DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot. More...

Inheritance diagram for DtSimpleRotaryWingPilot:

Public Member Functions
	DtSimpleRotaryWingPilot (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtSimpleRotaryWingPilot ()
	destructor
virtual bool	init ()
	Calls the parent�s init() to initialize the ports.
virtual bool	createPorts ()
	Overridden to create rotary wing ports.
virtual const char *	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Calculate new control values.
virtual bool	taskVisualizationsActive () const
	Returns true if task visualizations are currently active for this component.
virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick.
Public Member Functions inherited from DtRotaryWingPilotController
	DtRotaryWingPilotController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtRotaryWingPilotController ()
	destructor
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedAnalogOutputPort *	collectivePort ()
virtual DtConstrainedDualAxisAnalogOutputPort *	cyclicPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual bool	createGuidancePortGroup ()
	Create the guidance ports from the task controllers.
virtual bool	createDesiredPositionPort ()
virtual bool	createDesiredVelocityPort ()
virtual bool	createDesiredAccelerationPort ()
virtual bool	createDesiredHeadingPort ()
virtual bool	createPositionSelectorPort ()
virtual bool	createVelocitySelectorPort ()
virtual bool	createAccelerationSelectorPort ()
virtual bool	createHeadingSelectorPort ()
virtual bool	createAggressivenessPort ()
virtual bool	createPowerDownPort ()
virtual DtVectorInputPort *	desiredPositionPort ()
	Accessors for guidance ports.
virtual DtVectorInputPort *	desiredVelocityPort ()
virtual DtVectorInputPort *	desiredAccelerationPort ()
virtual DtAnalogInputPort *	desiredHeadingPort ()
virtual DtAnalogInputPort *	positionSelectorPort ()
virtual DtAnalogInputPort *	velocitySelectorPort ()
virtual DtAnalogInputPort *	accelerationSelectorPort ()
virtual DtAnalogInputPort *	headingSelectorPort ()
virtual DtAnalogInputPort *	aggressivenessPort ()
virtual DtBooleanInputPort *	powerDownPort ()
virtual bool	createRotaryWingControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
virtual bool	createCollectivePort ()
virtual bool	createCyclicPort ()
virtual bool	createPedalPort ()
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 DtSimRadio *	radio ()
	The radio this component is listening to.
virtual void	taskNotify (const DtSimTask &task)
	This is used by the entity to notify all controllers that a new task has been received.
virtual void	clearTask ()
	Called when you want to clear out this component's task state.
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
virtual	~DtSimComponent ()
	destructor
void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component.
virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager.
virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values.
virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time.
virtual void	postTick ()
	This function is called immediately after tick() is called.
virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived.
virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as
virtual double	minTickPeriod () const
	access the minimum tick period
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time
virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period
virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally.
virtual double	nextTickTime () const
	access the next tick time
virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2.
virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at.
virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state.
virtual DtSimComponent *	nextComponent ()
	List management functions.
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
	Used by DtComponentList.
virtual DtListItem *	listItem ()
virtual void	putData (std::string &fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class.
virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored.
virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name.
virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component.
virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it.
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name.
virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component.
virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it.
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name.
virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component.
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it.
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name.
virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component.
virtual int	priority () const
	Return the current connection priority for this component.
virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value.
double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT.
virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary.
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	The component descriptor specified in the order of battle file or parameter file that was used to create this component.
virtual const DtComponentDescriptor *	componentDescriptor () const
virtual bool	tickWhileDestroyed () const
	If the component returns true here, it will be ticked regardless of the destroyed state of the host entity.
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual DtString	componentFullName () const
virtual DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in.
virtual const DtPhysicalWorld *	physicalWorld () const
virtual DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any.
virtual const DtAttachedTerrain *	terrainAttachedTo () const
virtual DtVrfObject *	entity ()
	Gets the entity.
virtual const DtVrfObject *	entity () const
virtual DtSimManager *	simManager ()
	Gets the sim manager.
virtual const DtSimManager *	simManager () const
virtual const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state!
virtual Coordinate_System *	coordinateSystem ()
virtual DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository.
virtual const DtVrfObjectStateRepository *	localStateRepository () const
virtual DtTaskVisualizationMap &	taskVisualizations ()
	Returns the list of task visualizations for this component.
virtual bool	taskVisualizationsEnabled () const
	Returns true if task visualizations are enabled for this component.
virtual bool	isThreadSafe () const
	Returns true if this component is marked as being thread safe.
virtual void	addVRLinkDeferredJob (const boost::function< void()> &callback)
	Adds a deferred job to the VRLink job queue in the DtParallelTickManager, but only if this component is marked at thread safe.
virtual void	enable ()
	Is this component enabled or not.
virtual void	disable ()
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream.
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	pseudo-copy constructor
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator
bool	operator== (const DtReaderWriter &) const
	Equivalence operator.
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
	destructor
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file.
virtual void	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op.
virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op.
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream.
virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op.
virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op.
virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry.
virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object.
virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object.
virtual void	addAlias (const DtString &alias)
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
	Set read-only flag.
bool	isReadonly () const
virtual void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to original state Default is no-op.
virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment.
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false.
virtual void	setName (const DtString &)
	Set the name of the object.
virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is.
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable.
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children.
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain.
virtual bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference.
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings.
virtual void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated.
virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time.
virtual bool	changedSinceLastChecked ()
	Returns true if this objects value has changed since the last time this function was called.
virtual bool	peekChangedSinceLastChecked () const
	Returns the value that changedSinceLastChecked would return but does not reset the internal flag.
virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values.
virtual bool	valueSpecified () const
virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere.
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively.
virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference.
virtual void	setVariableName (const DtSymbolString variableName)
virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified.
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable.
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Give the stream, if the stream contains a default value then set it here.
const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object.
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual DtRwVariableBindings *	generateVariableBindings () const
	Iterates over the registry (recursively) and returns a variable bindings object that contains all the variables that are contained in this read/writer class.
virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename.
virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid.
virtual bool	fromXmlFile (const DtFilename &)
	Restores object from given xml file.
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data.
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference.
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
	Gets data from the environment value.
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
	Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op.
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference.

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
static DtReal	xyDistSquared (DtVector a, DtVector b)
	Calculate the distance squared between the projections of the points onto the x-y plane.

Protected Member Functions
virtual void	computeDesiredLinearAccel (DtVector &desiredHorizBodyAccel, double &desiredYawAccel)
	Computes the desired linear acceleration (and estimate of desired body velocity) based on the control inputs, as identified by the selector port inputs.
virtual void	computeDesiredTopoAccelToPosition (const double maxAccel, const double period, DtVector &desiredTopoAccel, double &yawAccel)
	Computes the desired topo acceleration for movement toward a goal point, with or without a goal velocity at that point.
virtual void	computeDesiredTopoAccelToVelocity (const DtVector &desiredVel, const double period, DtVector &desiredTopoAccel)
	Computes the desired topo acceleration and yaw acceleration for movement controlled by a desired velocity vector alone.
virtual double	desiredHeadingWithNoMoveGoal ()
	Computes the desired heading when there isn't a position or velocity goal input.
virtual void	computeDesiredTopoAccelToHeading (const double desiredHeading, const double desiredSpeed, const double period, DtVector &desiredTopoAccel)
	Computes the desired topo acceleration and yaw acceleration for movement along a heading.
virtual void	checkLandNoFuel ()
	.................
virtual void	findEarthCurveDeltaPosition (DtVector fromPosition, DtVector toPosition, DtVector &deltaPosition, Coordinate_System *coordinateSystem)
	Given from and to positions in local coordinates, and a coordinate system, compute a delta position whose vertical component is the difference in altitudes of the from and to positions.
virtual void	limitAccelFromMaxForwardSpeed (const DtVector &topoVelocity, const double speedAtGoal, const double period, DtVector &desiredTopoAccel)
	Computes a limiting acceleration such that the forward speed of the entity does not exceed its max speed or ordered speed (ordered speed does not apply if the goal position has a velocity).
virtual void	limitAccelFromMaxAcceleration (DtVector &horizBodyAccel)
	Limit acceleration based on maxAcceleration and maxStoppingDeceleration parameter limits.
virtual void	computeTopoDeltaPosition (DtVector &topoDeltaPosition)
	Computes the position error to the goal point in topo coordinates.
virtual void	computeTopoDesiredEndVelocity (const DtVector &topoXyDeltaPos, DtVector &topoXyEndDirection, double &topoXyEndSpeed)
	Determines the direction and magnitude of the velocity at the goal point.
virtual void	computeAccelerationTowardGoal (const DtVector &topoCurrentXyVel, const DtVector &topoVelDirAtGoalPt, const double horizDesSpeedAtGoal, const DtVector &horizDeltaPos, const double period, double &maxAccelTowardGoal)
	Computes an acceleration toward a goal point to reach it and be at the desired speed when it is reached.
virtual void	computeAccelerationPerpendicularToGoal (const DtVector &topoCurrentXyVel, const DtVector &topoVelDirAtGoalPt, const DtVector &horizDeltaPos, const double maxAccel, const double delayTime, double &maxAccelTowardGoal)
	Determines the acceleration to use in the direction perpendicular to a line that goes through the desired end point and is aligned with the goal velocity direction.
virtual void	computeVerticalAcceleration (const DtVector &topoDeltaPos, const double downSpeed, const double period, double &desiredZAccel)
	Compute the desired z acceleration (up) from the given delta Z.
virtual double	accelFromConstraintsAvoidingOvershoot (const double maxDecel, const double maxAccel, const double period, double speed, double targetDist, const double speedAtTarget)
	Compute and return a value of acceleration such that the entity can use that acceleration for one period (tick), and then decelerate at up to maxDecel for an integral number of periods, and just reach a moving target point (targetDist -> 0) when it hits the target's speed.
virtual bool	isCloseToGoalPosition (const DtVector &topoDeltaPos)
	True if the horizontal distance to the goal position is less than a body length.
virtual void	setCollectiveAndCyclicFromAccel (const DtVector &desiredAcceleration)
	Sets the collective and collective from a desired acceleration input.
virtual void	setPedalFromDesiredYawAcceleration (const double yawAccel)
virtual void	setThrottle ()
	Sets the throttle control output value.
virtual DtReal	terrainAvoidanceVelocity () const
	Calculate an upward desired velocity to maintain a safe distance from the terrain.
virtual void	calculateTargetAlignmentAngle (DtReal &alignmentAngle) const
	Calculate the angle to the target position input (port), or if none any target in a weapon PSR.
virtual void	computeYawAccelerationToHeading (const double headingToPoint, const double period, double &yawAccel)
	Computes a desired yaw acceleration to point the entity toward the given heading.
virtual void	getTransformationMatrices ()
	Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.
virtual double	stationaryGoalSpeedThreshold ()
	! Constants
virtual double	catchUpSpeedFactor ()
	When moving toward a moving goal, how much faster than the goal's speed the entity is allowed to move while it is approaching.
Protected Member Functions inherited from DtRotaryWingPilotController
virtual bool	createPortGroups ()
	Overridden to call createRotaryWingControlPortGroup() and createGuidancePortGroup()
virtual void	setStateFromPorts ()
	Sets the state repository variables from the ports.
	DtRotaryWingPilotController ()
	default constructor; not implemented
	DtRotaryWingPilotController (const DtRotaryWingPilotController &orig)
	copy constructor; not implemented
const DtRotaryWingPilotController &	operator= (const DtRotaryWingPilotController &orig)
	assignment operator; not implemented
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor
	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator
virtual void	onRestore ()
	Override to iterate over the descriptor to see if there are any targetting control tables.
virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)
virtual void	setRadio (DtSimRadio *radio)
Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
	Compute current time and myDT.
bool	testInvariant () const
DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
	Creates a PSR for this component and registers it with the PSR manager.
virtual void	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
DtRotaryWingPilotDescriptor *	myPilotDescriptor
	A pointer to the descriptor for this controller.
DtDcm	myBodyToRef
	The local orientation matrix.
DtDcm	myLocalToTopoDcm
	The local to topographic coordinate transformation matrix.
DtDcm	myTopoToLocalDcm
	The topographic to local coordinate transformation matrix.
DtDcm	myTopoToBodyHeadingDcm
	The 2D rotation about the yaw axis only.
Ports and Port Groups
DtVectorInputPort *	myTargetLocationInputPort
	Input Port Name: target-location Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.
Protected Attributes inherited from DtRotaryWingPilotController
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState
DtVector	myNormalizedBodyVelocity
DtOutputPortGroup *	myRotaryWingControlPortGroup
	Output Port Group Name: rotary-wing-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: The position of the throttle control.
DtConstrainedAnalogOutputPort *	myCollectivePort
	Output Port Name: collective Output Port Description: The position of the collective control.
DtConstrainedDualAxisAnalogOutputPort *	myCyclicPort
	Output Port Name: cyclic Output Port Description: The position of the collective control in X and Y.
DtConstrainedAnalogOutputPort *	myPedalPort
	Output Port Name: pedal Output Port Description: The position of the pedal controls.
DtInputPortGroup *	myGuidancePortGroup
	Input Port Group Name: guidance Input Port Group Description: Group of input ports that define the desired heading/position/velocity/acceleration and flight properties.
DtVectorInputPort *	myDesiredPositionPort
	Input Port Name: desired-position Input Port Description: The desired position of the entity.
DtVectorInputPort *	myDesiredVelocityPort
	Input Port Name: desired-velocity Input Port Description: The desired velocity of the entity Input Port Range: Database coordinates.
DtVectorInputPort *	myDesiredAccelerationPort
	Input Port Name: desired-acceleration Input Port Description: The desired acceleration of the entity Input Port Range: Database coordinates.
DtAnalogInputPort *	myDesiredHeadingPort
	Input Port Name: desired-heading Input Port Description: Input Port Range: -1.
DtAnalogInputPort *	myPositionSelectorPort
	Input Port Name: position-selector Input Port Description: Determines whether the desired-position port is used.
DtAnalogInputPort *	myVelocitySelectorPort
	Input Port Name: velocity-selector Input Port Description: Determines whether the desired-velocity port is used.
DtAnalogInputPort *	myAccelerationSelectorPort
	Input Port Name: acceleration-selector Input Port Description: Determines whether the desired-acceleration port is used.
DtAnalogInputPort *	myHeadingSelectorPort
	Input Port Name: heading-selector Input Port Description: Determines whether the desired-heading port is used.
DtAnalogInputPort *	myAggressivenessPort
	Input Port Name: aggressiveness Input Port Description: How aggressively the autopilot will move the controls to gain the desired values.
DtBooleanInputPort *	myPowerDownPort
	Input Port Name: power-down Input Port Description: Determines whether the control values will all be set to 0.
Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
	Controller components can send messages.
Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity
DtVrfObjectStateRepository *	myLocalStateRepository
DtSimManager *	mySimManager
DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs.
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not.
bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick.
bool	myIsThreadSafe
	Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false.
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
	List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed.
bool	myTickEveryFrame
	Flag indicating that tickPeriod is set to 0, and the component will tick every frame.
DtTaskVisualizationMap	myTaskVisualizations
	The visualization objects to be drawn for this component.
double	myNextTaskVisTickTime
	The next tick time for updating the task visualizations.
__itt_string_handle *	myTickITTStringHandle
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object.
bool	myInvalid
	Set to true if there is a problem reading this item.
bool	myChangedFlag
	Set to true when value changes Set to false when value checked with changedSinceLastChecked.

Private Member Functions
	DtSimpleRotaryWingPilot ()
	default constructor not implemented
	DtSimpleRotaryWingPilot (const DtSimpleRotaryWingPilot &orig)
	copy constructor not implemented
DtSimpleRotaryWingPilot &	operator= (const DtSimpleRotaryWingPilot &orig)
	assignment operator not implemented

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()
Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap
typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap
typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap
typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Detailed Description

DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot.

End User Description: It sets the helicopter controls to achieve desired position, velocity, acceleration, and orientation. These values are provided over a set of input ports. The controller than uses these values to calculate the needed control inputs for the actuator, and sends these values on the output ports.

Uses Descriptor Type: DtRotaryWingPilotDescriptor

Constructor & Destructor Documentation

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

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtSimpleRotaryWingPilot::~DtSimpleRotaryWingPilot ( )

virtual

destructor

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot ( )

private

default constructor not implemented

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot ( const DtSimpleRotaryWingPilot & orig )

private

copy constructor not implemented

Member Function Documentation

virtual bool DtSimpleRotaryWingPilot::init ( )

virtual

Calls the parent�s init() to initialize the ports.

Returns true if initialization was successful.

Reimplemented from DtRotaryWingPilotController.

virtual bool DtSimpleRotaryWingPilot::createPorts ( )

virtual

Overridden to create rotary wing ports.

Reimplemented from DtRotaryWingPilotController.

virtual const char* DtSimpleRotaryWingPilot::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: DtRotaryWingPilotControllerType

Reimplemented from DtRotaryWingPilotController.

virtual void DtSimpleRotaryWingPilot::tick ( )

virtual

Calculate new control values.

Reimplemented from DtRotaryWingPilotController.

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

static

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns: New instance of this class.

Reimplemented from DtRotaryWingPilotController.

virtual bool DtSimpleRotaryWingPilot::taskVisualizationsActive ( ) const

virtual

Returns true if task visualizations are currently active for this component.

Default behavior is to return false. Must be overridden in subclasses to enable task visualizations.

Reimplemented from DtSimComponent.

virtual void DtSimpleRotaryWingPilot::updateTaskVisualizations ( )

virtual

Called to update task visualizations after every tick.

Implemented by subclasses.

Reimplemented from DtSimComponent.

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

private

assignment operator not implemented

virtual void DtSimpleRotaryWingPilot::computeDesiredLinearAccel	(	DtVector &	desiredHorizBodyAccel,
		double &	desiredYawAccel
	)

protectedvirtual

Computes the desired linear acceleration (and estimate of desired body velocity) based on the control inputs, as identified by the selector port inputs.

Looks at the various selector inputs (position, velocity, acceleration, heading) to figure out what the goal is. For example, velocity alone is taken as the desired instantaneous velocity, but if there is position and velocity input, velocity is taken to be the desired velocity at the goal point.

virtual void DtSimpleRotaryWingPilot::computeDesiredTopoAccelToPosition	(	const double	maxAccel,
		const double	period,
		DtVector &	desiredTopoAccel,
		double &	yawAccel
	)

protectedvirtual

Computes the desired topo acceleration for movement toward a goal point, with or without a goal velocity at that point.

This function handles 3 possibilities:

Goal velocity is zero or not specified, and entity is > a body length from the goal: head toward the goal and control forward speed.
Same, but within a body length: freeze heading and move laterally as necessary toward goal.
Goal velocity is non-zero: move toward the line defined by the velocity vector and the point, and control speed along the line to get to the point at the desired speed.

virtual void DtSimpleRotaryWingPilot::computeDesiredTopoAccelToVelocity	(	const DtVector &	desiredVel,
		const double	period,
		DtVector &	desiredTopoAccel
	)

protectedvirtual

Computes the desired topo acceleration and yaw acceleration for movement controlled by a desired velocity vector alone.

Adds terrain avoidance velocity if required. If the desired speed is very small, then the function checks to see if there are targets (calculateTargetAlignmentAngle) to face.

virtual double DtSimpleRotaryWingPilot::desiredHeadingWithNoMoveGoal ( )

protectedvirtual

Computes the desired heading when there isn't a position or velocity goal input.

If the current speed is > the maxSpeedForHeadingControl, then the heading is just the direction of velocity. Otherwise, if there is a heading control input, that is the heading. Otherwise, if there is a target, then it's bearing is the heading. Otherwise, the current heading is returned.

virtual void DtSimpleRotaryWingPilot::computeDesiredTopoAccelToHeading	(	const double	desiredHeading,
		const double	desiredSpeed,
		const double	period,
		DtVector &	desiredTopoAccel
	)

protectedvirtual

Computes the desired topo acceleration and yaw acceleration for movement along a heading.

Ordered speed and altitude are followed.

virtual void DtSimpleRotaryWingPilot::checkLandNoFuel ( )

protectedvirtual

.................

Lands the entity if the fuel is used up.

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

protectedvirtual

Given from and to positions in local coordinates, and a coordinate system, compute a delta position whose vertical component is the difference in altitudes of the from and to positions.

This will be a vector to follow around the curve of the earth, vs. a straight line in space between the positions. The length of the vector will not be accurate (neither straight line distance or around-the-earth distance, exactly) but it is assumed that the length is long enough to max out the control system anyway.

virtual void DtSimpleRotaryWingPilot::limitAccelFromMaxForwardSpeed	(	const DtVector &	topoVelocity,
		const double	speedAtGoal,
		const double	period,
		DtVector &	desiredTopoAccel
	)

protectedvirtual

Computes a limiting acceleration such that the forward speed of the entity does not exceed its max speed or ordered speed (ordered speed does not apply if the goal position has a velocity).

virtual void DtSimpleRotaryWingPilot::limitAccelFromMaxAcceleration ( DtVector & horizBodyAccel )

protectedvirtual

Limit acceleration based on maxAcceleration and maxStoppingDeceleration parameter limits.

Argument horizBodyAccel is a vector containing the input (desired) acceleration with X aligned with the entity's heading and Y to the right. This vector is modified if limiting is required. (Z is not changed.)

virtual void DtSimpleRotaryWingPilot::computeTopoDeltaPosition ( DtVector & topoDeltaPosition )

protectedvirtual

Computes the position error to the goal point in topo coordinates.

If the horizontal distance is > 5km, then the difference in altitudes is used for dz, rather than the difference in topo z coordinates of the current and goal points (to accommodate earth curvature).

virtual void DtSimpleRotaryWingPilot::computeTopoDesiredEndVelocity	(	const DtVector &	topoXyDeltaPos,
		DtVector &	topoXyEndDirection,
		double &	topoXyEndSpeed
	)

protectedvirtual

Determines the direction and magnitude of the velocity at the goal point.

If the velocity selector input is 0, then 0 speed is output, with a direction corresponding to the delta position.

virtual void DtSimpleRotaryWingPilot::computeAccelerationTowardGoal	(	const DtVector &	topoCurrentXyVel,
		const DtVector &	topoVelDirAtGoalPt,
		const double	horizDesSpeedAtGoal,
		const DtVector &	horizDeltaPos,
		const double	period,
		double &	maxAccelTowardGoal
	)

protectedvirtual

Computes an acceleration toward a goal point to reach it and be at the desired speed when it is reached.

Period is the time before the entity can begin decelerating, i.e. dT or some longer time if there is a delay before deceleration starts. The return maxAccelTowardGoal is the max acceleration that can be used and still hit the target point using max-deceleration.

virtual void DtSimpleRotaryWingPilot::computeAccelerationPerpendicularToGoal	(	const DtVector &	topoCurrentXyVel,
		const DtVector &	topoVelDirAtGoalPt,
		const DtVector &	horizDeltaPos,
		const double	maxAccel,
		const double	delayTime,
		double &	maxAccelTowardGoal
	)

protectedvirtual

Determines the acceleration to use in the direction perpendicular to a line that goes through the desired end point and is aligned with the goal velocity direction.

virtual void DtSimpleRotaryWingPilot::computeVerticalAcceleration	(	const DtVector &	topoDeltaPos,
		const double	downSpeed,
		const double	period,
		double &	desiredZAccel
	)

protectedvirtual

Compute the desired z acceleration (up) from the given delta Z.

Z is from topo coordinates, so is positive if the goal is below the entity altitude. Includes a check for terrain and insertion of upward velocity for terrain avoidance. The value returned in desiredZAccel is in topo coordinates, so is positive if the acceleration is down.

virtual double DtSimpleRotaryWingPilot::accelFromConstraintsAvoidingOvershoot	(	const double	maxDecel,
		const double	maxAccel,
		const double	period,
		double	speed,
		double	targetDist,
		const double	speedAtTarget
	)

protectedvirtual

Compute and return a value of acceleration such that the entity can use that acceleration for one period (tick), and then decelerate at up to maxDecel for an integral number of periods, and just reach a moving target point (targetDist -> 0) when it hits the target's speed.

If targetDist < 0, then the function looks for a solution that involves decelerating for one period and then accelerating at up to maxAccel for an integral number of periods. If no solution can be found, then the function uses a PD control calculation to produce an acceleration (based on making targetDist = 0). This function is used to produce an acceleration for movement horizontally toward a goal point, movement toward a line through the goal point that is aligned with the desired velocity, moving vertically to a desired altitude, and orienting to a desired heading.

virtual bool DtSimpleRotaryWingPilot::isCloseToGoalPosition ( const DtVector & topoDeltaPos )

protectedvirtual

True if the horizontal distance to the goal position is less than a body length.

Within this distance, the pilot does not try to orient towards the goal point, but just translates the entity without changing the heading to get exactly to the goal.

virtual void DtSimpleRotaryWingPilot::setCollectiveAndCyclicFromAccel ( const DtVector & desiredAcceleration )

protectedvirtual

Sets the collective and collective from a desired acceleration input.

The acceleration is a topographic acceleration oriented to the entity heading, i.e. X is the horizontal acceleration in the heading of the entity, Y is the horizontal acceleration to the right of the heading of the entity, and Z is the down acceleration. Note that Z must include acceleration for counteracting gravity; i.e. if Z = -G, the entity will not accelerate up or down.

These values will be converted to values between -1 and 1 (each axis of cyclic) or 0 and 1 (collective) based on the entity max-acceleration and max-climb rates. Side effect is the setting of the cyclic and collective ports.

virtual void DtSimpleRotaryWingPilot::setPedalFromDesiredYawAcceleration ( const double yawAccel )

protectedvirtual

virtual void DtSimpleRotaryWingPilot::setThrottle ( )

protectedvirtual

Sets the throttle control output value.

virtual DtReal DtSimpleRotaryWingPilot::terrainAvoidanceVelocity ( ) const

protectedvirtual

Calculate an upward desired velocity to maintain a safe distance from the terrain.

virtual void DtSimpleRotaryWingPilot::calculateTargetAlignmentAngle ( DtReal & alignmentAngle ) const

protectedvirtual

Calculate the angle to the target position input (port), or if none any target in a weapon PSR.

This function is used when the entity is stationary and has 0 desired velocity.

virtual void DtSimpleRotaryWingPilot::computeYawAccelerationToHeading	(	const double	headingToPoint,
		const double	period,
		double &	yawAccel
	)

protectedvirtual

Computes a desired yaw acceleration to point the entity toward the given heading.

virtual void DtSimpleRotaryWingPilot::getTransformationMatrices ( )

protectedvirtual

Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.

virtual double DtSimpleRotaryWingPilot::stationaryGoalSpeedThreshold ( )

inlineprotectedvirtual

! Constants

When moving toward a goal point, how slow the point (i.e. desired velocity control input) has to be moving before being considered stationary. When the goal point is moving, if the entity is close to it it will orient to the direction of movement; if the point is stationary, the entity will just maintain a constant orientation as it moves toward the goal. In mps.

virtual double DtSimpleRotaryWingPilot::catchUpSpeedFactor ( )

inlineprotectedvirtual

When moving toward a moving goal, how much faster than the goal's speed the entity is allowed to move while it is approaching.

(If this is less than the ordered speed, the entity will move at ordered speed.)

static DtReal DtSimpleRotaryWingPilot::xyDistSquared	(	DtVector	a,
		DtVector	b
	)

static

Calculate the distance squared between the projections of the points onto the x-y plane.

Used by some other controllers.

Member Data Documentation

DtVectorInputPort* DtSimpleRotaryWingPilot::myTargetLocationInputPort

protected

Input Port Name: target-location
Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.

Input Port Range: Local database locations.

DtRotaryWingPilotDescriptor* DtSimpleRotaryWingPilot::myPilotDescriptor

protected

A pointer to the descriptor for this controller.

DtDcm DtSimpleRotaryWingPilot::myBodyToRef

protected

The local orientation matrix.

DtDcm DtSimpleRotaryWingPilot::myLocalToTopoDcm

protected

The local to topographic coordinate transformation matrix.

DtDcm DtSimpleRotaryWingPilot::myTopoToLocalDcm

protected

The topographic to local coordinate transformation matrix.

DtDcm DtSimpleRotaryWingPilot::myTopoToBodyHeadingDcm

protected

The 2D rotation about the yaw axis only.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation