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VR-Forces 4.7 Class Documentation
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VR-Forces 4.7 Class Documentation
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A sensor component which uses the VR-Forces Sensor Signature model for detecting object. More...
Public Member Functions | |
| DtSignatureObjectSensor (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtSignatureObjectSensor () |
| destructor | |
| virtual bool | init () |
| Calls createPSR(), createDetectableObjectList(), createAndInitSensorMonitor() and initSensorGeometry(). | |
| virtual void | initSensorFieldOfView () |
| Creates a sensor field of view object which is published to the network. | |
| virtual void | preFirstTickInit () |
| Initializes the component before it is ticked for the first time. | |
| virtual const char * | type () const |
| Returns a string identifies the class type of component. | |
| virtual const char * | defaultPSRType () const |
| virtual int | sensorType () const |
| Returns the enumerated type of this sensor. | |
| virtual void | tick () |
| Overridden from base class to update myLocalSensorPosition (using localSensorPosition()) at the start of each tick. | |
| virtual int | determineForceType (DtVrfObject *object, DtRwSensorContactInfo *contactInfo) |
| Determines the force type for this object based on the sensor contact info for it. | |
| virtual double | determineRadius (DtVrfObject *object, DtRwSensorContactInfo *contactInfo) |
| Determines the radius of this object based on the sensor contact info for it. | |
| virtual void | zoomSensor (double zoomLevel) |
| Zooms the sensor to the given zoom level. | |
| virtual void | setSensorEnabled (bool enabled) |
| Enables or disables this sensor. | |
 Public Member Functions inherited from DtObjectSensor | |
| DtObjectSensor (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| (const DtString&,DtVrfObject*,DtSimManager*, | |
| virtual | ~DtObjectSensor () |
| destructor | |
| virtual bool | postAddComponentsInit () |
| Called after all components have been created, initialized and added to the component manager. | |
| virtual bool | tickWhileDestroyed () const |
| virtual bool | sensorEnabled () const |
| Whether this sensor is enabled or disabled. | |
| virtual void | disable () |
| Overridden to clear out the target list and update the monitor so that the sensor contact list will be cleared out in the front-end when the sensor is disabled. | |
| virtual void | setIsEnabled (bool yesNo) |
| virtual void | setTypesToDetectForTask (const DtRwObjectTypeList &objectTypes) |
| Set or clear the dynamic list of object types to detect. | |
| virtual void | clearTypesToDetectForTask () |
| Clear all types. Should be called when the task is done. | |
| virtual const DtRwObjectTypeList & | typesToDetectForTask () const |
| Gets the type list. | |
| virtual bool | setTypesToDetectAttribute (DtReaderWriter *val) |
| virtual bool | clearTypesToDetect (DtReaderWriter *val) |
| 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 | 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 |
| 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 | onRestore () |
| Called whenever a component is restored. Default is no-op. | |
| virtual void | enable () |
| Is this component enabled or not. | |
| virtual bool | isEnabled () |
| 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*, | |
| Static Public Member Functions inherited from DtObjectSensor | |
| static bool | setTypesToDetectAttribute (void *ctrlr, DtReaderWriter *val) |
| Attribute set functions to accept types to detect or clear the list of task-specific types. | |
| static bool | clearTypesToDetect (void *ctrlr, DtReaderWriter *val) |
| This function ignores the value passed in. | |
Protected Member Functions | |
| virtual bool | createPorts () |
| Overridden to create local ports. | |
| virtual bool | detectObject (DtVrfObject *object, DtRwSensorContactInfo *contactInfo) |
| Returns true if object is detected. | |
| virtual ContinueDetectingResult | continueDetectingObject (DtVrfObject *object, DtRwSensorContactInfo *contactInfo, bool &contactInfoModified) |
| Same as detectObject except it is checking for objects we had previously detected. | |
| virtual double | minimumSignatureThreshold (double sensorSensitivity) const |
| virtual double | apparentSignature (DtVrfObject *object, bool losValueIfTerrainUnavailable, double sensorSensitivity) const |
| Returns the apparent signature of the specified object using sensorSignatureManager::apparentObjectSignature. | |
| virtual bool | detectedThisPeriod (double appSignature) const |
| Uses the detection probability table to determine if the object was detected during this detection period. | |
| virtual bool | determineIdentificationLevel (DtVrfObject *object, DtRwSensorContactInfo *contactInfo, double appSignature, int &level, bool &contactInfoModified) |
| Determine varying levels of detection. | |
| virtual bool | updateSensorContactInfo (DtVrfObject *object, DtRwSensorContactInfo *contactInfo, int updateLevel) |
| virtual void | addDetectionError (DtRwSensorContactInfo *info, int level) |
| Uses the sensor positional error set in the sensor descriptor to add error to the contact information. | |
| virtual double | sensitivity () const |
| The current sensitivity of the sensor. | |
| virtual double | sensitivityModifier () const |
| The modifier for this sensor's sensitivity. | |
| virtual bool | objectInSector (const DtVrfObject *object) const |
| virtual double | windEffects () const |
| How wind (if it does) effects the sensors. | |
| virtual double | precipitationEffects () const |
| How precipitation (if it does) effects the sensors. | |
| virtual void | setupGeometryForDetection () |
| Sets up the current sensor geometry evaluator with the current position, orientation, and frustum of the sensor. | |
| virtual double | suppressionEffects () const |
| How suppression effects sensors. | |
| virtual const DtString & | probabilityString () const |
| Protected Member Functions inherited from DtObjectSensor | |
| virtual bool | createPortGroups () |
| Creates and initializes port groups. | |
| virtual DtObjectSensorPSR * | createPSR () |
| Creates myProcessState data member, and adds it to our process state repository manager. | |
| virtual void | initSensorRangeRing () |
| Adds a sensor range ring to the range rings published for this object with the system-name.sensor-name as the title. | |
| virtual void | updateDetectableObjectsList () |
| Sets up myDetectableObjectList as a list that contains all entity types/forces specified in both the descriptor and the myObjectsToDetectInputPort input port. | |
| virtual bool | initSensorGeometry () |
| Creates the geometry evaluator based on the sensor-geometry entry in the descriptor, and the sensor geometry evaluator factory. | |
| virtual DtVector | localSensorPosition () const |
| virtual DtVector | bodySensorPosition () const |
| virtual DtTaitBryan | localSensorOrientation () const |
| virtual DtTaitBryan | bodySensorOrientation () const |
| virtual DtUUID | targetObject () const |
| virtual DtVector | targetLocation () const |
| virtual DtSensorTrackingMode | trackingMode () const |
| virtual bool | processObjects () |
| Checks detectability of each of the detectable objects. | |
| virtual bool | objectWithinSensorGeometry (DtVrfObject *object) const |
| virtual double | rangeSquaredToObject (const DtVrfObject *object) const |
| virtual double | rangeToObject (const DtVrfObject *object) const |
| virtual void | clearObjectRangeCache () const |
| Invalidates the current object range cache. | |
| virtual void | printTargets () const |
| Prints the current target list to the console. | |
| virtual void | updateDetectedObjectListPort () |
| Clears the list port, then adds all target infos from the previous target list in the PSR, and sends the data. | |
| virtual bool | createAndInitSensorMonitor () |
| Creates a DtObjectSensorMonitor, and calls init() on it. | |
| virtual bool | objectInDetectableList (DtVrfObject *) const |
| Returns true if the object is in the myDetectableObjectList. | |
| virtual void | processHostilitiesChanged (DtU8 force) |
| virtual DtTaitBryan | worldOrientationOfObject (DtVrfObject *object) const |
| Given the object, if this is a single point object return the orientation in the vrfState() else return orientation as calculated for multi-point objects (closed figure is origin to first point, non-closed is origin to last point). | |
| virtual bool | canDetectForceOfObject (DtVrfObject *) |
| Return false if the force of the object supplied cannot be detected by this force. | |
| virtual void | processSetSensorEnabledRequestMessage (DtSimMessage *msg) |
| Calls setSensorEnabled() with the value specified in the message if the message matches our sensor name. | |
| DtCompositePredicate | objectTypeForcePredicate (const DtObjectType &, const DtNLengthIntegerVector &forceTypes) |
| Specifies force types as s DtNLenghtIntegerVector. | |
| DtCompositePredicate | objectTypeForcePredicate (const DtObjectType &, const std::list< DtU8 > &forceTypes) |
| Specifies force types as a std::list. | |
| 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 | |
| const DtSignatureObjectSensorDescriptor * | mySignatureObjectSensorDescriptor |
| DtSymbolString | mySensorDomain |
| DtVector | myLocalSensorPosition |
| Computed once per tick: | |
| double | mySensitivity |
| DtVrfSensorFieldOfView * | myFieldOfView |
| The field of view of the sensor. | |
| DtSignatureDetectLevelDeterminator * | myDetectionLevelDeterminator |
| DtSignatureObjectSensorPSR * | mySignatureSensorPSR |
| DtObjectSensor's myProcessState cast to our PSR type. | |
Ports and Port Groups | |
| DtAnalogInputPort * | myZoomLevelPort |
| Input Port Name: zoom-rate Input Port Description: Desired zoom level of the sensor. | |
| DtIntegerInputPort * | myFieldOfViewColorPort |
| Input Port Name: field-of-view-color Input Port Description: Desired color for the sensor field of view. | |
| Protected Attributes inherited from DtObjectSensor | |
| DtManagedObjectListConstPtr | myDetectableObjectList |
| const DtObjectSensorDescriptor * | myObjectSensorDescriptor |
| DtObjectSensorPSR * | myProcessState |
| Container for state data associated with this component. | |
| DtObjectSensorMonitor * | myMonitor |
| Sends out sensor contact information to the GUI if the GUI or other application has requested the information. | |
| DtSpatialFilterEvaluator * | mySensorGeometryEvaluator |
| DtForceType | myForceType |
| The force type the last time the detectable object list was updated. | |
| const DtVrfObject * | myMutableObjectCached |
| The VrfObject whose range is currently cached. | |
| bool | myMutableObjectRangeCalculated |
| Keeps track of whether the range has been calculated for the current cached object. | |
| double | myMutableObjectRangeCache |
| The current range to the cached object, if calculated. | |
| bool | myMutableObjectRangeSquaredCalculated |
| Keeps track of whether the range squared has been calculated for the current cached object. | |
| double | myMutableObjectRangeSquaredCache |
| The current range squared to the cached object, if calculated. | |
| bool | myGeometrySetup |
| Whether setupGeometryForDetection() has been called yet. | |
| bool | myPrep_invokeNewContactCallbacks |
| DtSensorContactListOutputPort * | myDetectedObjectListPort |
| Outputs: Output Port Name: detected-objects Output Port Description: The list of contacts detected by this sensor. | |
| DtObjectTypesListMultiInputPort * | myObjectsToDetectInputPort |
| Inputs: DtObjectTypesListMultiInputPort : object-types-to-detect Input Port Name: object-types-to-detect Input Port Description: List of contacts to be considered for target selection. | |
| DtInputPortGroup * | mySensorOffsetInputPortGroup |
| Input Port Group Name: sensor-offset Input Port Group Description: Allows an external controller to provide position and orientation of the sensor relative to the entity's position. | |
| DtOrientationInputPort * | myOrientationInputPort |
| Input Port Name: orientation Input Port Description: Specifies the orientation of the sensor relative to the entity on which it is mounted. | |
| DtVectorInputPort * | myPositionInputPort |
| Input Port Name: position Input Port Description: Specifies the position of the sensor in body coordinates relative to the entity which it is mounted on. | |
| DtStringInputPort * | myTargetObjectInputPort |
| Input Port Name: target-object Input Port Description: Specifies the name of the object be targeted by this sensor. | |
| DtVectorInputPort * | myTargetLocationInputPort |
| Input Port Name: target-location Input Port Description: Specifies the location to be targeted by this sensor. | |
| DtIntegerInputPort * | myTrackingModeInputPort |
| Input Port Name: tracking-mode Input Port Description: Specifies the tracking mode of the sensor. | |
| DtBooleanInputPort * | myTargetAcquiredInputPort |
| Input Port Name: target-acquired Input Port Description: Specifies whether the sensor was able to acquire the target. | |
| 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. | |
Private Member Functions | |
| DtSignatureObjectSensor () | |
| default constructor; not implemented | |
| DtSignatureObjectSensor (const DtSignatureObjectSensor &orig) | |
| copy constructor; not implemented | |
| const DtSignatureObjectSensor & | operator= (const DtSignatureObjectSensor &orig) |
| assignment operator; not implemented | |
Additional Inherited Members | |
| Public Types inherited from DtObjectSensor | |
| enum | ContinueDetectingResult { DetectionLost = 0, DetectionContinued = 1, DetectionMissed = 2 } |
| 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 Member Functions inherited from DtObjectSensor | |
| static void | hostilitiesChangedCallback (DtU8 force, void *usr) |
| If who were hostile towards has changed we will need to update our myDetectableObjectList. | |
| static void | setSensorEnabledRequestCallback (DtSimMessage *msg, void *usrData) |
| Static callback method for setSensorEnabled messages. | |
| Static Protected Attributes inherited from DtSimComponent | |
| static DtSimComponentFactory * | myFactory |
A sensor component which uses the VR-Forces Sensor Signature model for detecting object.
End User Description: This sensor implements the VR-Forces Sensor Signature model in any sensor domain. This sensor can act in any of the sensor domains by specifying the domain name in the descriptor. Objects are detected based on their signature value in the chosen domain, and using the DtPhysicalWorld to propagate the signature though the environment to this sensor's location. Probability of detection is then based on the detection files specified in the descriptor for this sensor. Objects with a higher apparent signature are easier to detect than those with lower signature. This sensor component extends the base DtObjectSensor, so all of the capability for publishing sensor contacts to the GUI is used by this component.
Uses Descriptor Type: DtSignatureObjectSensorDescriptor
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private |
default constructor; not implemented
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private |
copy constructor; not implemented
| DtSignatureObjectSensor::DtSignatureObjectSensor | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
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| DtReaderWriterRegistry * | parentRegistry = 0 |
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| ) |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
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destructor
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private |
assignment operator; not implemented
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Calls createPSR(), createDetectableObjectList(), createAndInitSensorMonitor() and initSensorGeometry().
This must be called after construction and before the sensor is used on an entity.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Creates a sensor field of view object which is published to the network.
Details the orientation and width of the sensor's field of view.
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Initializes the component before it is ticked for the first time.
It is called by timedTick if myFirstTick is true.
Reimplemented from DtObjectSensor.
Reimplemented in DtActiveSonarSensor, and DtRadarObjectSensor.
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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.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Returns the enumerated type of this sensor.
It is based on the sensor domain string. "radar" maps to DtSenorTypeRadar. "visual" maps to DtSensorTypeVisual. "sonar" maps to DtSensorTypeSonar. "infrared" maps to DtSensorTypeInfrared. Anything else maps to DtSensorTypeUnknown.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Overridden from base class to update myLocalSensorPosition (using localSensorPosition()) at the start of each tick.
It then calls DtObjectSensor::tick.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, and DtActiveSonarSensor.
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virtual |
Determines the force type for this object based on the sensor contact info for it.
Currently just uses the detection-level-to-set-force-type parameter from the sensor descriptor to determine at which identification level we would be able to know the force type of the object.
Reimplemented in DtRadarObjectSensor.
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Determines the radius of this object based on the sensor contact info for it.
Currently just uses the detection-level-to-set-radius parameter from the sensor descriptor to determine at which identification level we would be able to know the radius of the object. Note: The radius is only used for aggregate objects!
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Zooms the sensor to the given zoom level.
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Enables or disables this sensor.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, and DtActiveSonarSensor.
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static |
(const DtString&,DtVrfObject*,DtSimManager*,
| 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). |
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Overridden to create local ports.
Reimplemented from DtObjectSensor.
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Returns true if object is detected.
Calls apparentSignature to determine what the object's signature appears to this sensor based on distance and potentially other factors that could degrade the object's absolute signature. Once the apparent signature is determined the sensor will then call determineIdentificationLevel which will check this apparent signature to see if this sensor is capable of detecting it. If so returns true and creates a DtRwSensorContactInfo for it and return that in contactInfo.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Same as detectObject except it is checking for objects we had previously detected.
In this case the amount of time that this object has been detected by the sensor will be factored in when determining the identification level. Again returns true if the object is still detected and the contact info is updated. If there were changes in the contact info, contactInfoModified will be true.
Reimplemented from DtObjectSensor.
Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, and DtActiveSonarSensor.
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Returns the apparent signature of the specified object using sensorSignatureManager::apparentObjectSignature.
A DtSignaturePropagatorArgs class is instantiated that holds the object to be detected, the sensing object, the location we are sensing from and the minimum signature threshold below which there's no point in doing further checks.
The DtSensorSignatureMananger first gets the object's signature:
From the object's state repository, it gets the base signature (as given in the .entity parameter file, normally) and applies signature modifiers. The modifiers are listed in the platform .ope file, normally.
Next, the DtSensorSignatureMananger looks up the signature propagator for this domain and applies it. The propagator can reduce the signature based on distance from the observer, environmental conditions, etc. Propagator parameters are given in the physicalWorldParams.mtl file in the SMS.
The propagator function generally performs a normalization such that in ideal sensing conditions, it returns the target's signature divided by the range to target in km.
| losValueIfTerrainUnavailable | This parameter indicates what to do if the terrain database indicates that data is unavailable (hasn't been streamed/paged in yet). If true, the target can be seen though unavailable data, if false, the target cannot be seen though unavailable data areas. |
| sensorSensitivity | This parameter is modification factors to the sensor ability to sense. This will be applied to the minimum signature threshold to allow for detection of objects that might not normally meet the minimal signature |
Reimplemented in DtPassiveSonarSensor.
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Uses the detection probability table to determine if the object was detected during this detection period.
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Determine varying levels of detection.
Only know full truth at the highest level. Uses the apparent signature of the object and any previous contact info to determine what the combat identification level( CID ) of the object is. This is a measure of how well we know what this object is. A DtSignatureDetectLevelDeterminator is used to obtain the value. The longer the sensor looks at the object and the larger it's apparent signature the higher the identification level will be.
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Uses the sensor positional error set in the sensor descriptor to add error to the contact information.
Currently very simple linear relationship based on range. TBD
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The current sensitivity of the sensor.
This value will be multiplied by the apparent signature to get the sensed signature. The base value is obtained from the sensor descriptor. It is then multiplied by the sensitivityModifier (below) and returned.
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protectedvirtual |
The modifier for this sensor's sensitivity.
A function of internal and external state. Includes modifiers for [aggregate] state properties for Posture and MOPP. Override this for sensor-specific modifiers.
Reimplemented in DtRadarObjectSensor.
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How wind (if it does) effects the sensors.
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How precipitation (if it does) effects the sensors.
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Sets up the current sensor geometry evaluator with the current position, orientation, and frustum of the sensor.
Called once per detection cycle.
Reimplemented from DtObjectSensor.
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How suppression effects sensors.
Default is to make sensitivity 0.
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protectedvirtual |
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Computed once per tick:
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The field of view of the sensor.
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DtObjectSensor's myProcessState cast to our PSR type.
This class with not new or delete this object. Base class does that.
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Input Port Name: zoom-rate
Input Port Description: Desired zoom level of the sensor.
Input Port Range: 1.0 to maximum zoom level
Input Group Parent:
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Input Port Name: field-of-view-color
Input Port Description: Desired color for the sensor field of view.
Input Port Range: RGBA value
Input Group Parent: