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DtGroundMoveToDestinationControllerComponent Class Reference

DtGroundMoveToDestinationControllerComponent is a controller that provides a kinematics-based model of an automotive system that converts throttle, brake, and steering into orientation, acceleration, velocity, and position. More...

Inheritance diagram for DtGroundMoveToDestinationControllerComponent:
Inheritance graph
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Public Member Functions

 DtGroundMoveToDestinationControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString&,DtVrfObject*,DtSimManager*,
virtual ~DtGroundMoveToDestinationControllerComponent ()
 destructor
virtual bool init ()
 Initializes modifyVrfObjectCallback.
virtual void setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
 Overridden to cast and set our local pointer to the descriptor.
virtual void tick ()
 Looks at the value on myCollisionAvoidancePort, and if there is a value and the destination point is within the bounding volume of the collision object, setDestinationIsInsideObstruction(true) is called.
virtual const chartype () const
 Returns a string identifies the class type of component.
virtual void processSetLocation (DtSimMessage *msg)
 Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.
virtual void processModifyVrfObject (DtSimMessage *msg)
 Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.
virtual void registerTaskMsgCallbacks ()
 Overridden to register interest in move to and set location commands.
virtual void clearTask ()
 Releases the nav interface and then calls the parent clearTask().
virtual bool getDestination (DtVector &destination)
 getDestination()
virtual const DtVectordestinationVector () const
 Returns the current destination vector for the entity.
virtual double findDesiredSpeed ()
 Determines how fast we should go.
virtual double findDesiredHeading ()
 Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()).
virtual DtAutoTransmissionGearEnum determineGearSetting ()
 Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed().
virtual bool nearDestination ()
 Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).
virtual bool atDestination ()
 Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.
virtual bool passedDestination ()
 Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.
virtual void stop ()
 Set port values for stopping, and mark the task complete.
virtual void doMoving ()
 Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.
virtual void updateTaskVisualizations ()
 Called to update task visualizations after every tick.
- Public Member Functions inherited from DtGroundAutoControllerComponent
 DtGroundAutoControllerComponent (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString&,DtVrfObject*,DtSimManager*,
virtual ~DtGroundAutoControllerComponent ()
 destructor
virtual double approximateThrottle (double desiredSpeed)
 Pre- 4.1:approximateThrottle attempts to guess the throttle setting needed to make the automotive actuator produce the desired speed, given the current slope and soil.
virtual double calculateSteering (double currentHeading, double desiredHeading) const
virtual double calculateCurrentBrakingDistance () const
virtual bool createAutomotiveControlPortGroup ()
 These are called in init to create the ports used to communicate with the actuator.
virtual bool createThrottlePort ()
virtual bool createSteeringPort ()
virtual bool createBrakePort ()
virtual bool createGearPort ()
virtual bool createParkingBrakePort ()
virtual
DtConstrainedAnalogOutputPort
throttlePort ()
virtual
DtConstrainedAnalogOutputPort
steeringPort ()
virtual
DtConstrainedAnalogOutputPort
brakePort ()
virtual
DtConstrainedIntegerOutputPort
gearPort ()
virtual DtBooleanOutputPortparkingBrakePort ()
virtual double decelerationSoilFactor () const
virtual double calcSteeringForTurnInPlace ()
 calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn.
virtual double calcThrottleForTurnInPlace ()
 calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn.
virtual double calcBrakeForTurnInPlace ()
 If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned.
virtual int calcGearForTurnInPlace ()
 calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn.
virtual double calcSteeringForPivot ()
 calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn.
virtual double calcThrottleForPivot ()
 calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn.
virtual double calcSteeringForKTurn ()
 If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn.
virtual double calcThrottleForKTurn ()
 If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn.
virtual double calcBrakeForKTurn ()
 If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop.
virtual double findSpeedForKTurn ()
 If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned.
virtual double findHeadingForKTurn ()
 If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned.
virtual void setHeadingToTurnTo (double headingToTurnTo)
 Get/Set the heading we the entity has been tasked to turn to.
virtual double headingToTurnTo () const
virtual double calculateHeadingToTurnTo ()
 The heading to turn to given the current turn mode and heaading to turn to.
virtual void setTurnToMode (int headingToTurnTo)
 Get/Set the heading turn to mode (see setHeadingRequest.h for modes)
virtual int turnToMode () const
virtual void setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)
 Get/Set the heading that is halfway between the original heading and the heading to turn to.
virtual double kTurnReverseGoalHeading () const
virtual void setKTurnReverseComplete (bool kTurnReverseComplete)
 Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading())
virtual bool kTurnReverseComplete () const
- 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 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 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 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 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 DtRwVariableBindingsgenerateVariableBindings () 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 void setLocationCallback (DtSimMessage *msg, void *usr)
 Calls processSetLocation.
static void modifyVrfObjectCallback (DtSimMessage *msg, void *usr)
 Calls processModifyVrfObject.
static DtSimComponentcreator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
 (const DtString&,DtVrfObject*,DtSimManager*,

Protected Member Functions

virtual bool setupDestination ()
 This function ensures that the destination stored in the process state matches the member function.
virtual void setupDestinationVector () const
 Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.
virtual void invalidateDestinationVector () const
 Tells the component that any cached destination vector should be recalculated.
virtual double desiredHeadingFromDestination (const DtDcm &localToTopoDcm)
 Given the destination, calculate the heading needed to reach that point.
virtual void moveToDestination ()
 Attempts to move to the destination location. Override to provide movement functionality.
virtual double distanceToDestination () const
virtual bool decideToGiveUpTask () const
 Checks to see if destination is inside an obstruction.
virtual bool createPortGroups ()
 Overridden to create myAutomotiveControlPortGroup.
virtual bool createPorts ()
 Overridden to create the automotive ports.
virtual void setDestinationIsInsideObstruction (bool yesNo)
 Set whether or not current destination is inside an obstruction.
virtual bool destinationIsInsideObstruction () const
 Returns whether or not current destination is inside an obstruction.
virtual bool usingNavBot ()
virtual void useNavBotData ()
 Uses calculations from the navBot to control the entity or end the task.
virtual void updateNavBotDestination ()
virtual unsigned maxNumFailedPathAttempts () const
 Returns the maximum number of times this component will attempt to find a new destination when the desired destination is unreachable.
virtual bool findAlternateDestination ()
 Finds and sets up an alternate destination nearby the current destination in the case where we are unable to path to that destination.
virtual void processNavAreaChanged ()
DtVector localDestination () const
virtual void processNavigationInterfaceChanged (DtVrfObject *)
- Protected Member Functions inherited from DtGroundAutoControllerComponent
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 DtSoilFactorscurrentSoilFactors () const
- 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
virtual void onRestore ()
 Override to iterate over the descriptor to see if there are any targetting control tables.
virtual void initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)
- 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 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 ()

Static Protected Member Functions

static void navAreaChangedCallback (void *usr)
static void navigationInterfaceChanged (DtVrfObject *, void *usr)

Protected Attributes

double myDistanceSquared
DtVector myLocalDestination
DtVector myWorldDestination
DtVector myDestinationVector
bool myDestinationVectorIsValid
double myCurrentSpeed
bool myAtDestination
bool myNearDestination
bool myPassedDestination
const DtGroundMoveToDescriptormyMoveToDescriptor
DtActiveBotNavInterfacemyNavInterface
bool myIgnoreNavData
bool myDestinationIsInsideObstruction
unsigned myNumFailedPathAttempts
Ports and Port Groups
DtCollisionInputPortmyCollisionAvoidancePort
 Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.
DtInputPortGroupmyCollisionAvoidancePortGroup
 Input Port Group Name: collision-avoidance-control
Input Port Group Description:
- Protected Attributes inherited from DtGroundAutoControllerComponent
DtGroundVehicleStateRepositorymyGroundVehicleState
DtAutomotivePSRmyProcessState
 Pointer to a process state repository used to store state data associated with this component.
double mySpeedErrorLastTick
 For derivative control in approximateThrottle.
DtConstrainedAnalogOutputPortmyThrottlePort
 Output Port Name: throttle
Output Port Description:
Output Port Range: 0.
DtConstrainedAnalogOutputPortmySteeringPort
 Output Port Name: steering
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: automotive-control.
DtConstrainedAnalogOutputPortmyBrakePort
 Output Port Name: brake
Output Port Description:
Output Port Range: 0.
DtConstrainedIntegerOutputPortmyGearPort
 Output Port Name: gear
Output Port Description:
Output Port Range:
Output Port Default Value:
Output Group Parent: automotive-control.
DtBooleanOutputPortmyParkingBrakePort
 Output Port Name: parking-brake
Output Port Description:
Output Port Default Value: True
Output Group Parent: automotive-control.
DtOutputPortGroupmyAutomotiveControlPortGroup
 Output Port Group Name: automotive-control
Output Port Group Description: Collection of control output for automotive entity movement controllers.

Private Member Functions

 DtGroundMoveToDestinationControllerComponent ()
 Default constructor; should not be called.
 DtGroundMoveToDestinationControllerComponent (const DtGroundMoveToDestinationControllerComponent &orig)
 copy constructor; shallow; does not copy the ports.
const
DtGroundMoveToDestinationControllerComponent
operator= (const DtGroundMoveToDestinationControllerComponent &orig)
 assignment operator; see comments on copy constructor!

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

DtGroundMoveToDestinationControllerComponent is a controller that provides a kinematics-based model of an automotive system that converts throttle, brake, and steering into orientation, acceleration, velocity, and position.

End User Description: It moves the entity of which it is a part towards a user-specified (or other controller specified) destination. Uses Descriptor Type: DtGroundMoveToDescriptor

Constructor & Destructor Documentation

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( 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 DtGroundMoveToDestinationControllerComponent::~DtGroundMoveToDestinationControllerComponent ( )
virtual

destructor

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( )
private

Default constructor; should not be called.

Here because the compiler will generate an unprotected one otherwise.

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( const DtGroundMoveToDestinationControllerComponent orig)
private

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual bool DtGroundMoveToDestinationControllerComponent::init ( )
virtual

Initializes modifyVrfObjectCallback.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::setComponentDescriptor ( DtComponentDescriptor componentDescriptor)
virtual

Overridden to cast and set our local pointer to the descriptor.

Reimplemented from DtSimComponent.

virtual void DtGroundMoveToDestinationControllerComponent::tick ( )
virtual

Looks at the value on myCollisionAvoidancePort, and if there is a value and the destination point is within the bounding volume of the collision object, setDestinationIsInsideObstruction(true) is called.

If setupDestination() returns true, then moveToDestination() is called, otherwise an error is printed.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundFollowEntityController, and DtGroundMoveAlongControllerComponent.

virtual const char* DtGroundMoveToDestinationControllerComponent::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
DtGroundAutoMoveToDestinationType

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveToControllerComponent, DtGroundFollowEntityController, DtGroundPatrolBetweenController, DtGroundPatrolRouteController, DtGroundMoveAlongControllerComponent, and DtGroundMoveToLocationControllerComponent.

static void DtGroundMoveToDestinationControllerComponent::setLocationCallback ( DtSimMessage msg,
void *  usr 
)
static

Calls processSetLocation.

virtual void DtGroundMoveToDestinationControllerComponent::processSetLocation ( DtSimMessage msg)
virtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.

static void DtGroundMoveToDestinationControllerComponent::modifyVrfObjectCallback ( DtSimMessage msg,
void *  usr 
)
static

Calls processModifyVrfObject.

virtual void DtGroundMoveToDestinationControllerComponent::processModifyVrfObject ( DtSimMessage msg)
virtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e.

a drag & drop in the front-end).

static DtSimComponent* DtGroundMoveToDestinationControllerComponent::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.

Reimplemented in DtGroundFollowEntityController, DtGroundMoveAlongControllerComponent, DtGroundMoveToControllerComponent, DerivedMoveToController, DtGroundPatrolBetweenController, DtGroundPatrolRouteController, and DtGroundMoveToLocationControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::registerTaskMsgCallbacks ( )
virtual
virtual void DtGroundMoveToDestinationControllerComponent::clearTask ( )
virtual

Releases the nav interface and then calls the parent clearTask().

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::getDestination ( DtVector destination)
virtual

getDestination()

Parameters
destinationthe position this object is trying to drive to in local coordinates.
Returns
true if it has a valid destination () or false if it is unable to determine it's destination.
Note
Used by other areas of the simulation to determine where this object is going. (Information)
virtual const DtVector& DtGroundMoveToDestinationControllerComponent::destinationVector ( ) const
virtual

Returns the current destination vector for the entity.

Note
if the destination vector is currently invalidated, it recalculates it and sets it to valid.
See Also
setupDestinationVector
virtual double DtGroundMoveToDestinationControllerComponent::findDesiredSpeed ( )
virtual

Determines how fast we should go.

If the myNearDestination member variable is true (set by nearDestination()), the desired speed is the value of the approachSpeed parameter in the DtGroundMoveToDescriptor. If the entity is in reverse gear, then that approach speed is negated. If myNearDestination is false, then the entity�s ordered speed is returned.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual double DtGroundMoveToDestinationControllerComponent::findDesiredHeading ( )
virtual

Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()).

If the myNearDestination member variable is false, it calls headingAngleTo() to find the heading from the entity to the destination. In either case, if the current gear is DtAutoGearReverse, PI is added to heading before it is returned.

Reimplemented in DtGroundFollowEntityController.

virtual DtAutoTransmissionGearEnum DtGroundMoveToDestinationControllerComponent::determineGearSetting ( )
virtual

Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed().

If ordered speed is negative, DtAutoGearReverse is returned. If ordered speed is positive, DtAutoGearForward is returned. In either case, the member variable myProcessState->myCurrentGear is set to the appropriate value.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual bool DtGroundMoveToDestinationControllerComponent::nearDestination ( )
virtual

Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()).

nearDestination() calls calculateCurrentBrakingDistance(). If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the near-distance parameter of the DtGroundMoveToDescriptor, or if it is less than the square of the current braking distance, nearDestination() sets myNearDestination to true. If the above is not true, nearDestination() sets myNearDestination to false. myNearDestination is returned to the calling function.

virtual bool DtGroundMoveToDestinationControllerComponent::atDestination ( )
virtual

Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true.

If the myDistanceSquared !<= at-distance, atDestination() sets myAtDestination to false. myAtDestination is returned to the calling function.

virtual bool DtGroundMoveToDestinationControllerComponent::passedDestination ( )
virtual

Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration.

It dead-reckons its position. It calculates the vector that points from the entity to the destination It finds the dot product between this vector and destination vector, If that dot product is greater than 0.0, the entity will pass the destination this tick if it does not stop. myPassedDestination is set, and the value is returned to the calling function.

Reimplemented in DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::stop ( )
virtual

Set port values for stopping, and mark the task complete.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, DtGroundPatrolBetweenController, and DtGroundPatrolRouteController.

virtual void DtGroundMoveToDestinationControllerComponent::doMoving ( )
virtual

Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.

virtual void DtGroundMoveToDestinationControllerComponent::updateTaskVisualizations ( )
virtual

Called to update task visualizations after every tick.

Implemented by subclasses.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::setupDestination ( )
protectedvirtual

This function ensures that the destination stored in the process state matches the member function.

Also calculates the destination in local coordinates from the world coordinates.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, and DtGroundMoveToControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::setupDestinationVector ( ) const
protectedvirtual

Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location.

This is done by subtracting the DtVector representing the destination's position from the one representing the entity�s position.

Note
Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

Reimplemented in DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::invalidateDestinationVector ( ) const
protectedvirtual

Tells the component that any cached destination vector should be recalculated.

virtual double DtGroundMoveToDestinationControllerComponent::desiredHeadingFromDestination ( const DtDcm &  localToTopoDcm)
protectedvirtual

Given the destination, calculate the heading needed to reach that point.

virtual void DtGroundMoveToDestinationControllerComponent::moveToDestination ( )
protectedvirtual

Attempts to move to the destination location. Override to provide movement functionality.

virtual double DtGroundMoveToDestinationControllerComponent::distanceToDestination ( ) const
protectedvirtual
virtual bool DtGroundMoveToDestinationControllerComponent::decideToGiveUpTask ( ) const
protectedvirtual

Checks to see if destination is inside an obstruction.

If it is, returns true. Otherwise it returns the value of DtGroundAutoControllerComponent::decideToGiveUpTask()

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, and DerivedMoveToController.

virtual bool DtGroundMoveToDestinationControllerComponent::createPortGroups ( )
protectedvirtual

Overridden to create myAutomotiveControlPortGroup.

Reimplemented from DtGroundAutoControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::createPorts ( )
protectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::setDestinationIsInsideObstruction ( bool  yesNo)
protectedvirtual

Set whether or not current destination is inside an obstruction.

This should be reevaluated each tick.

virtual bool DtGroundMoveToDestinationControllerComponent::destinationIsInsideObstruction ( ) const
protectedvirtual

Returns whether or not current destination is inside an obstruction.

Returns
myDestinationIsInsideObstruction
virtual bool DtGroundMoveToDestinationControllerComponent::usingNavBot ( )
protectedvirtual
Returns
True if the controller is currently using the navigation system bot to control movement.

Reimplemented in DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::useNavBotData ( )
protectedvirtual

Uses calculations from the navBot to control the entity or end the task.

virtual void DtGroundMoveToDestinationControllerComponent::updateNavBotDestination ( )
protectedvirtual
virtual unsigned DtGroundMoveToDestinationControllerComponent::maxNumFailedPathAttempts ( ) const
protectedvirtual

Returns the maximum number of times this component will attempt to find a new destination when the desired destination is unreachable.

virtual bool DtGroundMoveToDestinationControllerComponent::findAlternateDestination ( )
protectedvirtual

Finds and sets up an alternate destination nearby the current destination in the case where we are unable to path to that destination.

static void DtGroundMoveToDestinationControllerComponent::navAreaChangedCallback ( void *  usr)
staticprotected
virtual void DtGroundMoveToDestinationControllerComponent::processNavAreaChanged ( )
protectedvirtual
DtVector DtGroundMoveToDestinationControllerComponent::localDestination ( ) const
protected
static void DtGroundMoveToDestinationControllerComponent::navigationInterfaceChanged ( DtVrfObject ,
void *  usr 
)
staticprotected
virtual void DtGroundMoveToDestinationControllerComponent::processNavigationInterfaceChanged ( DtVrfObject )
protectedvirtual
const DtGroundMoveToDestinationControllerComponent& DtGroundMoveToDestinationControllerComponent::operator= ( const DtGroundMoveToDestinationControllerComponent orig)
private

assignment operator; see comments on copy constructor!

Member Data Documentation

double DtGroundMoveToDestinationControllerComponent::myDistanceSquared
protected
DtVector DtGroundMoveToDestinationControllerComponent::myLocalDestination
protected
DtVector DtGroundMoveToDestinationControllerComponent::myWorldDestination
protected
DtVector DtGroundMoveToDestinationControllerComponent::myDestinationVector
mutableprotected
bool DtGroundMoveToDestinationControllerComponent::myDestinationVectorIsValid
mutableprotected
double DtGroundMoveToDestinationControllerComponent::myCurrentSpeed
protected
bool DtGroundMoveToDestinationControllerComponent::myAtDestination
protected
bool DtGroundMoveToDestinationControllerComponent::myNearDestination
protected
bool DtGroundMoveToDestinationControllerComponent::myPassedDestination
protected
const DtGroundMoveToDescriptor* DtGroundMoveToDestinationControllerComponent::myMoveToDescriptor
protected
DtCollisionInputPort* DtGroundMoveToDestinationControllerComponent::myCollisionAvoidancePort
protected

Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.

DtInputPortGroup* DtGroundMoveToDestinationControllerComponent::myCollisionAvoidancePortGroup
protected

Input Port Group Name: collision-avoidance-control
Input Port Group Description:

DtActiveBotNavInterface* DtGroundMoveToDestinationControllerComponent::myNavInterface
protected
bool DtGroundMoveToDestinationControllerComponent::myIgnoreNavData
protected
bool DtGroundMoveToDestinationControllerComponent::myDestinationIsInsideObstruction
protected
unsigned DtGroundMoveToDestinationControllerComponent::myNumFailedPathAttempts
protected

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

Document ID: Generated on Fri Apr 26 21:53:14 EDT 2019 from SVN revision 197883
Copyright © 2005-2019 VT MAK. All Rights Reserved (www.mak.com)