simpleRotaryWingPilot.h

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/*******************************************************************************
** Copyright (c) 2006 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/rotaryWingPilotController.h"
#include <matrix/vlDcm.h>
#include <matrix/vlVector.h>
#include "vrfmodel/vrfmodelDefines.h"

class DtString;
class DtSimManager;
class DtRotaryWingPilotDescriptor;
class Coordinate_System;
class DtVectorInputPort;

class DT_DLL_vrfmodel DtSimpleRotaryWingPilot : public DtRotaryWingPilotController
{
public:

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

   virtual ~DtSimpleRotaryWingPilot();


   virtual void setDesiredInertialPos(
      DtReal localX, 
      DtReal localY, 
      DtReal localZ);
   virtual void setDesiredInertialPos(const DtVector& localPosition);

   virtual void setDesiredInertialVel(
      DtReal vx,
      DtReal vy,
      DtReal vz);
   virtual void setDesiredInertialVel(
      const DtVector& vel);

   virtual bool init();

   virtual const char* type() const;

   static void vectorBound(DtVector& vec, DtReal bound);

   virtual void tick();

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

private:
   DtSimpleRotaryWingPilot();

   DtSimpleRotaryWingPilot(const DtSimpleRotaryWingPilot& orig);

   DtSimpleRotaryWingPilot& operator=(const DtSimpleRotaryWingPilot& orig);

protected:
   virtual void getTransformationMatrices();

   virtual void checkLandNoFuel();

   virtual double desiredMaximumSpeed() const;

   virtual void calculateDesiredAndActualLinearVelocity(DtVector& desiredBodyVel,
      DtVector& topoDesiredInertialVel, DtVector& actualBodyVel);

   virtual void findEarthCurveDeltaPosition(DtVector fromPosition,
      DtVector toPosition, DtVector& deltaPosition,
      Coordinate_System* coordinateSystem);

   virtual void computePositionRateControl(DtVector& dampingVelocity);

   virtual void calculateDesiredLinearAcceleration(const DtVector& topoDesiredInertialVel,
      DtVector& desiredBodyAcc);

   virtual void calculateDesiredAngularVelocity(const DtVector& desiredBodyAcc,
      const DtVector& desiredBodyVel, const DtVector& actualBodyVel,
      DtVector& desiredAngularVel);

   virtual void calculateDesiredAngularAcceleration(
      const DtVector& desiredAngularVel, DtVector& desiredAngularAcc);

   virtual double calculateWhiteNoiseScaleFactor();

   virtual void setCyclic(const DtVector& desiredAngularAcc, double noiseFactor);

   virtual void setCollective(const DtVector& desiredBodyAcc, double noiseFactor);

   virtual void setPedal(const DtVector& desiredAngularAcc, double noiseFactor);

   virtual void setThrottle();

   virtual DtReal terrainAvoidanceVelocity() const;

   virtual void calculateControlAlignmentAngle(DtReal& alignmentAngle,
                                        bool& selector) const;

   virtual void calculateTargetAlignmentAngle(DtReal& alignmentAngle,
                                        bool& selector) const;

   virtual void adjustDesiredThrustZForClimbRate(
      DtVector& desiredThrustTopo,
      const double currentClimbRate);

   virtual void adjustDesiredThrustXYForHorizontalVelocity(
      DtVector& desiredThrustTopo, const DtVector& currentVelocityTopo);

   virtual void boundHorizontalAcceleration(DtVector & desiredThrustTopo);

   virtual bool createPorts();

protected:






   DtVectorInputPort* myTargetLocationInputPort;

   DtRotaryWingPilotDescriptor *myPilotDescriptor;

   DtDcm myBodyToRef;

   DtDcm myLocalToTopoDcm;

   DtDcm myTopoToLocalDcm;

public:

   static DtReal xyDistSquared(DtVector a, DtVector b);

};