator::createPorts ( )

protectedvirtual

Creates myAccelerationPort, myClampSpeedPort, myTurnRadiusPort, and myFinalHeadingPort and adds them to mySurfaceControlPortGroup.

Reimplemented from DtSimComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::updateHeading	(	const double	dT,
		double &	newHeading
	)

protectedvirtual

virtual void DtSurfaceEntitySimpleActuator::updateVelocity	(	const double	dT,
		const double	newHeading,
		const double	newVerticalSpeed,
		double &	acceleratingDT,
		double &	newSpeed,
		DtVector &	newVelocity,
		bool &	maxSpeedAchieved
	)

protectedvirtual

Update the state of velocity.

Use the values for [forward] acceleration and clamp [forward] speed that have been in effect over the last tick and are saved in the PSR. For speed in the vertical direction, uses the input newVerticalSpeed. Computes new forward speed and the new velocity, using the input heading to rotate the forward speed to the correct [topo] direction. Returns a value for acceleratingDT, which can be a time, shorter than dT, during which the entity accelerates to the clamp speed; the remainder of dT, the entity is assumed to be moving at a constant newSpeed.

Note that for sinking ships, velocity is re-set in the update-rates section of the tick function.

virtual double DtSurfaceEntitySimpleActuator::updateVerticalSpeed ( const double dT )

protectedvirtual

Update the vertical speed.

This is primarily for derived subsurface entities; for the surface entities, vertical speed is always 0 unless it is sinking. Called in updateVelocity.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::updateOrientationAndPosition	(	const double	dT,
		const double	acceleratingDT,
		const double	newHeading,
		DtVector &	newVelocity,
		const double	newSpeed,
		DtDcm &	newBodyToLocalMatrix,
		DtVector &	newPosition
	)

protectedvirtual

Update the state of position from the velocity and acceleration in effect over the last tick (i.e., in the current vrfKinematicState).

Uses the acceleration for a time acceleratingDt, and if that is less than dT, uses a constant speed for the remainder of the dT. This process moves the position correctly when the speed gets clamped part way through the tick. Also updates the orientation. If the entity is sinking, this is done by calling sinkingAttitude. Otherwise, the attitude is adjusted with adjustAttitude, and then in setAltitude the altitude of the position is clamped to the water surface altitude, plus any modification from adjustAttitude.

Returns, in the last 2 arguments, the new values of orientation in terms of a Directed Cosine Matrix for the transformation from body to local coordinates and the new position. The vectors are all in "local" coordinates, e.g. those used in the vrfKinematicState for localPosition and relativeVelocity.

virtual void DtSurfaceEntitySimpleActuator::adjustAttitude	(	const double	newSpeed,
		const DtVector &	position,
		const double	yawRate,
		double &	roll,
		double &	pitch,
		double &	altitudeAdj
	)

protectedvirtual

Adjusts the attitude of the entity for improved appearance.

Makes the entity roll in turns, according to the turnRollRate parameter. Makes the entity pitch up at speed, according to the speedPitchRate parameter. Also provides an altitude adjustment parameter so the pitch-up raises the entity up instead of allowing the stern to sink.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::setAltitude	(	DtVector &	localPosition,
		const Coordinate_System *	cs,
		const double	altitudeAdjustment
	)

protectedvirtual

Sets the altitude of the entity.

The position input/output parameter is in local database coordinates. The altitudeAdjustment is the difference from local water surface altitude. This function converts the position to geodetic coordinates, looks up the altitude of the water surface at the position lat-lon, adds the altitudeAdjustment, then converts back to local coordinates. Note that altitude can be negative to set the position below the surface.

virtual bool DtSurfaceEntitySimpleActuator::getTerrainSurfaces	(	const DtVector &	databaseLocation,
		double &	groundHeight,
		DtSurface &	groundSurface,
		DtVector &	groundNormal,
		double &	waterHeight,
		DtSurface::DtMedium &	topSurfaceMedium,
		bool *	dataAvailable = `0`,
		bool	overrideBlockingAssert = `false`
	)

protectedvirtual

Gets the characteristics of the terrain surface and sea floor.

By default this just calls physicalWorld()-> terrainHeightUnderWater, but special vehicle types or terrain conditions could necessitate making different calls.
See the documentation for the terrain function for an explanation of the arguments.

virtual bool DtSurfaceEntitySimpleActuator::isShipAground	(	const DtVector &	localPosition,
		const DtDcm &	bodyToLocalMatrix,
		DtSurface::DtMedium	topMedium = `DtSurface::WaterSurface`
	)

protectedvirtual

This function determines if the ship is aground at the given location and the given orientation.

It checks first to see if the top surface medium is not water. Then it checks to see if the altitude of the ship puts the bottom of the bounding box at the altitude of the sea floor (mySeaFloorHeight). Orientation is provided for future enhancement to look at different parts of the bounding box.

virtual void DtSurfaceEntitySimpleActuator::sinkingAttitude	(	const DtVector &	newPosition,
		DtDcm &	newBodyToLocalMatrix
	)

protectedvirtual

This function sets the attitude for sinking ships.

It is used in place of adjustAttitude when the ship is destroyed.

virtual void DtSurfaceEntitySimpleActuator::setOrientationToBottom	(	const DtVector &	newPosition,
		const double	newHeading,
		const DtVector &	groundNormal,
		DtDcm &	newBodyToLocalMatrix
	)

protectedvirtual

This function sets the orientation of the entity to that of the underwater polygon underneath newPosition, and given the newHeading.

The function is used when the ship is destroyed and aground (i.e., it has sunk to the bottom).

virtual void DtSurfaceEntitySimpleActuator::computeNewRates	(	const double	turnRate,
		const double	newSpeed,
		const double	newHeading,
		const double	acceleration,
		const DtDcm &	bodyToLocalMatrix,
		DtVector &	bodyRotationRates,
		DtVector &	relativeAcceleration,
		double &	limitedAcceleration
	)

protectedvirtual

Computes the new values for acceleration (relative to the database) and rotation rate (body) based on the control port inputs.

The values on these ports are checked and clamped to reasonable values; for example turn rate is limited to values that produce reasonable lateral accelerations–0.1 to 0.4 for warship-sized vessels. Input arguments also include the updated speed, and the updated body-to-local orientation transformation matrix. Speed is signed, so is negative if the vessel is going backwards. Returns the rotation rates, the acceleration vector, and the limited acceleration (a scalar, in direction of body X) in the last 3 arguments.

virtual void DtSurfaceEntitySimpleActuator::sinkingRates	(	DtVector &	newPosition,
		DtVector &	newVelocity,
		DtVector &	newRelativeAcceleration,
		DtVector &	newBodyRotationRates
	)

protectedvirtual

The function that is used to compute body rotation rates and acceleration for the next tick, when the entity is sinking.

Also sets clamp speed, clamp heading, and forward acceleration in the PSR.

virtual void DtSurfaceEntitySimpleActuator::unpoweredDriftRates	(	const double	newSpeed,
		const double	newHeading,
		DtVector &	newBodyRotationRates,
		DtVector &	newRelativeAcceleration
	)

protectedvirtual

Computes body rotation rates and new acceleration vector for an entity that is drifting.

It will use a lower deceleration in general than a ship that is powered and can reverse thrust. Also sets clamp speed, clamp heading, and forward acceleration in the PSR.

double DtSurfaceEntitySimpleActuator::driftDecelerationMagnitude ( ) const

protected

Computes the magnitude of the deceleration of a drifting ship.

This quantity is estimated from the forward speed and the mass of the ship, and limited to a maximum value.

virtual void DtSurfaceEntitySimpleActuator::updateRepository	(	const DtVector &	newPosition,
		const DtVector &	newVelocity,
		const DtVector &	newAcceleration,
		const DtTaitBryan &	newOrientation,
		const DtVector &	newBodyRotationRates
	)

protectedvirtual

Copy newly calculated state data in the arguments into the object's state repository (LocalPosition, RelativeVelocity, RelativeAcceleration, LocalOrientationWrtDatabase, and RotationalVelocity.

The Orientation is computed from the DCM matrix using DtBodyToRef_to_Euler()).

virtual double DtSurfaceEntitySimpleActuator::computeFuelUsed ( const double dT )

protectedvirtual

Computes the amount of fuel used based on the speed, dT, and the fuel efficiency given in the surface entity state repository.

DtSurfaceEntityStateRepository* DtSurfaceEntitySimpleActuator::surfaceEntityState ( void ) const

protected

virtual bool DtSurfaceEntitySimpleActuator::createPSR ( )

protectedvirtual

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

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

protected

assignment operator; not implemented

Member Data Documentation

DtSurfaceEntityStateRepository* DtSurfaceEntitySimpleActuator::mySurfaceEntityState

protected

Cache some pointers.

const DtSurfaceEntityParameters* DtSurfaceEntitySimpleActuator::myParameters

protected

DtSurfaceEntityActuatorDescriptor* DtSurfaceEntitySimpleActuator::myDescriptor

protected

DtInputPortGroup* DtSurfaceEntitySimpleActuator::mySurfaceControlPortGroup

protected

Input Port Group Name: surface-control
Input Port Group Description:

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myAccelerationPort

protected

Acceleration can be positive or negative.

Acceleration in either direction is assumed to be effected by the propellers, i.e. active thrust vs. friction braking. This simple actuator assumes that acceleration can be changed to any value in one tick.

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myClampSpeedPort

protected

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* DtSurfaceEntitySimpleActuator::myTurnRatePort

protected

Turn rate in radians/sec, with positive meaning a turn to the right.

Note that if speed < 0, a positive turn rate swings the stern to the left. This simple actuator assumes that turn rate can be changed to any value in one tick.

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myFinalHeadingPort

protected

Final heading that the entity is clamped to, if dT is too large.

DtUpdateRepositoryOutputPortGroup* DtSurfaceEntitySimpleActuator::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository.

All values are in local coordinates

DtSurfaceMovementPSR* DtSurfaceEntitySimpleActuator::myProcessState

protected

Container for state data associated with this component.

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

bool DtSurfaceEntitySimpleActuator::myOutOfFuelWarningPrinted

protected

Remembers if the warning has been printed, so it's only printed once.

double DtSurfaceEntitySimpleActuator::myMaxRollRate

protected

Remember a reasonable value for maximum roll rate for this entity, based on mass.

Computed at init time.

double DtSurfaceEntitySimpleActuator::mySeaFloorHeight

protected

Computed at the beginning of every tick; remembered for use in the tick:

double DtSurfaceEntitySimpleActuator::myWaterHeight

protected

bool DtSurfaceEntitySimpleActuator::myIsAground

protected

bool DtSurfaceEntitySimpleActuator::myAgroundAndDestroyed

protected

Remembered after this state is first entered, to avoid recomputation in future ticks.

The entity never leaves this state.

double DtSurfaceEntitySimpleActuator::mySinkingPitchRate

protected

Parameters that define how this ship will sink.

Determined randomly at init time.

double DtSurfaceEntitySimpleActuator::mySinkingRollRate

protected

double DtSurfaceEntitySimpleActuator::mySinkingStartRate

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation