rotaryWingFollowEntityController.h

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/*******************************************************************************
** Copyright (c) 2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once


#include "vrfmodel/rotaryWingMoveToControllerComponent.h"
#include <vlutil/vlString.h>
#include <matrix/vlVector.h>

class DtSimManager;
class DtSimMessage;
class DtRotaryWingFollowTaskDescriptor;
class DtRotaryWingEntityStateRepository;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtRotaryWingFollowEntityController : public DtRotaryWingMoveToControllerComponent
{

public:

   DtRotaryWingFollowEntityController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtRotaryWingFollowEntityController();

   virtual const char* type() const;


   static void followEntityCallback(DtSimMessage * msg, void * usrData);

   virtual void processFollowEntityTask(DtSimMessage * msg);

   virtual const DtUUID& entityToFollow() const;
   virtual void setEntityToFollow(const DtUUID& entity);

   virtual const DtVector& offsetVector() const;
   virtual void setOffsetVector(const DtVector& offsets);

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

protected:
   DtRotaryWingFollowEntityController();

   DtRotaryWingFollowEntityController(const DtRotaryWingFollowEntityController & 
      orig);

   const DtRotaryWingFollowEntityController & operator=(const 
      DtRotaryWingFollowEntityController & orig);

   virtual void registerTaskMsgCallbacks();

   virtual void tick();

   virtual void stop();

   virtual void pilotProperties();

   virtual double findDesiredSpeed(const DtVector& target, bool& matchingTarget);

   virtual bool passedDestination(const DtVector& target);

   virtual bool atDestination(const DtVector& target);
   virtual bool getCurrentLeaderState(
      DtVector& localPosition, DtVector& localVelocity, 
      DtTaitBryan& topoOrientation, DtVector& topoRotationRate);

   virtual void calculateDesiredVelocity(double desiredSpeed, const DtVector& nextPoint);

   virtual void updateTaskVisualizations();

protected:

   DtVrfObject * myEntityPointer;

   const DtRotaryWingFollowTaskDescriptor* myFollowDescriptor;

   DtRotaryWingEntityStateRepository* myRotaryWingEntityState;

   DtDcm myLocalToTopoDcm;
};