DtLookAtActuator Class Reference

DtLookAtActuator provides a simple model of a head. More...

Inheritance diagram for DtLookAtActuator:

Public Member Functions
	DtLookAtActuator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtLookAtActuator ()
	destructor
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Update the head azimuth and elevation.
virtual bool	init ()
	Initialize part type, ports and PSR.
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 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
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 ()
	Overridden to create #myLookAtWeaponControlPortGroup.
virtual bool	createPorts ()
	Overridden to create local ports.
virtual void	positionHead (double elevation, double azimuith)
	Positions the head to correct elevation and rotation.
virtual void	elevateHead (double elevation)
	Elevates the head to the correct elevation.
virtual void	rotateHead (double azimuth)
	Rotates the head to look at the given elevation and azimuth, using the rotation rates and min/max values.
virtual void	getElevationAndAzimuth (double &elevation, double &azimuth)
	Given current port settings, get the elevation and azimuth to position the head.
virtual double	elevationAngleToLocalPoint (const DtVector &localPoint, bool &failed)
	Elevation angle of art part to local point from head position.
virtual double	azimuthAngleToLocalPoint (const DtVector &, bool &failed)
	Azimuth angle to local point from head position.
virtual void	nodHead ()
	Returns the next step in the nod elevation.
virtual void	shakeHead ()
	Returns the next step in the shake azimuth.
virtual double	elevationRate ()
	Returns the elevation rate.
virtual double	azimuthRate ()
	Returns the azimuth rate()
	DtLookAtActuator ()
	default constructor; not implemented
	DtLookAtActuator (const DtLookAtActuator &orig)
	copy constructor; not implemented
const DtLookAtActuator &	operator= (const DtLookAtActuator &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
double	myNodOrShakeDirection
DtLookAtActuatorDescriptor *	myLookAtDescriptor
DtArtPartType	myHeadArtPart
DtArticulatedPartStateRepository *	myHead
DtInputPortGroup *	myLookAtControlPortGroup
	Input Port Group Name: look-at-control Input Port Group Description: .
DtVectorInputPort *	myLookAtPointPort
	Input Port Name: look-at-point Input Port Description: The point at which to look at.
DtBooleanInputPort *	myLookAtAnglePort
	Input Port Name: look-at-angle Input Port Description: Indicates that looking should be done using the fixed azimuth and elevation, not at a specified point.
DtAnalogInputPort *	myLookAtAzimuthPort
	Input Port Name: look-at-azimuth Input Port Description: The azimuth at which to look at.
DtAnalogInputPort *	myLookAtElevationPort
	Input Port Name: look-at-elevation Input Port Description: The elevation at which to look at.
DtBooleanInputPort *	myForbidBaseRotationPort
	Input Port Name: forbid-base-rotation Input Port Description: Predicate indicates whether the looking system should ask the base system (i.e., the body or a turret this system is mounted on) to rotate if the look direction is outside of the azimuth limits of this system.
DtAnalogInputPort *	myNodOrShakePort
	Input Port Name: nod-or-shake Input Port Description: Integer value that determines nod (1) or shake (2) of head based on rates supplied.
DtVectorInputPort *	myNodOrShakeRatesPort
	Input Port Name: nod-or-shake-rates Input Port Description: Vector that defines rates for nod or shake as x (min range), y (max range), z (rate) Input Port Range: Input Group Parent: .
DtBooleanInputPort *	myResetHeadPort
	Input Port Name: reset Input Port Description: Reset head immediately to 0 elevation and azimuth.
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

DtLookAtActuator provides a simple model of a head.

End User Description: The look at actuator is derived from the actuator component that provides the ability to turn or elevate the head

Uses Descriptor Type: DtLookAtActuatorDescriptor

Constructor & Destructor Documentation

DtLookAtActuator::DtLookAtActuator	(	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 DtLookAtActuator::~DtLookAtActuator ( )

virtual

destructor

DtLookAtActuator::DtLookAtActuator ( )

protected

default constructor; not implemented

DtLookAtActuator::DtLookAtActuator ( const DtLookAtActuator &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual const char* DtLookAtActuator::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

DtLookAtActuatorType

Implements DtSimComponent.

virtual void DtLookAtActuator::tick ( )

virtual

Update the head azimuth and elevation.

Reimplemented from DtSimComponent.

static DtSimComponent* DtLookAtActuator::creator ( const DtString &  name, DtVrfObject *  owner, DtSimManager *  simManager, DtComponentDescriptor *  desc = 0, DtReaderWriterRegistry *  parentRegistry = 0  )

static

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns

New instance of this class.

virtual bool DtLookAtActuator::init ( )

virtual

Initialize part type, ports and PSR.

Reimplemented from DtActuatorComponent.

virtual bool DtLookAtActuator::createPortGroups ( )

protectedvirtual

Overridden to create #myLookAtWeaponControlPortGroup.

Reimplemented from DtSimComponent.

virtual bool DtLookAtActuator::createPorts ( )

protectedvirtual

Overridden to create local ports.

Reimplemented from DtSimComponent.

virtual void DtLookAtActuator::positionHead ( double  elevation, double  azimuith  )

protectedvirtual

Positions the head to correct elevation and rotation.

virtual void DtLookAtActuator::elevateHead ( double  elevation )

protectedvirtual

Elevates the head to the correct elevation.

virtual void DtLookAtActuator::rotateHead ( double  azimuth )

protectedvirtual

Rotates the head to look at the given elevation and azimuth, using the rotation rates and min/max values.

virtual void DtLookAtActuator::getElevationAndAzimuth ( double &  elevation, double &  azimuth  )

protectedvirtual

Given current port settings, get the elevation and azimuth to position the head.

virtual double DtLookAtActuator::elevationAngleToLocalPoint ( const DtVector &  localPoint, bool &  failed  )

protectedvirtual

Elevation angle of art part to local point from head position.

virtual double DtLookAtActuator::azimuthAngleToLocalPoint ( const DtVector &  , bool &  failed  )

protectedvirtual

Azimuth angle to local point from head position.

virtual void DtLookAtActuator::nodHead ( )

protectedvirtual

Returns the next step in the nod elevation.

virtual void DtLookAtActuator::shakeHead ( )

protectedvirtual

Returns the next step in the shake azimuth.

virtual double DtLookAtActuator::elevationRate ( )

protectedvirtual

Returns the elevation rate.

virtual double DtLookAtActuator::azimuthRate ( )

protectedvirtual

Returns the azimuth rate()

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

protected

assignment operator; not implemented

Member Data Documentation

double DtLookAtActuator::myNodOrShakeDirection

protected

DtLookAtActuatorDescriptor* DtLookAtActuator::myLookAtDescriptor

protected

DtArtPartType DtLookAtActuator::myHeadArtPart

protected

DtArticulatedPartStateRepository* DtLookAtActuator::myHead

protected

DtInputPortGroup* DtLookAtActuator::myLookAtControlPortGroup

protected

Input Port Group Name: look-at-control
Input Port Group Description:
.

DtVectorInputPort* DtLookAtActuator::myLookAtPointPort

protected

Input Port Name: look-at-point
Input Port Description: The point at which to look at.

Input Port Range:
Input Group Parent: look-at-control

DtBooleanInputPort* DtLookAtActuator::myLookAtAnglePort

protected

Input Port Name: look-at-angle
Input Port Description: Indicates that looking should be done using the fixed azimuth and elevation, not at a specified point.

Input Port Range:
Input Group Parent: look-at-control

DtAnalogInputPort* DtLookAtActuator::myLookAtAzimuthPort

protected

Input Port Name: look-at-azimuth
Input Port Description: The azimuth at which to look at.

Input Port Range:
Input Group Parent: look-at-control

DtAnalogInputPort* DtLookAtActuator::myLookAtElevationPort

protected

Input Port Name: look-at-elevation
Input Port Description: The elevation at which to look at.

Input Port Range:
Input Group Parent: look-at-control

DtBooleanInputPort* DtLookAtActuator::myForbidBaseRotationPort

protected

Input Port Name: forbid-base-rotation
Input Port Description: Predicate indicates whether the looking system should ask the base system (i.e., the body or a turret this system is mounted on) to rotate if the look direction is outside of the azimuth limits of this system.

Input Port Range:
Input Group Parent:

DtAnalogInputPort* DtLookAtActuator::myNodOrShakePort

protected

Input Port Name: nod-or-shake Input Port Description: Integer value that determines nod (1) or shake (2) of head based on rates supplied.

Input Port Range:
Input Group Parent:

DtVectorInputPort* DtLookAtActuator::myNodOrShakeRatesPort

protected

Input Port Name: nod-or-shake-rates Input Port Description: Vector that defines rates for nod or shake as x (min range), y (max range), z (rate)
Input Port Range:
Input Group Parent:
.

DtBooleanInputPort* DtLookAtActuator::myResetHeadPort

protected

Input Port Name: reset
Input Port Description: Reset head immediately to 0 elevation and azimuth.

Input Port Range:
Input Group Parent:

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

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