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rotaryWingPilotController.h
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1 /*******************************************************************************
2 ** Copyright (c) 1999-2003 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
11 
15 
16 #pragma once
17 
18 #include "vrfobjcore/controllerComponent.h"
19 #include <matrix/LibMatrix.h>
20 
21 class DtString;
22 class DtSimManager;
23 class DtConstrainedAnalogOutputPort;
24 class DtConstrainedDualAxisAnalogOutputPort;
25 class DtRotaryWingEntityStateRepository;
26 class DtOutputPortGroup;
27 class DtInputPortGroup;
28 class DtVectorInputPort;
29 class DtAnalogInputPort;
30 class DtBooleanInputPort;
31 
36 #include "vrfmodel/vrfmodelDefines.h"
37 class DT_DLL_vrfmodel DtRotaryWingPilotController : public DtControllerComponent
38 {
39 
40 public:
41 
44  DtRotaryWingPilotController(const DtString& name,
45  DtVrfObject* owner,
46  DtSimManager* simManager,
47  DtComponentDescriptor* desc = 0,
48  DtReaderWriterRegistry* parentRegistry = 0);
49 
51  virtual ~DtRotaryWingPilotController();
52 
54  virtual bool init();
55 
57  virtual void tick();
58 
61  virtual const char* type() const;
62 
64 
65  virtual bool createGuidancePortGroup();
66  virtual bool createDesiredPositionPort();
67  virtual bool createDesiredVelocityPort();
68  virtual bool createDesiredAccelerationPort();
69  virtual bool createDesiredHeadingPort();
70  virtual bool createPositionSelectorPort();
71  virtual bool createVelocitySelectorPort();
72  virtual bool createAccelerationSelectorPort();
73  virtual bool createHeadingSelectorPort();
74  virtual bool createAggressivenessPort();
75  virtual bool createPowerDownPort();
77 
79 
80  virtual DtVectorInputPort *desiredPositionPort();
81  virtual DtVectorInputPort *desiredVelocityPort();
82  virtual DtVectorInputPort *desiredAccelerationPort();
83  virtual DtAnalogInputPort *desiredHeadingPort();
84  virtual DtAnalogInputPort *positionSelectorPort();
85  virtual DtAnalogInputPort *velocitySelectorPort();
86  virtual DtAnalogInputPort *accelerationSelectorPort();
87  virtual DtAnalogInputPort *headingSelectorPort();
88  virtual DtAnalogInputPort *aggressivenessPort();
89  virtual DtBooleanInputPort* powerDownPort();
91 
94 
95  virtual bool createRotaryWingControlPortGroup();
96  virtual bool createThrottlePort();
97  virtual bool createCollectivePort();
98  virtual bool createCyclicPort();
99  virtual bool createPedalPort();
101 
102  virtual DtConstrainedAnalogOutputPort * throttlePort();
103  virtual DtConstrainedAnalogOutputPort * collectivePort();
104  virtual DtConstrainedDualAxisAnalogOutputPort * cyclicPort();
105  virtual DtConstrainedAnalogOutputPort * pedalPort();
106 
110  static DtSimComponent * creator(const DtString& name,
111  DtVrfObject* owner,
112  DtSimManager* simManager,
113  DtComponentDescriptor* desc = 0,
114  DtReaderWriterRegistry* parentRegistry = 0);
115 
116 protected:
117 
119  virtual bool createPortGroups();
120 
122  virtual bool createPorts();
123 
125  virtual void setStateFromPorts();
126 
127 protected:
128 
130  DtRotaryWingPilotController();
131 
133  DtRotaryWingPilotController(const DtRotaryWingPilotController &
134  orig);
135 
137  const DtRotaryWingPilotController & operator=(const
138  DtRotaryWingPilotController & orig);
139 
140 
141 protected:
142 
143  DtRotaryWingEntityStateRepository * myRotaryWingEntityState;
144 
146 
147 
150  DtOutputPortGroup* myRotaryWingControlPortGroup;
151 
157  DtConstrainedAnalogOutputPort* myThrottlePort;
158 
164  DtConstrainedAnalogOutputPort* myCollectivePort;
165 
171  DtConstrainedDualAxisAnalogOutputPort* myCyclicPort;
172 
178  DtConstrainedAnalogOutputPort* myPedalPort;
179 
183  DtInputPortGroup *myGuidancePortGroup;
184 
189  DtVectorInputPort *myDesiredPositionPort;
190 
195  DtVectorInputPort *myDesiredVelocityPort;
196 
201  DtVectorInputPort *myDesiredAccelerationPort;
202 
207  DtAnalogInputPort *myDesiredHeadingPort;
208 
214  DtAnalogInputPort *myPositionSelectorPort;
215 
221  DtAnalogInputPort *myVelocitySelectorPort;
222 
228  DtAnalogInputPort *myAccelerationSelectorPort;
229 
235  DtAnalogInputPort *myHeadingSelectorPort;
236 
242  DtAnalogInputPort *myAggressivenessPort;
243 
252  DtBooleanInputPort* myPowerDownPort;
253 
255 
256  DtVector myNormalizedBodyVelocity;
257 };
Document ID: Generated on Fri Apr 26 21:53:14 EDT 2019 from SVN revision 197883
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