DtSurfaceEntityActuator Class Reference

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

Inheritance diagram for DtSurfaceEntityActuator:

Public Member Functions
	DtSurfaceEntityActuator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
	(const DtString&,DtVrfObject*,DtSimManager*,
virtual	~DtSurfaceEntityActuator ()
	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 initalize the PSR after the components have been created and initialized initP
virtual void	initProcessSR ()
	the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntityActuatorDescriptor
virtual void	tick ()
	Calculates new kinematic state.
virtual double	calculateRudderYawAcceleration ()
	Calculates the signed yaw acceleration due to rudder.
virtual double	calculateResistanceYawAcceleration ()
	Calculates the signed yaw acceleration due to resistance.
virtual const DtVector	calculateThrottleAcceleration ()
	Calculates the acceleration due to thrust, expressed in body coordinates.
virtual const DtVector	calculateDragAcceleration ()
	Calculates the drag acceleration, expressed in body coordinates.
virtual bool	clampSmallVelocityToZero ()
	Called by tick() to zero out the velocity and acceleration of ships which are close to stopping due to drag.
virtual double	stoppingSpeed ()
	Returns the speed used by clampSmallVelocityToZero() to determine when to stop drifting ships.
virtual void	useFuel (double fuelUsed)
	Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount.
virtual double	fuelLeft () const
	Looks up the value of the resource named 'fuel' in the entity's resource manager.
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 myThrottlePort and myRudderPort and adds them to mySurfaceControlPortGroup.
virtual void	integratePosition (double dT)
	Assumes that myRelativeAcceleration holds the freshly calculated total acceleration for this frame, expressed in local coordinates.
virtual void	integrateOrientation (double dT)
	Assumes that myBodyRotationalAcceleration holds the freshly calculated total rotational acceleration for this frame, expressed in body coordinates.
void	constrainYawAcceleration (double &yawAcceleration, double yawRate, double maxYawRate, double dT)
	Constrain incoming yaw acceleration such that resulting yawRate for the given time interval does not exceed the given maximum yaw rate for the time interval dT.
virtual void	updateRepository ()
	Copy newly calculated state data from myLocalPosition, myRelativeVelocity, myRelativeAcceleration, myOrientation and myBodyRotationRates into the object's state repository.
DtSurfaceEntityStateRepository *	surfaceEntityState (void) const
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
	DtSurfaceEntityActuator ()
	default constructor; not implemented
	DtSurfaceEntityActuator (const DtSurfaceEntityActuator &orig)
	copy constructor; not implemented
const DtSurfaceEntityActuator &	operator= (const DtSurfaceEntityActuator &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
DtSurfaceEntityActuatorDescriptor *	mySurfaceEntityActuatorDescriptor
DtDcm	myBodyToLocalMatrix
DtDcm	myLocalToBodyMatrix
DtVector	myLocalPosition
DtVector	myRelativeVelocity
DtVector	myRelativeAcceleration
DtTaitBryan	myOrientation
DtVector	myBodyRotationRates
DtVector	myBodyRotationalAcceleration
DtSurfaceMovementPSR *	myProcessState
	Container for state data associated with this component.
bool	myOutOfFuelWarningPrinted
DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
	Port group used to set what values should be set into the VRF state repository.
Ports and Port Groups
DtInputPortGroup *	mySurfaceControlPortGroup
	Input Port Group Name: surface-control Input Port Group Description:
DtConstrainedAnalogInputPort *	myThrottlePort
	Input Port Name: throttle Input Port Description: Input Port Range: 0.0 to 1.0 Input Port Default Value: Input Group Parent: surface-control.
DtConstrainedAnalogInputPort *	myRudderPort
	Input Port Name: rudder Input Port Description: Input Port Range: -1.0 to 1.0 Input Port Default Value: Input Group Parent: surface-control.
DtBooleanOutputPort *	mySmallVelocityClampedPort
	Output Port Name: clamp-small-vel-zero Output Port Description: Output Port Default Value: True .
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: The DtSurfaceEntityActuator converts throttle and rudder inputs into orientation, acceleration, velocity, and position.

The throttle control values are used to determine acceleration based on linear proportions of the specified maximum acceleration and velocity. The valid range of throttle control values are from 1.0 (maximum forward thrust) to -1.0 (maximum reverse thrust).
The rudder control values are used to determine the rotational acceleration based on linear proportions of the specified maximum rotational rate and acceleration as well asthe acceleration and velocity listed above. The valid range of rudder control values are from 1.0 (full right rudder) to -1.0 (full left rudder).
Resistance accelerations are calculated to insure that a ship will not accelerate beyond it's maximum speed or turning rate.

Uses Descriptor Type: DtSurfaceEntityActuatorDescriptor

Constructor & Destructor Documentation

DtSurfaceEntityActuator::DtSurfaceEntityActuator	(	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 DtSurfaceEntityActuator::~DtSurfaceEntityActuator ( )

virtual

Destructor.

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

DtSurfaceEntityActuator::DtSurfaceEntityActuator ( )

protected

default constructor; not implemented

DtSurfaceEntityActuator::DtSurfaceEntityActuator ( const DtSurfaceEntityActuator &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtSurfaceEntityActuator::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.

virtual const char* DtSurfaceEntityActuator::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

DtSurfaceEntityActuatorType

Implements DtSimComponent.

virtual bool DtSurfaceEntityActuator::postAddComponentsInit ( )

virtual

to initalize the PSR after the components have been created and initialized initP

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityActuator::initProcessSR ( )

virtual

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

virtual void DtSurfaceEntityActuator::tick ( )

virtual

Calculates new kinematic state.

The tick method carries out the following steps:

1. The tick() function checks whether dT (the time elapsed since the last tick call) is 0.0. If it is, tick() returns.
   
2. 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.
   
3. The yaw acceleration is calculated as the sum of calculateRudderYawAcceleration() and calculateResistanceYawAcceleration() and stored in myBodyRotationalAcceleration[2]. Then a call to integrateOrientation() calculates the new orientation of the ship.
   
4. The acceleration in body coordinates is calculated as the vector sum of calculateThrottleAcceleration() and calculateDragAcceleration(). The vector product of the body acceleration and myRelativeAcceleration is stored in myBodyToLocalMatrix. Finally, the new position is calculated by a call to integratePosition().
   
5. To stop slowly drifting ships, clampSmallVelocityToZero() is called.
   
6. In order to store the values that have been calculated during the tick in the entity's state repository, updateRepository() is called.
   
7. The actuator calls dataReceived(). This is done as a convenience for future subclasses – this actuator does not examine the newData flag.

Reimplemented from DtSimComponent.

virtual double DtSurfaceEntityActuator::calculateRudderYawAcceleration ( )

virtual

Calculates the signed yaw acceleration due to rudder.

The rudder yaw acceleration is calculated as a product of the current value on the rudder port, the maximum yaw acceleration specified in the descriptor, and the ratio of the current speed to the maximum speed of the vessel (from the state repository).

virtual double DtSurfaceEntityActuator::calculateResistanceYawAcceleration ( )

virtual

Calculates the signed yaw acceleration due to resistance.

The resistance yaw acceleration is calculated as a product of the maximum yaw acceleration (from the descriptor) and the ratio of the current yaw rate to the maximum yaw rate (squared).

virtual const DtVector DtSurfaceEntityActuator::calculateThrottleAcceleration ( )

virtual

Calculates the acceleration due to thrust, expressed in body coordinates.

The thrust vector is assumed to always be through the body's x-axis, so the y and z values should always be zero. The acceleration is set to zero under any of the following conditions - the entity's appearance is damaged or immobilized, the throttlePort does not have an active connection, or fuelLeft() is less than or equal to zero.

virtual const DtVector DtSurfaceEntityActuator::calculateDragAcceleration ( )

virtual

Calculates the drag acceleration, expressed in body coordinates.

The drag vector is always expressed in the opposite direction of the current heading. It is calculated as the ratio of the current speed to the maximum speed (squared) times the maximum acceleration.

virtual bool DtSurfaceEntityActuator::clampSmallVelocityToZero ( )

virtual

Called by tick() to zero out the velocity and acceleration of ships which are close to stopping due to drag.

This cuts off the asymptotic decline in velocity to make sure that the entity will eventually come to a full stop. The cutoff is determined by the value returned from stoppingSpeed.

virtual double DtSurfaceEntityActuator::stoppingSpeed ( )

virtual

Returns the speed used by clampSmallVelocityToZero() to determine when to stop drifting ships.

The default value is 1.0.

virtual void DtSurfaceEntityActuator::useFuel ( 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, useFuel() just returns. If the resource is found, the amount of fuel passed as the argument to useFuel() is deducted from the resource. When the resource reaches 0, a warning is printed to the object console.

virtual double DtSurfaceEntityActuator::fuelLeft ( ) const

virtual

Looks up the value of the resource named 'fuel' in the entity's resource manager.

If the resource is not found, it returns an appropriately large constant to implement unlimited fuel. Otherwise, the value of the resource is returned.

static DtSimComponent* DtSurfaceEntityActuator::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 DtSurfaceEntityActuator::createPortGroups ( )

protectedvirtual

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

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntityActuator::createPorts ( )

protectedvirtual

Creates myThrottlePort and myRudderPort and adds them to mySurfaceControlPortGroup.

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityActuator::integratePosition ( double  dT )

protectedvirtual

Assumes that myRelativeAcceleration holds the freshly calculated total acceleration for this frame, expressed in local coordinates.

This function integrates over dT, and stores a new velocity and position in myRelativeVelocity and myLocalPosition respectively

virtual void DtSurfaceEntityActuator::integrateOrientation ( double  dT )

protectedvirtual

Assumes that myBodyRotationalAcceleration holds the freshly calculated total rotational acceleration for this frame, expressed in body coordinates.

This function integrates over dT, and stores a new body rates, and orientation in myBodyRotationRates, and myOrientation respectively. To insure that the yaw rate does not exceed the maximum rate, constrainYawAcceleration is called.

void DtSurfaceEntityActuator::constrainYawAcceleration ( double &  yawAcceleration, double  yawRate, double  maxYawRate, double  dT  )

protected

Constrain incoming yaw acceleration such that resulting yawRate for the given time interval does not exceed the given maximum yaw rate for the time interval dT.

virtual void DtSurfaceEntityActuator::updateRepository ( )

protectedvirtual

Copy newly calculated state data from myLocalPosition, myRelativeVelocity, myRelativeAcceleration, myOrientation and myBodyRotationRates into the object's state repository.

DtSurfaceEntityStateRepository* DtSurfaceEntityActuator::surfaceEntityState ( void  ) const

protected

virtual bool DtSurfaceEntityActuator::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 DtSurfaceEntityActuator& DtSurfaceEntityActuator::operator= ( const DtSurfaceEntityActuator &  orig )

protected

assignment operator; not implemented

Member Data Documentation

DtSurfaceEntityStateRepository* DtSurfaceEntityActuator::mySurfaceEntityState

protected

DtSurfaceEntityActuatorDescriptor* DtSurfaceEntityActuator::mySurfaceEntityActuatorDescriptor

protected

DtInputPortGroup* DtSurfaceEntityActuator::mySurfaceControlPortGroup

protected

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

DtConstrainedAnalogInputPort* DtSurfaceEntityActuator::myThrottlePort

protected

Input Port Name: throttle
Input Port Description:
Input Port Range: 0.0 to 1.0
Input Port Default Value:
Input Group Parent: surface-control.

DtConstrainedAnalogInputPort* DtSurfaceEntityActuator::myRudderPort

protected

Input Port Name: rudder
Input Port Description:
Input Port Range: -1.0 to 1.0
Input Port Default Value:
Input Group Parent: surface-control.

DtBooleanOutputPort* DtSurfaceEntityActuator::mySmallVelocityClampedPort

protected

Output Port Name: clamp-small-vel-zero
Output Port Description:
Output Port Default Value: True
.

DtDcm DtSurfaceEntityActuator::myBodyToLocalMatrix

protected

DtDcm DtSurfaceEntityActuator::myLocalToBodyMatrix

protected

DtVector DtSurfaceEntityActuator::myLocalPosition

protected

DtVector DtSurfaceEntityActuator::myRelativeVelocity

protected

DtVector DtSurfaceEntityActuator::myRelativeAcceleration

protected

DtTaitBryan DtSurfaceEntityActuator::myOrientation

protected

DtVector DtSurfaceEntityActuator::myBodyRotationRates

protected

DtVector DtSurfaceEntityActuator::myBodyRotationalAcceleration

protected

DtSurfaceMovementPSR* DtSurfaceEntityActuator::myProcessState

protected

Container for state data associated with this component.

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

bool DtSurfaceEntityActuator::myOutOfFuelWarningPrinted

protected

DtUpdateRepositoryOutputPortGroup* DtSurfaceEntityActuator::myUpdateRepositoryOutputPortGroup

protected

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

All values are in local coordinates

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

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