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lookAtActuator.h
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1 /*******************************************************************************
2 ** Copyright (c) 2017 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
10 #pragma once
11 
12 #include "vrfmodel/vrfmodelDefines.h"
13 #include "vrfobjcore/actuatorComponent.h"
14 #include <vl/hostStructs.h>
15 
16 class DtLookAtActuatorDescriptor;
17 class DtAnalogInputPort;
18 class DtBooleanInputPort;
19 class DtVectorInputPort;
20 class DtInputPortGroup;
21 
29 
30 class DT_DLL_vrfmodel DtLookAtActuator : public DtActuatorComponent
31 {
32 
33 public:
34 
37  DtLookAtActuator(const DtString& name,
38  DtVrfObject* owner,
39  DtSimManager* simManager,
40  DtComponentDescriptor* desc = 0,
41  DtReaderWriterRegistry* parentRegistry = 0);
42 
43 
45  virtual ~DtLookAtActuator();
46 
49  virtual const char* type() const;
50 
52  virtual void tick();
53 
57  static DtSimComponent * creator(const DtString& name,
58  DtVrfObject* owner,
59  DtSimManager* simManager,
60  DtComponentDescriptor* desc = 0,
61  DtReaderWriterRegistry* parentRegistry = 0);
62 
64  virtual bool init();
65 
66 protected:
67 
69  virtual bool createPortGroups();
70 
72  virtual bool createPorts();
73 
75  virtual void positionHead(double elevation, double azimuith);
76 
78  virtual void elevateHead(double elevation);
79 
82  virtual void rotateHead(double azimuth);
83 
85  virtual void getElevationAndAzimuth(double& elevation, double& azimuth);
86 
88  virtual double elevationAngleToLocalPoint(const DtVector& localPoint, bool& failed);
89 
91  virtual double azimuthAngleToLocalPoint(const DtVector&, bool& failed);
92 
94  virtual void nodHead();
95 
97  virtual void shakeHead();
98 
100  virtual double elevationRate();
101 
103  virtual double azimuthRate();
104 
105 protected:
106 
108  DtLookAtActuator();
109 
111  DtLookAtActuator(const DtLookAtActuator & orig);
112 
114  const DtLookAtActuator & operator=(const DtLookAtActuator & orig);
115 
116 protected:
117  double myNodOrShakeDirection;
118  DtLookAtActuatorDescriptor* myLookAtDescriptor;
119  DtArtPartType myHeadArtPart;
120  DtArticulatedPartStateRepository* myHead;
121 
124  DtInputPortGroup* myLookAtControlPortGroup;
125 
130  DtVectorInputPort* myLookAtPointPort;
131 
137  DtBooleanInputPort* myLookAtAnglePort;
138 
143  DtAnalogInputPort* myLookAtAzimuthPort;
144 
149  DtAnalogInputPort* myLookAtElevationPort;
150 
158  DtBooleanInputPort* myForbidBaseRotationPort;
159 
165  DtAnalogInputPort* myNodOrShakePort;
166 
172  DtVectorInputPort* myNodOrShakeRatesPort;
173 
178  DtBooleanInputPort* myResetHeadPort;
179 };
180 
Document ID: Generated on Fri Apr 26 21:53:14 EDT 2019 from SVN revision 197883
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