Models an entity moving along a generated road path. More...

Public Member Functions
	DtRoadMovementUpdater (DtRoadMovementController parentController, bool useHighGroundClamp, const DtAttachedTerrain attachedTerrain)
	Pass in the parent controller so we have access to our path and where we are in our path. More...

virtual	~DtRoadMovementUpdater ()
	destructor More...

virtual void	updateRailAndWorldPosition (DtRoadSegment *currentSeg, double newAccel, double dT, double simTime=0.0)
	Updates the vehicle position this tick given the past speed and acceleration along the lane. More...

virtual void	updateNoMovement ()
	Sets the movement state of the entity to stopped. More...

virtual void	updateFromPSR (const DtVector localPos, DtRailSegment *currentSeg)
	If loading in from a scenario saved out during a rail task, chances are the entity is not at the start of rail so update from its saved location on the current segment. More...

Class Admin Functions
virtual bool	init ()

virtual void	clear ()

virtual void	setEntityState (DtVrfMovingObjectStateRepository *state)

virtual void	setPSR (DtRailMovementControllerPSR *psr)

virtual void	movementComplete ()
	Called when movement is complete. More...

Protected Member Functions
virtual void	kinematicUpdate (const double oldSpeed, const double accel, const double dt, double &deltaPosition, double &newSpeed, double &actualAccel)
	Takes a scalar acceleration and speed and computes a new speed and a delta position. More...

virtual void	doKinematicUpdateAlongRail (const double dt, DtRoadSegment *currentSeg, const int roadLaneNum, const double oldPositionInLane, const double oldSpeed, double &accel, double &newPositionInLane, double &newLateralOffset, double &laneChangeHeadingOffset, double &newSpeed, double &newRotationRate)
	Does a kinematic update to compute the new position along the "rail" defined by the given segment and lane number. More...

virtual void	computePositionInDownstreamSegment (DtRoadSegment *&currentSeg, int &roadLaneNum, double &newPositionInLane, const double newLateralOffset, double &segmentCurveHeadingOffset, DtVector &localPosition, int &segmentIndex)
	This function takes the given road segment, lane number, and position in the lane, and determines if the position is beyond the end of the lane. More...

virtual void	updateLateralOffset (const double currentOffset, const double distanceBetweenLanes, const double speed, const double xMove, double &newLateralOffset, double &newHeadingOffset, double &headingChangeRate)
	Updates the lateral offset during a lane change maneuver. More...

virtual void	updatePsrWithNewState (const int roadLaneNum, const bool isSwitchingLanes, const int roadSegmentIndex, const double positionInLane, double lateralOffset, const double newSpeed, const double newAccel, DtRoadSegment *currentSegment)
	Given the road position, update fields in the PSR: destinationLaneNumber, currentMovementState, currentLaneNumber, positionAlongLane, segmentIndex, offsetFromLaneCenterline, speedAlongLane. More...

virtual void	computeBodyMotionVectors (const double speed, const double accel, const double turnRate, const double dt, DtVector &bodyVelocity, DtVector &bodyAcceleration)
	Sets the body velocity vectors from the speed, acceleration, and turn rate. More...

virtual void	computeRepositoryUpdateVariables (const DtVector &newLocalPosition, const DtVector &newBodyVelocity, const DtVector &newBodyAcceleration, const DtDcm &newLocalOrientation, const double newRotationRate, DtVector &newRelativeVelocity, DtVector &newRelativeAcceleration, DtTaitBryan &newLocalOrientationTb, DtVector &newBodyRotationalVelocity)
	Computes the relative velocity and acceleration vectors, and the Tait Bryan orientation and the body rotational velocity vector from body state provided as input. More...

virtual void	useFuel (double fuelUsed)
	Looks up the resource named �fuel� in the entity�s Resource Manager. More...

virtual bool	isEntityImmobilized ()

virtual double	fuelLeft () const
	Looks up the resource named �fuel� in the entity�s Resource Manager. More...

virtual void	updateRepository (const DtVector &localPosition, const DtVector &localVelocity, const DtVector &localAcceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity, double newHeading)
	Updates the local state repository: It places the position, velocity, acceleration, and orientation arguments into the local repository. More...

virtual void	calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, const double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
	Calculates the orientation and position of the entity, given a new location and heading. More...

virtual void	calculateOriginLocation (const DtVector &turnCenterLocation, const double heading, DtVector &originLocation)
	Computes the origin location from the turn center location. More...

bool	groundClamp (const double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal)
	Clamps the entity to the ground at the specified location, and determines the normal of the plane the entity is on at that location. More...

void	groundClampHighFidelity (const double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal)
	Uses all four ground interaction points to determine the plane of the entity and the soil type. More...

void	groundClampLowFidelity (const double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal)
	Uses only the center ground interaction point. More...

Protected Attributes
DtRoadMovementController *	myController

DtVrfMovingObjectStateRepository *	myMovingStateRep

DtRailMovementControllerPSR *	myRailMovementPSR

const DtAttachedTerrain *	myAttachedTerrain
	Used to ground clamp the entity– TODO how we ground clamp, ie get access to terrain may change, we might want to instead just point to the physical world. More...

bool	myUseHighFidelityGroundClamping

bool	myDrivingOnLeft

DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
	Port group used to set what values should be set into the VRF state repository. More...

bool	myWarnedAboutImmobilizedOnce
	To warn user about new immobilization just once. More...

Private Member Functions
	DtRoadMovementUpdater ()
	Default constructor; not implemented. More...

	DtRoadMovementUpdater (const DtRoadMovementUpdater &orig)
	Copy constructor; not implemented. More...

const DtRoadMovementUpdater &	operator= (const DtRoadMovementUpdater &orig)
	assignment operator; not implemented More...

Detailed Description

Models an entity moving along a generated road path.

Provides a kinematics-based model of an entity moving along a generated path or route in a fashion where it is locked onto the the path. DtRoadSegment is the class that represents the segment of the path which has various attributes which will help the entity determine how it will follow along the segment such as the speed and heading the entity will follow along the segment.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtRoadMovementUpdater::DtRoadMovementUpdater	(	DtRoadMovementController *	parentController,
		bool	useHighGroundClamp,
		const DtAttachedTerrain *	attachedTerrain
	)

Pass in the parent controller so we have access to our path and where we are in our path.

virtual DtRoadMovementUpdater::~DtRoadMovementUpdater ( )

virtual

destructor

DtRoadMovementUpdater::DtRoadMovementUpdater ( )

private

Default constructor; not implemented.

DtRoadMovementUpdater::DtRoadMovementUpdater ( const DtRoadMovementUpdater & orig )

private

Copy constructor; not implemented.

Member Function Documentation

virtual bool DtRoadMovementUpdater::init ( )

virtual

virtual void DtRoadMovementUpdater::clear ( )

virtual

virtual void DtRoadMovementUpdater::setEntityState ( DtVrfMovingObjectStateRepository * state )

virtual

virtual void DtRoadMovementUpdater::setPSR ( DtRailMovementControllerPSR * psr )

virtual

virtual void DtRoadMovementUpdater::movementComplete ( )

virtual

Called when movement is complete.

virtual void DtRoadMovementUpdater::updateRailAndWorldPosition	(	DtRoadSegment *	currentSeg,
		double	newAccel,
		double	dT,
		double	simTime = `0.0`
	)

virtual

Updates the vehicle position this tick given the past speed and acceleration along the lane.

Calls kinematicUpdate() and updateLateralOffset(). Implicitly uses the PSR, which has state for position along lane centerline, lateral offset, current lane N, is-passing, and destination lane N. Uses design driver lateral acceleration limit defined in DtRoadConstants.

Parameters

simTime is not used except for debugging.

virtual void DtRoadMovementUpdater::updateNoMovement ( )

virtual

Sets the movement state of the entity to stopped.

Call in place of updateRailAndWorldPosition.

virtual void DtRoadMovementUpdater::updateFromPSR	(	const DtVector	localPos,
		DtRailSegment *	currentSeg
	)

virtual

If loading in from a scenario saved out during a rail task, chances are the entity is not at the start of rail so update from its saved location on the current segment.

virtual void DtRoadMovementUpdater::kinematicUpdate	(	const double	oldSpeed,
		const double	accel,
		const double	dt,
		double &	deltaPosition,
		double &	newSpeed,
		double &	actualAccel
	)

protectedvirtual

Takes a scalar acceleration and speed and computes a new speed and a delta position.

Limits the speed to be between 0 and the entity max speed, and adjusts the acceleration to match. Outputs the position, limited speed, and adjusted acceleration.

virtual void DtRoadMovementUpdater::doKinematicUpdateAlongRail	(	const double	dt,
		DtRoadSegment *	currentSeg,
		const int	roadLaneNum,
		const double	oldPositionInLane,
		const double	oldSpeed,
		double &	accel,
		double &	newPositionInLane,
		double &	newLateralOffset,
		double &	laneChangeHeadingOffset,
		double &	newSpeed,
		double &	newRotationRate
	)

protectedvirtual

Does a kinematic update to compute the new position along the "rail" defined by the given segment and lane number.

(Lane number is 0-based). Also uses PSR members offsetFromLaneCenter() and laneChangeWidth(). Updates the following state:
longitudinal position along lane,
lateral offset from centerline (from lane change maneuver),
orientation offset from the centerline (from lane change maneuver),
rotation rate (from lane change maneuver and lane curvature).
Acceleration is an input, but may be updated if the speed exceeds either 0 or entity max speed in this tick, and so is clamped.
Note that if myDrivingOnLeft is true, the newRotationRate and laneChangeHeadingOffset will be mirror images, relative to the line between the start and end of the segment, of the normal values.
Called in updateRailAndWorldPosition.

virtual void DtRoadMovementUpdater::computePositionInDownstreamSegment	(	DtRoadSegment *&	currentSeg,
		int &	roadLaneNum,
		double &	newPositionInLane,
		const double	newLateralOffset,
		double &	segmentCurveHeadingOffset,
		DtVector &	localPosition,
		int &	segmentIndex
	)

protectedvirtual

This function takes the given road segment, lane number, and position in the lane, and determines if the position is beyond the end of the lane.

If it is, then it finds the road segment and lane number that this one connects to and computes the position in that lane (and if the position is beyond that segment, it keeps going forward until it finds the correct segment). Once the correct segment is found, the function computes the position (database coordinates) corresponding to the segment/lane/lane-position and the heading offset from segment heading (i.e. if on a curve). The segment, segment index, lane number, and position in lane are also updated if the position is on a new segment.
Note that if myDrivingOnLeft is true, the localPosition and segmentCurveHeadingOffset will be mirror images, relative to the line between the start and end of the segment, of the normal values.
Called in updateRailAndWorldPosition.

virtual void DtRoadMovementUpdater::updateLateralOffset	(	const double	currentOffset,
		const double	distanceBetweenLanes,
		const double	speed,
		const double	xMove,
		double &	newLateralOffset,
		double &	newHeadingOffset,
		double &	headingChangeRate
	)

protectedvirtual

Updates the lateral offset during a lane change maneuver.

The maneuver is assumed to be a double circular arc maneuver at a radius corresponding to the design driver lateral acceleration limit, or the vehicle turn radius at minimum. When a lane change is started, the current lane is immediately changed to the target lane, and a lane offset is computed that corresponds to the lateral distance to the old lane. In future ticks, the function slowly decreases the offset distance to zero.

Parameters

currentOffset	is the current lateral offset from the old lane, with positive being to the right and negative being to the left.
distanceBetweenLanes	is the (perpendicular) distance between the centerlines of the lanes. This is always positive.
speed	is the new speed of the vehicle;
xMove	is the distance along the lane that the vehicle moved
newLateralOffset	is the output lateral offset
newHeadingOffset	is an output; the offset heading of the new location due to lane changing.
newRotationRate	is the heading change rate caused by the lane change maneuver.

virtual void DtRoadMovementUpdater::updatePsrWithNewState	(	const int	roadLaneNum,
		const bool	isSwitchingLanes,
		const int	roadSegmentIndex,
		const double	positionInLane,
		double	lateralOffset,
		const double	newSpeed,
		const double	newAccel,
		DtRoadSegment *	currentSegment
	)

protectedvirtual

Given the road position, update fields in the PSR: destinationLaneNumber, currentMovementState, currentLaneNumber, positionAlongLane, segmentIndex, offsetFromLaneCenterline, speedAlongLane.

Also controller->currentRoadSegment. Called in updateRailAndWorldPosition.

virtual void DtRoadMovementUpdater::computeBodyMotionVectors	(	const double	speed,
		const double	accel,
		const double	turnRate,
		const double	dt,
		DtVector &	bodyVelocity,
		DtVector &	bodyAcceleration
	)

protectedvirtual

Sets the body velocity vectors from the speed, acceleration, and turn rate.

The output vectors describe the motion of the entity origin. If there is an offset from the origin to the vehicle turn center (rear axle), the (tangent) velocity on a curve is not just in the x direction; it gets a y component to make it tangent to the turn curve. Acceleration is linear acceleration plus centripetal, where centripetal is perpendicular to the tangent velocity. Uses myController->turnCenterOffset.

virtual void DtRoadMovementUpdater::computeRepositoryUpdateVariables	(	const DtVector &	newLocalPosition,
		const DtVector &	newBodyVelocity,
		const DtVector &	newBodyAcceleration,
		const DtDcm &	newLocalOrientation,
		const double	newRotationRate,
		DtVector &	newRelativeVelocity,
		DtVector &	newRelativeAcceleration,
		DtTaitBryan &	newLocalOrientationTb,
		DtVector &	newBodyRotationalVelocity
	)

protectedvirtual

Computes the relative velocity and acceleration vectors, and the Tait Bryan orientation and the body rotational velocity vector from body state provided as input.

Local position is not used in this base implementation. Called in updateRailAndWorldPosition.

virtual void DtRoadMovementUpdater::useFuel ( double fuelUsed )

protectedvirtual

Looks up the resource named �fuel� in the entity�s Resource Manager.

If the resource is not found, useFuel() just returns. If the resource is found, the amount of fuel passed as the argument to useFuel() is deducted from the resource. When the resource reaches 0, a warning is printed (using DtWarn).

Parameters

fuelUsed Amount of fuel to deplete.

virtual bool DtRoadMovementUpdater::isEntityImmobilized ( )

protectedvirtual

virtual double DtRoadMovementUpdater::fuelLeft ( ) const

protectedvirtual

Looks up the resource named �fuel� in the entity�s Resource Manager.

If the resource is not found, it returns an appropriately large constant to implement unlimited fuel. Otherwise, the value of the resource is returned.

Returns: Amount of fuel resource still available.

virtual void DtRoadMovementUpdater::updateRepository	(	const DtVector &	localPosition,
		const DtVector &	localVelocity,
		const DtVector &	localAcceleration,
		const DtTaitBryan &	localOrientation,
		const DtVector &	rotationalVelocity,
		double	newHeading
	)

protectedvirtual

Updates the local state repository: It places the position, velocity, acceleration, and orientation arguments into the local repository.

It puts the heading into the repository. It calculates the current speed from the velocity vector passed and sets that value in the local repository. It calculates the distance traveled this frame (speed * dT) and uses that and the fuel consumption ground vehicle parameter to determine the fuel used, and then calls useFuel().

Parameters

localPosition	Position in local (database) coordinates in meters.
localVelocity	Velocity in local (database) coordinates in meters/second.
localVelocity	Velocity in local (database) coordinates in meters/second/second.
localOrientation	Local orientation of entity in radians.
rotationalVelocity	In radians/second.
newHeading	In radians.

virtual void DtRoadMovementUpdater::calculateOrientationAndPosition	(	const DtVector &	newLocalProjectedLocation,
		const double	newHeading,
		DtDcm &	newLocalOrientation,
		DtVector &	newLocalPosition
	)

protectedvirtual

Calculates the orientation and position of the entity, given a new location and heading.

Checks for intersections with the terrain, to determine altitude and orientation (from support points) from 1/4 of the height of the entity's bounding volume as a rough approximation of the entity's wheels or treads height.

Parameters

newLocalProjectedLocation	is the location of the origin (center of rear axle) of the entity (input).
newHeading	is the heading of the entity (input).
newLocalOrientation	is the orientation of the entity after being placed on the ground in the given location (output).
newLocalPosition	is the position of the origin of the entity. It may be adjusted a little from the input position in altitude.

Returns: nothing, but sets the specified orientation and position appropriately.

Note: As a side effect, this also fills in the soil type, position, and altitude information of the groundCenter of the vrfObject. This is done through the placePoints() call from the state repository.; If the task parameter use-ground-clamping is set to false, then this function is not called at all, and instead the entity position is determined directly from the road segment, where each road segment is assumed to be planar and whose orientation is determined by the altitude of points on the road. This is much faster than doing the altitude lookups required by this function.

virtual void DtRoadMovementUpdater::calculateOriginLocation	(	const DtVector &	turnCenterLocation,
		const double	heading,
		DtVector &	originLocation
	)

protectedvirtual

Computes the origin location from the turn center location.

Uses myController->turnCenterOffset. Ignores roll and pitch.

bool DtRoadMovementUpdater::groundClamp	(	const double	heading,
		const DtVector &	location,
		DtAttachedTerrain &	terrain,
		DtVector &	newNormal
	)

protected

Clamps the entity to the ground at the specified location, and determines the normal of the plane the entity is on at that location.

Returns: a boolean indicating success or failure in performing the ground clamping and determining the new normal.

Note: As a side effect of this function, the soil type in the center ground interaction point is set.

The type of ground clamping also depends on the entity's configuration. Either high or low fidelity ground clamping is performed as specified.

See Also: groundClampHighFidelity; groundClampLowFidelity

void DtRoadMovementUpdater::groundClampHighFidelity	(	const double	heading,
		const DtVector &	location,
		DtAttachedTerrain &	terrain,
		DtVector &	newNormal
	)

protected

Uses all four ground interaction points to determine the plane of the entity and the soil type.

The left, right, and other support points are used to determine the plane, and the returned normal is the normal to that plane.

void DtRoadMovementUpdater::groundClampLowFidelity	(	const double	heading,
		const DtVector &	location,
		DtAttachedTerrain &	terrain,
		DtVector &	newNormal
	)

protected

Uses only the center ground interaction point.

The normal is the normal of the polygon on which the center point sits. And the soil type is also the polygon's. This requires fewer intersection tests with the terrain, but also may return an incorrect normal if the entity is sitting across several polygons.

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

private

assignment operator; not implemented

Member Data Documentation

DtRoadMovementController* DtRoadMovementUpdater::myController

protected

DtVrfMovingObjectStateRepository* DtRoadMovementUpdater::myMovingStateRep

protected

DtRailMovementControllerPSR* DtRoadMovementUpdater::myRailMovementPSR

protected

const DtAttachedTerrain* DtRoadMovementUpdater::myAttachedTerrain

protected

Used to ground clamp the entity– TODO how we ground clamp, ie get access to terrain may change, we might want to instead just point to the physical world.

bool DtRoadMovementUpdater::myUseHighFidelityGroundClamping

protected

bool DtRoadMovementUpdater::myDrivingOnLeft

protected

DtUpdateRepositoryOutputPortGroup* DtRoadMovementUpdater::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository.

All values are in local coordinates

bool DtRoadMovementUpdater::myWarnedAboutImmobilizedOnce

protected

To warn user about new immobilization just once.

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf4-8-branch/include/vrfmodel/roadMovementUpdater.h

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation