DtBaseMountingController is a controller that generates the azimuth and elevation controls needed to manipulate a weapon mount to the a desired azimuth and elevation. More...

Inheritance diagram for DtBaseMountingController:

[legend]

Public Member Functions
	DtBaseMountingController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtBaseMountingController ()
	destructor
virtual bool	postAddComponentsInit ()
	Overridden to activate myMountingControlPortGroup.
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual DtOutputPortGroup *	mountingControlPortGroup ()
	Returns myMountingControlPortGroup.
virtual DtInputPortGroup *	azimuthInfoPortGroup ()
	Returns myAzimuthInfoPortGroup.
virtual DtInputPortGroup *	elevationInfoPortGroup ()
	Returns myAzimuthInfoPortGroup.
virtual void	tick ()
	Calculate new control values.
virtual void	reorientMounting ()
	Spin the mounting to point toward the desired targetPoint or desiredAzimuth/desiredElevation.
virtual void	findDesiredAzimuthAndElevation ()
	Base fn (should be overridden): set desired az and el from parameter inputs.
virtual bool	desiredOrientationIsInRange (double &azimuthOutOfRangeBy, double &elevationOutOfRangeBy, double additionalAzimuthMargin=0.0, double additionalElevationMargin=0.0)
	Returns true if the desired azimuth and elevation are within the range that this mounting can do.
virtual bool	azimuthIsInRange (double azimuth, double &outofRangeBy, double additionalMargin=0.0)
	Returns true if the specified azimuth angle is within the range that this mounting can do.
virtual bool	elevationIsInRange (double elevation, double &outofRangeBy, double additionalMargin=0.0)
	Returns true if the specified elevation angle is within the range that this mounting can do.
virtual bool	createAzimuthPort ()
	These are called in init to create the ports used to communicate with the actuator.
virtual DtConstrainedAnalogOutputPort *	azimuthPort () const
virtual bool	createElevationPort ()
virtual DtConstrainedAnalogOutputPort *	elevationPort () const
virtual bool	createAzimuthInfoPorts ()
	creates the ports used by myAzimuthInfoPortGroup
virtual bool	createElevationInfoPorts ()
	creates the ports used by myElevationInfoPortGroup
virtual double	approximateMountSwing (double angleChange, double maxRate)
	Determine how fast a mounting should swing given the angle it must travel through (angleChange) and the maxRate of its transit.

virtual void	setDesiredAzimuth (DtReal desiredAzimuth)
virtual DtReal	desiredAzimuth ()

virtual void	setDesiredElevation (DtReal desiredElevation)
virtual DtReal	desiredElevation ()
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 bool	init ()
	Calls setRadio()
virtual DtSimRadio *	radio ()
	The radio this component is listening to.
virtual void	taskNotify (const DtSimTask &task)
	This is used by the entity to notify all controllers that a new task has been received.
virtual void	clearTask ()
	Called when you want to clear out this component's task state.
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
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
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 bool	isThreadSafe () const
	Returns true if this component is marked as being thread safe.
virtual void	addVRLinkDeferredJob (const boost::function< void()> &callback)
	Adds a deferred job to the VRLink job queue in the DtParallelTickManager, but only if this component is marked at thread safe.
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 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 DtRwVariableBindings *	generateVariableBindings () const
	Iterates over the registry (recursively) and returns a variable bindings object that contains all the variables that are contained in this read/writer class.
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 double	angleErrorGivenRotationLimits (double currentAngle, double desiredAngle, double allowedRotationCenter, double allowedRotationRange)
	Compute the angle error from the current angle to the desired, and then adjust the difference to go the right way around to get to the desired angle–either the shortest way, or if there is a range limit in that direction, then the other way.
virtual bool	createPortGroups ()
	Overridden to create mounting port groups.
virtual bool	createPorts ()
	Overridden to create mounting ports.
	DtBaseMountingController ()
	default constructor; not implemented
	DtBaseMountingController (const DtBaseMountingController &orig)
	copy constructor; not implemented
const DtBaseMountingController &	operator= (const DtBaseMountingController &orig)
	assignment operator; not implemented
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor
	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
virtual void	onRestore ()
	Override to iterate over the descriptor to see if there are any targetting control tables.
virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)
virtual void	setRadio (DtSimRadio *radio)
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< DtSimComponent >
	DtObjectDebugger ()
	DtObjectDebugger (const DtObjectDebugger &)
	~DtObjectDebugger ()

Protected Attributes
DtArticulatedPartStateRepository *	myAzimuthMountPart
DtArticulatedPartStateRepository *	myElevationMountPart
DtArticulatedPartStateRepository *	myChildSimBody
DtReal	myDesiredAzimuth
	Desired azimuth angle relative to the body.
DtReal	myDesiredElevation
	Desired elevation angle relative to the body.
DtReal	myAngleApproxMargin
	To prevent endless fine adjustments to the azimuth and elevation we'll use a constant margin to determine when the azimuth and elevation are close enough.
Ports and Port Groups
DtInputPortGroup *	myAzimuthInfoPortGroup
	Input Port Group Name: azimuth-info Input Port Group Description: Used to get azimuth information from the actuator.
DtAnalogInputPort *	myNominalAzimuthPort
	Input Port Name: nominal-azimuth Input Port Description: Nominal azimuth value.
DtAnalogInputPort *	myAzimuthRangePort
	Input Port Name: azimuth-range Input Port Description: Azimuth sweep range.
DtAnalogInputPort *	myMaxAzimuthRatePort
	Input Port Name: azimuth-rate Input Port Description: Max azimuth rate.
DtIntegerInputPort *	myAzimuthPartTypePort
	Input Port Name: azimuth-part-type Input Port Description: Type of articulated part.
DtInputPortGroup *	myElevationInfoPortGroup
	Input Port Group Name: elevation-info Input Port Group Description: Used to get elevation information from the actuator.
DtAnalogInputPort *	myNominalElevationPort
	Input Port Name: nominal-elevation Input Port Description: Nominal elevation value.
DtAnalogInputPort *	myElevationRangePort
	Input Port Name: elevation-range Input Port Description: Elevation sweep range Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtAnalogInputPort *	myMaxElevationRatePort
	Input Port Name: elevation-rate Input Port Description: Max elevation rate Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtIntegerInputPort *	myElevationPartTypePort
	Input Port Name: elevation-part-type Input Port Description: Type of articulated part Input Port Range: Input Port Default Value: Input Group Parent: elevation-info.
DtOutputPortGroup *	myMountingControlPortGroup
	Output Port Group Name: mounting-control Output Port Group Description: Accepts output from the missile launcher controller and indirect fire controller.
DtConstrainedAnalogOutputPort *	myAzimuthPort
	Output Port Name: azimuth Output Port Description: A fraction of the actuator's maximum slew rate at which the actuator should turn.
DtConstrainedAnalogOutputPort *	myElevationPort
	Output Port Name: elevation Output Port Description: A fraction of the actuator's maximum slew rate at which the actuator should turn.
Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
	Controller components 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.
__itt_string_handle *	myTickITTStringHandle
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

DtBaseMountingController is a controller that generates the azimuth and elevation controls needed to manipulate a weapon mount to the a desired azimuth and elevation.

It expects to control an azimuth and/or elevation mount actuator(s).

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtBaseMountingController::DtBaseMountingController	(	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 DtBaseMountingController::~DtBaseMountingController ( )

virtual

destructor

DtBaseMountingController::DtBaseMountingController ( )

protected

default constructor; not implemented

DtBaseMountingController::DtBaseMountingController ( const DtBaseMountingController & orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtBaseMountingController::postAddComponentsInit ( )

virtual

Overridden to activate myMountingControlPortGroup.

Reimplemented from DtSimComponent.

virtual const char* DtBaseMountingController::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: DtBaseMountingControllerType

Implements DtControllerComponent.

Reimplemented in DtMountingController.

virtual DtOutputPortGroup* DtBaseMountingController::mountingControlPortGroup ( )

virtual

Returns myMountingControlPortGroup.

virtual DtInputPortGroup* DtBaseMountingController::azimuthInfoPortGroup ( )

virtual

Returns myAzimuthInfoPortGroup.

virtual DtInputPortGroup* DtBaseMountingController::elevationInfoPortGroup ( )

virtual

Returns myAzimuthInfoPortGroup.

virtual void DtBaseMountingController::tick ( )

virtual

Calculate new control values.

Reimplemented from DtSimComponent.

virtual void DtBaseMountingController::reorientMounting ( )

virtual

Spin the mounting to point toward the desired targetPoint or desiredAzimuth/desiredElevation.

Takes the current orientation of myChildSimBody (the DtSimBody part that has the combined azimuth and elevation orientation of the mounting), and generates the azimuth and elevation steering input needed to maneuver the mounting toward the desired azimuth and elevation. It obtains the orientation of the mount point in body coordinates of the entity, from myChildSimBody. These Euler angles give the current azimuth and elevation settings of the mount point. It then calls the static functions DtMountingAzimuthActuator::computeDeltaOutsideAzimuthRange(), and DtMountingElevationActuator::computeDeltaOutsideElevationRange(), to determine the extent to which the current orientation is off-target. If the azimuth or elevation angular extent returned is zero, the corresponding port value is set to zero. If not, the function is called to generate a control input, given the amount the angle is off approximateMountSwing() by, and the maximum angular rate at which it can swing. It sets the control input for the port with the value returned by approximateMountSwing().

virtual void DtBaseMountingController::setDesiredAzimuth ( DtReal desiredAzimuth )

virtual

Set an azimuth you want this mounting to point towards. This azimuth is relative to the body.

virtual DtReal DtBaseMountingController::desiredAzimuth ( )

virtual

virtual void DtBaseMountingController::setDesiredElevation ( DtReal desiredElevation )

virtual

Set an elevation you want this mounting to point towards. This elevation is relative to the body.

virtual DtReal DtBaseMountingController::desiredElevation ( )

virtual

virtual void DtBaseMountingController::findDesiredAzimuthAndElevation ( )

virtual

Base fn (should be overridden): set desired az and el from parameter inputs.

Reimplemented in DtMountingController.

virtual bool DtBaseMountingController::desiredOrientationIsInRange	(	double &	azimuthOutOfRangeBy,
		double &	elevationOutOfRangeBy,
		double	additionalAzimuthMargin = `0.0`,
		double	additionalElevationMargin = `0.0`
	)

virtual

Returns true if the desired azimuth and elevation are within the range that this mounting can do.

If it's out of range, the method returns false and puts the outOfRangeBy amounts into the appropriate "out" params. The params for additionalMargin allows the caller to broaden the acceptable azimuth and elevation range by the passed in values.

virtual bool DtBaseMountingController::azimuthIsInRange	(	double	azimuth,
		double &	outofRangeBy,
		double	additionalMargin = `0.0`
	)

virtual

Returns true if the specified azimuth angle is within the range that this mounting can do.

If it's out of range, the method returns false and populates the outOfRangeBy amount. The param for additionalMargin allows the caller to broaden the acceptable azimuth range by the passed in value.

virtual bool DtBaseMountingController::elevationIsInRange	(	double	elevation,
		double &	outofRangeBy,
		double	additionalMargin = `0.0`
	)

virtual

Returns true if the specified elevation angle is within the range that this mounting can do.

If it's out of range, the method returns false and populates the outOfRangeBy amount. The param for additionalMargin allows the caller to broaden the acceptable elevation range by the passed in value.

virtual bool DtBaseMountingController::createAzimuthPort ( )

virtual

These are called in init to create the ports used to communicate with the actuator.

virtual DtConstrainedAnalogOutputPort* DtBaseMountingController::azimuthPort ( ) const

virtual

virtual bool DtBaseMountingController::createElevationPort ( )

virtual

virtual DtConstrainedAnalogOutputPort* DtBaseMountingController::elevationPort ( ) const

virtual

virtual bool DtBaseMountingController::createAzimuthInfoPorts ( )

virtual

creates the ports used by myAzimuthInfoPortGroup

virtual bool DtBaseMountingController::createElevationInfoPorts ( )

virtual

creates the ports used by myElevationInfoPortGroup

virtual double DtBaseMountingController::approximateMountSwing	(	double	angleChange,
		double	maxRate
	)

virtual

Determine how fast a mounting should swing given the angle it must travel through (angleChange) and the maxRate of its transit.

Takes as input the amount of angle to be changed and the maximum angular rate of change, and returns a value between -1.0 and 1.0, representing the scaled rate at which the angle should change. It computes this value to be the amount of angular change desired, divided by the maximum angular rate times the current frame duration, dT, for example:

Returns: angleChange / (maxRate * dT());

static DtSimComponent* DtBaseMountingController::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.

Reimplemented in DtMountingController.

virtual double DtBaseMountingController::angleErrorGivenRotationLimits	(	double	currentAngle,
		double	desiredAngle,
		double	allowedRotationCenter,
		double	allowedRotationRange
	)

protectedvirtual

Compute the angle error from the current angle to the desired, and then adjust the difference to go the right way around to get to the desired angle–either the shortest way, or if there is a range limit in that direction, then the other way.

The allowed rotation range is specified by a center angle and a range. If the desired angle is not in the region of allowed rotation, return the angle of the nearest stop. A rotation range of 2 pi is taken to mean free, continuous rotation.

virtual bool DtBaseMountingController::createPortGroups ( )

protectedvirtual

Overridden to create mounting port groups.

Reimplemented from DtSimComponent.

virtual bool DtBaseMountingController::createPorts ( )

protectedvirtual

Overridden to create mounting ports.

Reimplemented from DtSimComponent.

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

protected

assignment operator; not implemented

Member Data Documentation

DtInputPortGroup* DtBaseMountingController::myAzimuthInfoPortGroup

protected

Input Port Group Name: azimuth-info
Input Port Group Description: Used to get azimuth information from the actuator.

DtAnalogInputPort* DtBaseMountingController::myNominalAzimuthPort

protected

Input Port Name: nominal-azimuth
Input Port Description: Nominal azimuth value.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtAnalogInputPort* DtBaseMountingController::myAzimuthRangePort

protected

Input Port Name: azimuth-range
Input Port Description: Azimuth sweep range.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtAnalogInputPort* DtBaseMountingController::myMaxAzimuthRatePort

protected

Input Port Name: azimuth-rate
Input Port Description: Max azimuth rate.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtIntegerInputPort* DtBaseMountingController::myAzimuthPartTypePort

protected

Input Port Name: azimuth-part-type
Input Port Description: Type of articulated part.

Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info

DtInputPortGroup* DtBaseMountingController::myElevationInfoPortGroup

protected

Input Port Group Name: elevation-info
Input Port Group Description: Used to get elevation information from the actuator.

DtAnalogInputPort* DtBaseMountingController::myNominalElevationPort

protected

Input Port Name: nominal-elevation Input Port Description: Nominal elevation value.

Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info

DtAnalogInputPort* DtBaseMountingController::myElevationRangePort

protected

Input Port Name: elevation-range Input Port Description: Elevation sweep range
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtAnalogInputPort* DtBaseMountingController::myMaxElevationRatePort

protected

Input Port Name: elevation-rate Input Port Description: Max elevation rate
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtIntegerInputPort* DtBaseMountingController::myElevationPartTypePort

protected

Input Port Name: elevation-part-type Input Port Description: Type of articulated part
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtOutputPortGroup* DtBaseMountingController::myMountingControlPortGroup

protected

Output Port Group Name: mounting-control
Output Port Group Description: Accepts output from the missile launcher controller and indirect fire controller.

DtConstrainedAnalogOutputPort* DtBaseMountingController::myAzimuthPort

protected

Output Port Name: azimuth Output Port Description: A fraction of the actuator's maximum slew rate at which the actuator should turn.

Output Port Range: -1. to 1.
Output Port Default Value:
Output Group Parent: mounting-control

DtConstrainedAnalogOutputPort* DtBaseMountingController::myElevationPort

protected

Output Port Name: elevation Output Port Description: A fraction of the actuator's maximum slew rate at which the actuator should turn.

Output Port Range: -1. to 1.
Output Port Default Value:
Output Group Parent: mounting-control

DtArticulatedPartStateRepository* DtBaseMountingController::myAzimuthMountPart

protected

DtArticulatedPartStateRepository* DtBaseMountingController::myElevationMountPart

protected

DtArticulatedPartStateRepository* DtBaseMountingController::myChildSimBody

protected

DtReal DtBaseMountingController::myDesiredAzimuth

protected

Desired azimuth angle relative to the body.

DtReal DtBaseMountingController::myDesiredElevation

protected

Desired elevation angle relative to the body.

DtReal DtBaseMountingController::myAngleApproxMargin

protected

To prevent endless fine adjustments to the azimuth and elevation we'll use a constant margin to determine when the azimuth and elevation are close enough.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation