VR-Forces 4.6 Class Documentation
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DtSurfaceEntityFollowEntityController Class Reference

DtSurfaceEntityFollowEntityController is a controller that models station keeping behavior for surface entities. More...

Inheritance diagram for DtSurfaceEntityFollowEntityController:
Inheritance graph
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Public Member Functions

 DtSurfaceEntityFollowEntityController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString&,DtVrfObject*,DtSimManager*,
virtual ~DtSurfaceEntityFollowEntityController ()
 Destructor.
virtual const chartype () const
 Returns a string identifies the class type of component.
virtual bool init ()
 Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState.
virtual void processFollowEntityTask (DtSimMessage *msg)
 Retrieves the entity to follow and offset from the task message.
virtual void registerTaskMsgCallbacks ()
 Registers interest in follow entity tasks by calling addTaskProcessorCallback with followEntityCallback as the function pointer, and the 'this' pointer as the user data.
virtual void tick ()
 This gives the thread of control to the component.
virtual void clearTask ()
 Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.
virtual bool createSurfaceControlPortGroup ()
 Creates the surface control output port group.
- Public Member Functions inherited from DtSingleTaskControllerComponent
 DtSingleTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString& name,
virtual ~DtSingleTaskControllerComponent ()
 destructor
virtual void postTick ()
 Override to check if we're tasked and we want to give up (only performs the check if we're in play mode (dT() > 0)).
virtual bool beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)
 Called by the task manager when this controller should start executing the specified task.
virtual void taskNotify (const DtSimTask &task)
 This is called to let us know when some other component receives a task In the case of this component, we don't care what the task actually is.
virtual void taskComplete (bool success=true)
 If we are currently tasked, this will cause us to notify the entity that we're done and delete the task.
virtual void suspendTask ()
 This method is called when the currently running task is being suspended.
virtual int sendSubtask (DtSimTask &task)
 Sends subtask to ourself.
virtual void clearSubtask (int subtaskId)
 Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()).
virtual void addPendingSubtaskId (int subtaskId)
 Adds given subtask Id to list of pending subtasks.
virtual bool findPendingSubtaskId (int subtaskId)
 Checks to see if given subtaskId exists in our list of pending subtasks.
virtual bool isSubtasked () const
 Returns true if this controller is currently subtasked.
virtual void removePendingSubtaskId (int subtaskId)
 Removes pending subtask from list of subtasks for this component.
virtual void removeAllPendingSubtaskIds ()
 Clear all pending subtasks from our list of subtasks.
virtual std::vector< intcurrentPendingSubstaskIds () const
 Returns the list of all currently pending subtask ids for this controller.
virtual void clearCurrentTaskMessage ()
 Returns the current subtask with the specified id.
virtual DtTaskMessagecurrentTaskMessage () const
 Get a pointer to the message that was used to task this entity.
virtual DtSimTaskStatePtr currentTaskState () const
virtual void giveUpTask ()
 Called when controller is tasked and decideToGiveUp() returns true.
virtual bool taskActive (int taskId) const
 
virtual bool clearTopLevelTasks ()
 If this controller has any top level tasks (not subtasks), they are cleared.
virtual void clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
 Clears any top level tasks on this controller that conflict with the conflict task type.
virtual void clearTasksByType (const DtSimTaskMessageType &taskType)
 Clears any tasks of the specified type running in this controller.
virtual void clearTaskById (int taskId)
 Clears any task of the specified ID running in this controller.
virtual DtSuspendedTaskInfosuspendTaskById (int taskId)
virtual std::list
< DtTaskMessage * > 
currentTaskMessages () const
 
virtual DtTaskWithTaskStateListPtr topLevelTasks () const
 
- Public Member Functions inherited from DtTaskControllerComponent
 DtTaskControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString& name,
virtual ~DtTaskControllerComponent ()
 destructor
virtual bool showCurrentTaskInGui () const
virtual void setRadio (DtSimRadio *radio)
 Calls registerTaskMsgCallbacks.
virtual void addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
 Adds a new function for processing the specified task type.
virtual void addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
 Deprecated form of addTaskProcessorCallback.
virtual void removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
 Undoes anything done by addTaskProcessorCallback().
virtual void removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
 Deprecated form of removeTaskProcessorCallback.
virtual void enable ()
 Overridden to call registerTaskMsgCallbacks().
virtual void disable ()
 Overridden to 1) remove any task message callbacks registered by this controller 2) call clear task.
virtual void sendTaskCanceled (DtTaskMessage *taskMsg)
 Sends the task canceled report for the specified message.
virtual bool taskVisualizationsActive () const
 Returns true if task visualizations are currently active for this component.
virtual void setTasked (bool tasked)
 The current tasked state of this controller.
virtual bool tasked () const
- Public Member Functions inherited from DtControllerComponent
 DtControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString& name,
virtual ~DtControllerComponent ()
 destructor
virtual DtSimRadioradio ()
 The radio this component is listening to.
- 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 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 DtSimComponentnextComponent ()
 List management functions.
virtual DtSimComponentprevComponent ()
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 DtInputPortlookupInputPort (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 DtOutputPortlookupOutputPort (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 DtInputPortGrouplookupInputPortGroup (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 DtOutputPortGrouplookupOutputPortGroup (const DtString &groupName)
 Returns a pointer the output port group registered on this component with the specified name.
virtual DtList outputPortGroupList () const
 Returns the list of DtOutputPortGroups registered on this component.
virtual int priority () const
 Return the current connection priority for this component.
virtual void setPriority (int priority)
 Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double dT () const
 This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void setDT (double deltaT)
 Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual void setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
 The component descriptor specified in the order of battle file or parameter file that was used to create this component.
virtual const
DtComponentDescriptor
componentDescriptor () const
virtual bool tickWhileDestroyed () const
 If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
DtVrfProcessStateRepositoryManagerpsrManager ()
virtual DtString componentFullName () const
virtual DtPhysicalWorldphysicalWorld ()
 Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorldphysicalWorld () const
virtual DtAttachedTerrainterrainAttachedTo ()
 Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrainterrainAttachedTo () const
virtual DtVrfObjectentity ()
 Gets the entity.
virtual const DtVrfObjectentity () const
virtual DtSimManagersimManager ()
 Gets the sim manager.
virtual const DtSimManagersimManager () const
virtual const Coordinate_SystemcoordinateSystem () const
 Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_SystemcoordinateSystem ()
virtual
DtVrfObjectStateRepository
localStateRepository ()
 Gets the local state repository.
virtual const
DtVrfObjectStateRepository
localStateRepository () const
virtual DtTaskVisualizationMaptaskVisualizations ()
 Returns the list of task visualizations for this component.
virtual bool taskVisualizationsEnabled () const
 Returns true if task visualizations are enabled for this component.
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 DtSimResourceManagerresourceManager ()
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 DtReaderWriteroperator= (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 aliasContaineraliases () 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 charreaderWriterType () const
 Used to supply a string type that this reader writer type is.
virtual const charxmlType () 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 DtReaderWriterdefaultRWValue () const
 The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriterdefaultRWValue ()
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 DtReaderWriterRegistryregistry () const
 Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistryregistry ()
virtual DtPropertyInterfaceproperty ()
virtual const DtPropertyInterfaceproperty () const
virtual DtString toXml () const
virtual bool toXml (const DtFilename &) const
 Writes contents of xml result to the given filename.
virtual bool fromXml (const DtString &)
 Restores object from given xml string. Returns true if valid.
virtual bool fromXmlFile (const DtFilename &)
 Restores object from given xml file.
virtual void putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void putData (DtEnvironmentSP, DtEnvValueSP value) const
 Override to add attributes of actual data.
virtual void putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
 Called when the item is a variable reference.
virtual void getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
 Gets data from the environment value.
virtual void unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
 Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op.
virtual void getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
 Called when the item is a variable reference.

Static Public Member Functions

static void followEntityCallback (DtSimMessage *msg, void *usrData)
 Called when a follow entity message is received.
static DtSimComponentcreator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions

virtual bool setupControlPoint ()
 Sets myControlPoint to the follow location.
virtual void controlMovement ()
 Computes the acceleration and turn needed to follow the station.
virtual void moveTowardProjectedStationPosition (double distanceToStation, double approachDistance)
 For the case when the entity starts far away from the station.
virtual void moveBackToApproachPoint (bool onLeftSide, double approachDistance, double turnRadius)
 If the entity is too far in front of the station, or oriented in the opposite direction as the station is moving, then this function is called to move the entity back toward a point approachDistance behind the station and one turnRadius to the side.
virtual void turnToProjectedStationLine (bool isOnLeft, double radius, double distanceToSegment)
 Set the turn rate port (via turnAtspeed()) to move toward and then align with the line extending from the station in the given direction.
virtual void accelToCatchUp (double stationSpeed, double entitySpeed, double distanceBehindStation)
 Set the acceleration port to make the entity catch up to the (moving) station, decelerating to the station's speed just as it it reaches the station.
virtual void accelToDropBack (double stationSpeed, double entitySpeed, double distanceAheadOfStation, double distanceFromLine)
 Set the acceleration port to make the entity decelerate to a speed below the station's speed–possibly stopping for a time– before accelerating again to meet the (moving) station just as the station catches the entity.
virtual void turnAtSpeed (double desiredHeading, double desiredSpeed)
 Turn and go at the given speed.
virtual bool willOverrunPoint (double distanceAhead, double distanceFromLine, double entitySpeed, double turnRadius, double pointSpeed, double maxWaitTime)
 Test to see if the entity moving at entitySpeed, after decelerating at its max rate to a stop, will still be > maxWaitTime in front of a point that is distanceAhead behind the entity, traveling at pointSpeed.
virtual double calculateAcceleration (double desiredSpeed)
 Computes the acceleration needed to reach the given speed, based on the difference between current and desired speeds.
virtual double limitAcceleration (double desiredAcceleration, double desiredSpeed)
 Constrains the acceleration to maxes defined in the parameters and avoids more acceleration than is needed to get to the desired speed in dT.
virtual bool createPortGroups ()
 Overridden to call createSurfaceControlPortGroup().
virtual bool createPorts ()
 Overridden to call createThrottlePort() and createRudderPort().
virtual void lookupAndCacheProcessSR ()
 This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.
virtual bool postAddComponentsInit ()
 Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.
virtual bool decideToGiveUpTask () const
 If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class.
 DtSurfaceEntityFollowEntityController ()
 Default constructor; not implemented.
 DtSurfaceEntityFollowEntityController (const DtSurfaceEntityFollowEntityController &orig)
 copy constructor; not implemented
const
DtSurfaceEntityFollowEntityController
operator= (const DtSurfaceEntityFollowEntityController &orig)
 assignment operator; not implemented
- Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void clearPendingSubtasks ()
 Iterates over collection of all pending subtasks for this controller, and calls clearSubtask() for each subtask type.
virtual void clearSubtasksByType (const DtSimTaskMessageType &taskType)
 Clear all subtasks of a given type.
virtual void cleanupInactiveSubtaskStatus ()
 Clears out subtask status entries that are either completed or canceled which were started by this controller.
- Protected Member Functions inherited from DtTaskControllerComponent
virtual void suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)
 Suspends all running subtasks of taskId, and puts the suspend info for each of them as subtasks into the provided suspendInfo.
virtual DtSimTaskMessageType remapScriptId (const DtSimTaskMessageType &) const
 In case this is aliased, return the actual script id.
- Protected Member Functions inherited from DtControllerComponent
 DtControllerComponent ()
 default constructor
 DtControllerComponent (const DtControllerComponent &orig)
 copy constructor
const DtControllerComponentoperator= (const DtControllerComponent &orig)
 assignment operator
- Protected Member Functions inherited from DtSimComponent
virtual double computeCurrentTime ()
 Compute current time and myDT.
bool testInvariant () const
DtVrfProcessStateRepositorycreateComponentPsr (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

DtVrfMovingObjectStateRepositorymyEntityState
DtSurfaceEntityPilotControllerDescriptormyDescriptor
const DtSurfaceEntityParametersmyParameters
 Cache a pointer to the entity parameters.
DtSurfaceMovementPSRmyProcessState
 Pointer to a process state repository used to store state data associated with this component.
DtReal myApproachSpeed
 DtVector2D myNEStationVelocity;.
bool myIgnoreApproach
 This is set when the station is moving more than a couple knots.
DtSurfFollowState myFollowState
 For debugging.
Ports and Port Groups

Acceleration can be positive or negative.

DtAnalogOutputPortmyAccelerationPort
DtAnalogOutputPortmyClampSpeedPort
 The goal speed; used by the actuator to prevent accelerating past the desired speed if dT is much longer than expected.
DtAnalogOutputPortmyTurnRatePort
 Rotation rate in radians/sec. Positive is to the right.
DtAnalogOutputPortmyFinalHeadingPort
 A clamp heading, similar to clamp speed.
DtOutputPortGroupmySurfaceControlPortGroup
 Output Port Group Name: surface-control
Output Port Group Description: acceleration, clamp speed, turn rate, and final heading ports.
DtVrfObjectmyLeaderPointer
 Set fresh each frame by setupControlPoint.
DtLocation3D myGeodCurrentPosition
 DtVector myLocalStationPosition; // local coordinates DtVector myLocalStationVelocity; // local coordinates.
DtVector2D myNEStationToEntity
DtLocation3D myGeodStationPosition
DtVector2D myUnitNEStationDirection
double myStationSpeed

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 DtTaskControllerComponent
typedef std::pair
< DtTaskMessageCallbackFcn,
void * > 
DtTaskCallbackMapPair
 This map stores callbacks that have been registered to processes various tasks.
typedef std::map
< DtSimTaskMessageType,
DtTaskCallbackMapPair
DtTaskCallbackMap
- Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactorymyFactory

Detailed Description

DtSurfaceEntityFollowEntityController is a controller that models station keeping behavior for surface entities.

Constructor & Destructor Documentation

DtSurfaceEntityFollowEntityController::DtSurfaceEntityFollowEntityController ( const DtString name,
DtVrfObject owner,
DtSimManager simManager,
DtComponentDescriptor desc = 0,
DtReaderWriterRegistry parentRegistry = 0 
)

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters
nameReader writer name of this component.
ownerThe DtVrfObject that owns this component
simManagerThe simulation manager (provides access to terrain, message interface, simulation clock).
descThe component descriptor used to initialize this component.
parentRegistryPointer to the parent reader writer registry (the containing object that reads/writes this object).
(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtSurfaceEntityFollowEntityController::~DtSurfaceEntityFollowEntityController ( )
virtual

Destructor.

Deletes myControlPoint

DtSurfaceEntityFollowEntityController::DtSurfaceEntityFollowEntityController ( )
protected

Default constructor; not implemented.

DtSurfaceEntityFollowEntityController::DtSurfaceEntityFollowEntityController ( const DtSurfaceEntityFollowEntityController orig)
protected

copy constructor; not implemented

Member Function Documentation

virtual const char* DtSurfaceEntityFollowEntityController::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
DtSurfaceEntityFollowEntityType

Implements DtTaskControllerComponent.

virtual bool DtSurfaceEntityFollowEntityController::init ( )
virtual

Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState.

Reimplemented from DtControllerComponent.

static void DtSurfaceEntityFollowEntityController::followEntityCallback ( DtSimMessage msg,
void *  usrData 
)
static

Called when a follow entity message is received.

Instances of this component will register this callback in registerTaskMsgCallbacks (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of follow entity tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processFollowEntityTask is called with the follow task message.

virtual void DtSurfaceEntityFollowEntityController::processFollowEntityTask ( DtSimMessage msg)
virtual

Retrieves the entity to follow and offset from the task message.

Called by followEntityCallback to take the name of the entity to follow and the follow offset and store them in the process state repository. The name of the entity is also stored in the PSR as the control object name for debugging purposes.

virtual void DtSurfaceEntityFollowEntityController::registerTaskMsgCallbacks ( )
virtual

Registers interest in follow entity tasks by calling addTaskProcessorCallback with followEntityCallback as the function pointer, and the 'this' pointer as the user data.

Reimplemented from DtTaskControllerComponent.

virtual void DtSurfaceEntityFollowEntityController::tick ( )
virtual

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityFollowEntityController::clearTask ( )
virtual

Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtSurfaceEntityFollowEntityController::createSurfaceControlPortGroup ( )
virtual

Creates the surface control output port group.

virtual bool DtSurfaceEntityFollowEntityController::setupControlPoint ( )
protectedvirtual

Sets myControlPoint to the follow location.

Checks to make sure the leader is still valid. Updates the station location and velocity based on the leader. Velocity includes rotation of the offset position around the leader when the leader is rotating.

virtual void DtSurfaceEntityFollowEntityController::controlMovement ( )
protectedvirtual

Computes the acceleration and turn needed to follow the station.

Assesses the configuration of the entity relative to the station– station position and direction, station speed, entity speed, distance of entity from station and distance ahead (or behind) of entity's position projected onto the station's direction line; then

  • if far away, moves toward a projected station position;
  • if generally aligned with the station move direction, moves toward the direction line and adjusts speed to intercept the station going the same speed as the station;
  • if oriented opposite to the station direction, moves to an approach point behind and to the side of the station so it has room to turn around and approach the station from the rear;
  • if it is aligned with station direction but out in front, more than a threshold distance, and the station will not "catch up" to it in a threshold time, then the entity will circle back to an approach point.

The follow task is only allowed with forward movement. If the entity is moving backwards, it is first stopped.

Ordered speed is ignored, as the entity's task is to match the speed of the station. When it has to catch up, the entity moves at up to max speed.

virtual void DtSurfaceEntityFollowEntityController::moveTowardProjectedStationPosition ( double  distanceToStation,
double  approachDistance 
)
protectedvirtual

For the case when the entity starts far away from the station.

Estimate the movement of the station, and move the entity toward a point approachDistance behind the projected position. Calls turnAtSpeed to set port outputs for heading to target position, at max speed.

Parameters
approachDistanceDtVector& stationDirection, double approachDistance);
virtual void DtSurfaceEntityFollowEntityController::moveBackToApproachPoint ( bool  onLeftSide,
double  approachDistance,
double  turnRadius 
)
protectedvirtual

If the entity is too far in front of the station, or oriented in the opposite direction as the station is moving, then this function is called to move the entity back toward a point approachDistance behind the station and one turnRadius to the side.

The acceleration output maintains speed through this point. Calls turnAtSpeed to set port outputs for heading to target position, at max speed * normalAccelerationFraction.

Parameters
turnRadiusdouble turnRadius, DtVector &stationDirection);
virtual void DtSurfaceEntityFollowEntityController::turnToProjectedStationLine ( bool  isOnLeft,
double  radius,
double  distanceToSegment 
)
protectedvirtual

Set the turn rate port (via turnAtspeed()) to move toward and then align with the line extending from the station in the given direction.

Calls turnAtSpeed to set port outputs for heading toward line, at max speed * normalAccelerationFraction. virtual void turnToProjectedStationLine(DtVector &stationDirection,

virtual void DtSurfaceEntityFollowEntityController::accelToCatchUp ( double  stationSpeed,
double  entitySpeed,
double  distanceBehindStation 
)
protectedvirtual

Set the acceleration port to make the entity catch up to the (moving) station, decelerating to the station's speed just as it it reaches the station.

Output is implicit: acceleration & clamp speed output ports are set.

virtual void DtSurfaceEntityFollowEntityController::accelToDropBack ( double  stationSpeed,
double  entitySpeed,
double  distanceAheadOfStation,
double  distanceFromLine 
)
protectedvirtual

Set the acceleration port to make the entity decelerate to a speed below the station's speed–possibly stopping for a time– before accelerating again to meet the (moving) station just as the station catches the entity.

DistanceAheadOfStation is based on the entity's location projected onto a line in front of the station its direction of movement. DistanceFromLine is the distance of the entity from this line; this is used to ensure a minimal speed if the entity has not yet merged into the line. Output is implicit: acceleration & clamp speed output ports are set.

virtual void DtSurfaceEntityFollowEntityController::turnAtSpeed ( double  desiredHeading,
double  desiredSpeed 
)
protectedvirtual

Turn and go at the given speed.

Turns in the closest direction to the desired heading. Assumes forward speed >= 0. Sets the turn rate and acceleration ports appropriately. Output is implicit: output ports are set.

virtual bool DtSurfaceEntityFollowEntityController::willOverrunPoint ( double  distanceAhead,
double  distanceFromLine,
double  entitySpeed,
double  turnRadius,
double  pointSpeed,
double  maxWaitTime 
)
protectedvirtual

Test to see if the entity moving at entitySpeed, after decelerating at its max rate to a stop, will still be > maxWaitTime in front of a point that is distanceAhead behind the entity, traveling at pointSpeed.

In addition to the wait-time test, the function checks distance; if the entity would stop within a distance threshold (proportional to entity size) of the station, this function will return false.

virtual double DtSurfaceEntityFollowEntityController::calculateAcceleration ( double  desiredSpeed)
protectedvirtual

Computes the acceleration needed to reach the given speed, based on the difference between current and desired speeds.

Calls limitAcceleration to constrain it.

virtual double DtSurfaceEntityFollowEntityController::limitAcceleration ( double  desiredAcceleration,
double  desiredSpeed 
)
protectedvirtual

Constrains the acceleration to maxes defined in the parameters and avoids more acceleration than is needed to get to the desired speed in dT.

virtual bool DtSurfaceEntityFollowEntityController::createPortGroups ( )
protectedvirtual

Overridden to call createSurfaceControlPortGroup().

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntityFollowEntityController::createPorts ( )
protectedvirtual

Overridden to call createThrottlePort() and createRudderPort().

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityFollowEntityController::lookupAndCacheProcessSR ( )
protectedvirtual

This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.

The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.

virtual bool DtSurfaceEntityFollowEntityController::postAddComponentsInit ( )
protectedvirtual

Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.

Returns
true if myProcessState is not null

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntityFollowEntityController::decideToGiveUpTask ( ) const
protectedvirtual

If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class.

Reimplemented from DtSingleTaskControllerComponent.

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters
nameReader writer name of this component.
ownerThe DtVrfObject that owns this component
simManagerThe simulation manager (provides access to terrain, message interface, simulation clock).
descThe component descriptor used to initialize this component.
parentRegistryPointer 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.
const DtSurfaceEntityFollowEntityController& DtSurfaceEntityFollowEntityController::operator= ( const DtSurfaceEntityFollowEntityController orig)
protected

assignment operator; not implemented

Member Data Documentation

DtVrfMovingObjectStateRepository* DtSurfaceEntityFollowEntityController::myEntityState
protected
DtSurfaceEntityPilotControllerDescriptor* DtSurfaceEntityFollowEntityController::myDescriptor
protected
const DtSurfaceEntityParameters* DtSurfaceEntityFollowEntityController::myParameters
protected

Cache a pointer to the entity parameters.

DtSurfaceMovementPSR* DtSurfaceEntityFollowEntityController::myProcessState
protected

Pointer to a process state repository used to store state data associated with this component.

This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myAccelerationPort
protected
DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myClampSpeedPort
protected

The goal speed; used by the actuator to prevent accelerating past the desired speed if dT is much longer than expected.

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myTurnRatePort
protected

Rotation rate in radians/sec. Positive is to the right.

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myFinalHeadingPort
protected

A clamp heading, similar to clamp speed.

DtOutputPortGroup* DtSurfaceEntityFollowEntityController::mySurfaceControlPortGroup
protected

Output Port Group Name: surface-control
Output Port Group Description: acceleration, clamp speed, turn rate, and final heading ports.

DtVrfObject* DtSurfaceEntityFollowEntityController::myLeaderPointer
protected

Set fresh each frame by setupControlPoint.

DtLocation3D DtSurfaceEntityFollowEntityController::myGeodCurrentPosition
protected

DtVector myLocalStationPosition; // local coordinates DtVector myLocalStationVelocity; // local coordinates.

DtVector2D DtSurfaceEntityFollowEntityController::myNEStationToEntity
protected
DtLocation3D DtSurfaceEntityFollowEntityController::myGeodStationPosition
protected
DtVector2D DtSurfaceEntityFollowEntityController::myUnitNEStationDirection
protected
double DtSurfaceEntityFollowEntityController::myStationSpeed
protected
DtReal DtSurfaceEntityFollowEntityController::myApproachSpeed
protected

DtVector2D myNEStationVelocity;.

The nominal speed to use for approach maneuvers. This will be the ordered speed unless that is zero (or negative), in which case a fraction of max speed is used arbitrarily. Computed every tick.

bool DtSurfaceEntityFollowEntityController::myIgnoreApproach
protected

This is set when the station is moving more than a couple knots.

It forces the entity to ignore the "back-facing" condition to go back to an approach point. This situation arises when the leader is turning and the station-following geometry changes in abrupt ways.

DtSurfFollowState DtSurfaceEntityFollowEntityController::myFollowState
protected

For debugging.


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

Document ID: Generated on Thu Apr 12 03:15:37 EDT 2018 from SVN revision 187986
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