This class is responsible for controlling the aiming of a sensor on a gimbal. More...

Inheritance diagram for DtSensorGimbalController:

Public Member Functions
	DtSensorGimbalController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSensorGimbalController ()
	Destructor. More...

virtual bool	init ()
	Calls setRadio() More...

virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager. More...

virtual const char *	type () const
	Returns a string identifies the class type of component. More...

virtual void	tick ()
	This gives the thread of control to the component. More...

virtual void	bindLuaFunctions (lua_State *L)
	Binds method for this class to the lua state. More...

virtual void	bindLuaGlobals (lua_State *L)
	Override to bind lua globals. More...


virtual void	setGimbalControlCallback (const DtEvent &)
	Processes a direct control command for the aiming of the gimbal. More...

virtual void	processGimbalControl (DtSensorFieldOfViewControlInter *ctrlInter)


virtual bool	isUnderManualControl () const
	Methods accessible via Lua extensions. More...

virtual std::string	mode () const
	Returns the current gimbal mode. More...

virtual double	orientation (double &elevation) const
	Return azimuth and elevation of sensor. More...

virtual DtLocation3D	lookingAt () const
	The location the sensor would be lasing if it were lasing. More...

Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSingleTaskControllerComponent ()
	destructor More...

virtual void	postTick ()
	Override to check if we're tasked and we want to give up (only performs the check if we're in play mode (dT() > 0)). More...

virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)
	Called by the task manager when this controller should start executing the specified task. More...

virtual void	taskNotify (const DtSimTask &task)
	This is called to let us know when some other component receives a task In the case of this component, we don't care what the task actually is. More...

virtual void	taskComplete (bool success=true)
	If we are currently tasked, this will cause us to notify the entity that we're done and delete the task. More...

virtual void	clearTask ()
	If component is currently tasked, calls clearPendingSubtasks(), sets the tasked flag to false, and calls clearCurrentTaskMesage() to clear out the current task message. More...

virtual void	suspendTask ()
	This method is called when the currently running task is being suspended. More...

virtual int	sendSubtask (DtSimTask &task)
	Sends subtask to ourself. More...

virtual void	clearSubtask (int subtaskId)
	Clears subtask with the given subtaskId (subtaskId is returned sendSubtask()). More...

virtual void	addPendingSubtaskId (int subtaskId)
	Adds given subtask Id to list of pending subtasks. More...

virtual bool	findPendingSubtaskId (int subtaskId)
	Checks to see if given subtaskId exists in our list of pending subtasks. More...

virtual bool	isSubtasked () const
	Returns true if this controller is currently subtasked. More...

virtual void	removePendingSubtaskId (int subtaskId)
	Removes pending subtask from list of subtasks for this component. More...

virtual void	removeAllPendingSubtaskIds ()
	Clear all pending subtasks from our list of subtasks. More...

virtual std::vector< int >	currentPendingSubstaskIds () const
	Returns the list of all currently pending subtask ids for this controller. More...

virtual void	clearCurrentTaskMessage ()
	Returns the current subtask with the specified id. More...

virtual DtTaskMessage *	currentTaskMessage () const
	Get a pointer to the message that was used to task this entity. More...

virtual DtSimTaskStatePtr	currentTaskState () const

virtual bool	decideToGiveUpTask () const
	This function is used to determine if the controller should give up trying to execute the current task. More...

virtual void	giveUpTask ()
	Called when controller is tasked and decideToGiveUp() returns true. More...

virtual bool	taskActive (int taskId) const

virtual bool	clearTopLevelTasks ()
	If this controller has any top level tasks (not subtasks), they are cleared. More...

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
	Clears any top level tasks on this controller that conflict with the conflict task type. More...

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)
	Clears any tasks of the specified type running in this controller. More...

virtual void	clearTaskById (int taskId)
	Clears any task of the specified ID running in this controller. More...

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId)

virtual std::list < DtTaskMessage * >	currentTaskMessages () const

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const

virtual void	disable ()
	Overridden to allow tasks controllers that can be disabled to call task complete. More...

Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtTaskControllerComponent ()
	destructor More...

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio)
	Calls registerTaskMsgCallbacks. More...

virtual void	registerTaskMsgCallbacks ()

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Adds a new function for processing the specified task type. More...

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Deprecated form of addTaskProcessorCallback. More...

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
	Undoes anything done by addTaskProcessorCallback(). More...

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
	Deprecated form of removeTaskProcessorCallback. More...

virtual void	enable ()
	Overridden to call registerTaskMsgCallbacks(). More...

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)
	Sends the task canceled report for the specified message. More...

virtual bool	taskVisualizationsActive () const
	Returns true if task visualizations are currently active for this component. More...

virtual void	setTasked (bool tasked)
	The current tasked state of this controller. More...

virtual bool	tasked () const

Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtControllerComponent ()
	destructor More...

virtual DtSimRadio *	radio ()
	The radio this component is listening to. More...

Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSimComponent ()
	destructor More...

virtual void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component. More...

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values. More...

virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time. More...

virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived. More...

virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as More...

virtual double	minTickPeriod () const
	access the minimum tick period More...

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time More...

virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period More...

virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally. More...

virtual double	nextTickTime () const
	access the next tick time More...

virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2. More...

virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at. More...

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. More...

virtual DtSimComponent *	nextComponent ()
	List management functions. More...

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)
	Used by DtComponentList. More...

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. More...

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. More...

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. More...

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. More...

virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component. More...

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. More...

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. More...

virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component. More...

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. More...

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. More...

virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component. More...

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. More...

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. More...

virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component. More...

virtual int	priority () const
	Return the current connection priority for this component. More...

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. More...

double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT. More...

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. More...

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. More...

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. More...

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in. More...

const DtPhysicalWorld *	physicalWorld () const

DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any. More...

const DtAttachedTerrain *	terrainAttachedTo () const

DtVrfObject *	entity ()
	Gets the entity. More...

const DtVrfObject *	entity () const

const DtVrfObject *	const_entity () const
	You would want to use this call if you could be either a const or non-const entity, and you wanted to be sure you only had const access. More...

DtSimManager *	simManager ()
	Gets the sim manager. More...

const DtSimManager *	simManager () const

const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state! More...

DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository. More...

const DtVrfObjectStateRepository *	localStateRepository () const

const DtVrfObjectStateRepository *	const_localStateRepository () const
	You would want to use this call if you could be either a const or non-const local state repository, and you wanted to be sure you only had const access. More...

virtual DtTaskVisualizationMap &	taskVisualizations ()
	Returns the list of task visualizations for this component. More...

virtual bool	taskVisualizationsEnabled () const
	Returns true if task visualizations are enabled for this component. More...

virtual bool	isThreadSafe () const
	Returns true if this component is marked as being thread safe. More...

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. More...

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 More...

	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream. More...

	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	pseudo-copy constructor More...

	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor More...

const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator More...

bool	operator== (const DtReaderWriter &) const
	Equivalence operator. More...

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()
	destructor More...

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. More...

virtual void	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op. More...

virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op. More...

virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream. More...

virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op. More...

virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op. More...

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. More...

virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object. More...

virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object. More...

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. More...

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. More...

virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment. More...

virtual bool	variableIsBound () const

virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false. More...

virtual void	setName (const DtString &)
	Set the name of the object. More...

virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is. More...

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable. More...

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children. More...

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. More...

virtual bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference. More...

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. More...

virtual void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated. More...

virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time. More...

virtual bool	changedSinceLastChecked ()
	Returns true if this objects value has changed since the last time this function was called. More...

virtual bool	peekChangedSinceLastChecked () const
	Returns the value that changedSinceLastChecked would return but does not reset the internal flag. More...

virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values. More...

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere. More...

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively. More...

virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference. More...

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. More...

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable. More...

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. More...

const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object. More...

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. More...

virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename. More...

virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid. More...

virtual bool	fromXmlFile (const DtFilename &)
	Restores object from given xml file. More...

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data. More...

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference. More...

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. More...

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. More...

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference. More...

Public Member Functions inherited from DtJoystickControllerInterface
	DtJoystickControllerInterface (DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor *desc)
	CTOR. More...

virtual	~DtJoystickControllerInterface ()
	destructor More...

virtual bool	joystickEnabled () const

Public Member Functions inherited from DtBindableLuaComponent< DtSensorGimbalController >
	DtBindableLuaComponent (const DtVrfObject *entity, const DtString &componentName, const DtString &componentType)

virtual	~DtBindableLuaComponent ()

bool	shouldBind (lua_State *L) const

Public Member Functions inherited from DtBindableLuaComponentInterface
	DtBindableLuaComponentInterface (const DtVrfObject *entity, const DtString &componentName, const DtString &componentType)
	CTOR. More...

virtual	~DtBindableLuaComponentInterface ()
	DTOR. More...

virtual void	bind (DtVrfObject , const DtString &scriptId, lua_State )
	Starts the binding process. More...

virtual DtString	bindableName (const DtString &) const
	Returns a name suitable for binding. Replaces spaces and - with _. More...

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage msg, void usr, DtSimTaskStatePtr taskState)
	Task processor callback function that acts as an adapter for the deprecated forms of addTaskProcessorCallback and removeTaskProcessorCallback (the deprecated form is is version that. More...

Static Public Member Functions inherited from DtSimComponent
static DtSimComponent *	MarkThreadSafe (DtSimComponent *)
	Marks an instance of a component as being thread safe. More...

static DtSimComponentFactory *	factory ()
	A DtSimComponentFactory is allocated by the DtSimCreator, and this pointer is set. More...

static void	setFactory (DtSimComponentFactory *factory)

static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtVrfObject owner, DtSimManager simManager, DtComponentSystem parentSystem, DtComponentDescriptor desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Creates a DtSimComponent using the factory, then initializes it via the MTL stream. More...

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
	Adds a DtSimComponent creation function to the DtSimComponentFactory, using the given type as the key. More...

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()
	The type that is used when archiving to an XML stream. More...

static const DtFilename &	appPath ()
	Gets the current working directory. More...

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
	Sets the function to create the DtReaderWriterFactory. More...

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
	Given a filename, returns a newly created reader/writer object from the object found within. More...

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
	Given a xml string, returns a newly created reader/writer object from the object found within. More...

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
	Given a xml environment, returns a newly created reader/writer object from the object found within. More...

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)
	Gets the named attribute from a DtEnvValueSP. More...

Static Public Member Functions inherited from DtObjectDebugger< DtSimComponent >
static DtObjectCounter::CounterType	ObjectCount ()

static const DtObjectContainer *	ObjectContainer ()

Protected Member Functions
virtual bool	targetPoint (const DtTaitBryan &orientation, DtVector &location) const
	if the sensor were to be targeting, what would it target More...

virtual DtVector	localEyepoint () const

virtual bool	createPortGroups ()
	Creates and initializes port groups. More...

virtual bool	createPorts ()
	Overridden to create local ports. More...

virtual DtSensorGimbalControllerPSR *	createPSR ()
	Create the PSR. More...

virtual void	restoreDefaultAiming ()
	Reset to default aiming mode and position: a fixed angle at the configured neutral angle. More...

virtual void	aimSensorAtPoint (const DtVector &worldLocation)
	Attempts to aim the sensor at the given world location. More...

virtual void	trackObject (const DtVrfObject *objectToTrack)
	Attempts to track the given object. More...

virtual void	aimSensorAtAngle (double azimuth, double elevation)
	Attempts to aim the sensor at the given azimuth an elevation, in radians relative to the orientation of the entity. More...

virtual void	scanSensor ()
	Scans back and forth across an area. More...

virtual void	searchAndTrackObject (const DtVrfObject *objectToTrack)
	Scans back and forth across an area until it finds the given object to track. More...

virtual void	currentPositionAzimuthAndElevation (DtVector &offset, double &az, double &el) const
	Gets current body relative positional offset and aiming azimuth and elevation. More...

virtual void	currentWorldLocationAndOrientation (DtVector &location, DtTaitBryan &orientation) const
	Gets current world orientation and location of sensor gimbal. More...

virtual DtArticulatedPartStateRepository *	gimbalAzimuthPart ()
	Part for gimbal azimuth rotation. More...

virtual const DtArticulatedPartStateRepository *	gimbalAzimuthPart () const

virtual DtArticulatedPartStateRepository *	gimbalElevationPart ()
	Part for gimbal elevation rotation. More...

virtual const DtArticulatedPartStateRepository *	gimbalElevationPart () const

virtual bool	findLocationOfSensorAiming (const DtVector &sensorLocation, const DtTaitBryan &orientation, DtVector &aimingPoint) const
	Finds the location where the sensor is currently aiming. More...

virtual const DtVrfObject *	getLasingTarget ()
	Gets the current target for the integrated laser. More...

virtual void	calcAndSetPortValues (const DtString &functionGroup, const DtString &function, double value, bool repeat)
	Override to set. More...

virtual void	joystickConnected ()
	Called when joystick is connected for this controller. More...

virtual void	joystickDisconnected ()
	Called when joystick is disconnected for this controller. More...

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()
	Iterates over collection of all pending subtasks for this controller, and calls clearSubtask() for each subtask type. More...

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)
	Clear all subtasks of a given type. More...

virtual void	cleanupInactiveSubtaskStatus ()
	Clears out subtask status entries that are either completed or canceled which were started by this controller. More...

Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)
	Suspends all running subtasks of taskId, and puts the suspend info for each of them as subtasks into the provided suspendInfo. More...

virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)
	Suspends a single running subtasks of taskId, and puts the suspend info into the provided suspendInfo. More...

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const
	In case this is aliased, return the actual script id. More...

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	default constructor More...

	DtControllerComponent (const DtControllerComponent &orig)
	copy constructor More...

const DtControllerComponent &	operator= (const DtControllerComponent &orig)
	assignment operator More...

virtual void	onRestore ()
	Override to iterate over the descriptor to see if there are any targetting control tables. More...

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
	Compute current time and myDT. More...

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. More...

virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick. More...

virtual void	destroyTaskVisualizations ()
	Destroys all task visualizations for this component. More...

virtual void	destroyTaskVisualization (const DtString &name)
	Destroys an existing task visualization. More...

virtual DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
	Finds an existing or creates a new point task visualization with the given name. More...

virtual DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
	Finds an existing or creates a new line task visualization with the given name. More...

virtual DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
	Finds an existing or creates a new area task visualization with the given name. More...

virtual DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
	Finds an existing or creates a new text task visualization with the given name. More...

double	calculateNextTaskVisTickTime () const
	Determines the next time the task visualizations should be ticked. More...

Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter. More...

Protected Member Functions inherited from DtObjectDebugger< DtSimComponent >
	DtObjectDebugger ()

	DtObjectDebugger (const DtObjectDebugger &)

	~DtObjectDebugger ()

Protected Member Functions inherited from DtJoystickControllerInterface
virtual void	processJoyDeviceRequest (DtSimMessage *msg)

virtual void	processJoystickControlMessage (DtSimMessage *msg)

Static Protected Member Functions
static DtRwColor	randomFieldOfViewColor ()
	Generates a new random color (RGBA) for the sensor field of view. More...

Static Protected Member Functions inherited from DtJoystickControllerInterface
static void	joyDeviceRequestCallback (DtSimMessage msg, void usr)

static void	joystickControlMessageCallback (DtSimMessage msg, void usr)

Protected Attributes
DtSensorGimbalControllerDescriptor *	mySensorGimbalDescriptor

DtSensorGimbalControllerPSR *	myProcessState

bool	myDataNeededForAimingPoint
	Whether the data is not yet loaded to find the aiming point. More...

bool	myJoystickConnected


DtVector	myWorldLocationForAimingPoint
	World location and orientation for determining the aiming point when data was not initially available. More...

DtTaitBryan	myWorldOrientationForAimingPoint

Ports and Port Groups
DtInputPortGroup *	mySensorOffsetInputPortGroup
	Input Port Group Name: sensor-offset Input Port Group Description: Allows the actuator to communicate the orientation offset of the sensor relative to the entity. More...

DtOrientationInputPort *	myOrientationInputPort
	Input Port Name: orientation Input Port Description: Specifies the orientation of the sensor relative to the entity on which it is mounted. More...

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. More...

DtAnalogOutputPort *	myOrderedElevationPort
	Output Port Name: ordered-elevation Output Port Description: Elevation at which to attempt to aim the gimbal, in radians. More...

DtAnalogOutputPort *	myOrderedAzimuthPort
	Output Port Name: ordered-azimuth Output Port Description: Azimuth at which to attempt to aim the gimbal, in radians. More...

DtIntegerOutputPort *	myElevationRotationRatePercentagePort
	Output Port Name: elevation-rotation-rate-percentage Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the elevation. More...

DtIntegerOutputPort *	myAzimuthRotationRatePercentagePort
	Output Port Name: azimuth-rotation-rate-percentage Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the azimuth. More...

DtStringOutputPort *	myTargetObjectPort
	Output Port Name: target-object Output Port Description: Name of the object the sensor is targeting. More...

DtVectorOutputPort *	myTargetLocationPort
	Output Port Name: target-location Output Port Description: Location the sensor is targeting. More...

DtIntegerOutputPort *	myTrackingModePort
	Output Port Name: tracking-mode Output Port Description: Tracking mode of the sensor. More...

DtAnalogOutputPort *	myZoomLevelPort
	Output Port Name: zoom-level Output Port Description: Current zoom level. More...

DtIntegerOutputPort *	myFieldOfViewColorPort
	Output Port Name: field-of-view-color Output Port Description: Color of the sensor's field of view. More...

DtBooleanOutputPort *	myLaserOnPort
	Output Port Name: laser-on Output Port Description: Indicates whether the laser attached to this gimbaled sensor is on or off. More...

DtEntityListInputPort *	myTargetListPort
	Input Port Name: target-list Input Port Description: Specifies the targets for the integrated laser. More...

Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap

std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList
	This list stores any DtTaskProcessorCallbackInfo allocated locally so that they can be deleted when the component is deleted. More...

Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
	Controller components can send messages. More...

Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity

DtVrfObjectStateRepository *	myLocalStateRepository

DtSimManager *	mySimManager

DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs. More...

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. More...

bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick. More...

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. More...

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs
	List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed. More...

bool	myTickEveryFrame
	Flag indicating that tickPeriod is set to 0, and the component will tick every frame. More...

DtTaskVisualizationMap	myTaskVisualizations
	The visualization objects to be drawn for this component. More...

double	myNextTaskVisTickTime
	The next tick time for updating the task visualizations. More...

DtSymbolString	myFullComponentName

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. More...

bool	myInvalid
	Set to true if there is a problem reading this item. More...

bool	myChangedFlag
	Set to true when value changes Set to false when value checked with changedSinceLastChecked. More...

Protected Attributes inherited from DtJoystickControllerInterface
const DtJoyDeviceControllerDescriptorInterface *	myJoyDeviceControllerDescriptor

bool	myJoystickEnabled

int	myRequestCount

DtSimManager *	myJoystickSimManager

const DtVrfObject *	myJoystickOwner

Protected Attributes inherited from DtBindableLuaComponentInterface
const DtVrfObject *	myBoundEntity

lua_State *	myBoundForState

DtString	myType

Private Member Functions
	DtSensorGimbalController ()
	default constructor; not implemented More...

	DtSensorGimbalController (const DtSensorGimbalController &orig)
	copy constructor; not implemented More...

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

virtual void	processSetAimGimbal (DtSimMessage *msg)

static void	setAimGimbalCallback (DtSimMessage msg, void usr)
	Processes a command to set the aiming of the gimbal. More...

virtual void	processSetZoomSensor (DtSimMessage *msg)

static void	setZoomSensorCallback (DtSimMessage msg, void usr)
	Processes a command to set the zoom level of a gimbaled sensor. More...

virtual void	processSetManualControl (DtSimMessage *msg)

static void	setManualControlCallback (DtSimMessage msg, void usr)
	Processes a command to set the manual control flag. More...

virtual void	processSetFieldOfViewColor (DtSimMessage *msg)

static void	setFieldOfViewColorCallback (DtSimMessage msg, void usr)
	Processes a command to set color of the sensor field of view. More...

virtual void	processSetLasing (DtSimMessage *msg)

static void	setLasingCallback (DtSimMessage msg, void usr)
	Processes a command to turn on lasing from the gimbaled sensor. More...

virtual void	processLaseTargetTaskMessage (DtSimMessage *msg)

static void	laseTargetTaskCallback (DtSimMessage msg, void usrData)
	Processes a command lase a specified target. More...

virtual void	processLaseLocationTaskMessage (DtSimMessage *msg)

static void	laseLocationTaskCallback (DtSimMessage msg, void usrData)
	Processes a command lase a specified location. More...

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 DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair
	This map stores callbacks that have been registered to processes various tasks. More...

typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap

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

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Detailed Description

This class is responsible for controlling the aiming of a sensor on a gimbal.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

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

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).

virtual DtSensorGimbalController::~DtSensorGimbalController ( )

virtual

Destructor.

DtSensorGimbalController::DtSensorGimbalController ( )

private

default constructor; not implemented

DtSensorGimbalController::DtSensorGimbalController ( const DtSensorGimbalController & orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtSensorGimbalController::init ( )

virtual

Calls setRadio()

Reimplemented from DtControllerComponent.

virtual bool DtSensorGimbalController::postAddComponentsInit ( )

virtual

Called after all components have been created, initialized and added to the component manager.

Override this function if you need to do any further initialization after all other components have been created.

Reimplemented from DtSimComponent.

virtual const char* DtSensorGimbalController::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: DtSensorGimbalControllerType

Implements DtTaskControllerComponent.

virtual void DtSensorGimbalController::tick ( )

virtual

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

static void DtSensorGimbalController::setAimGimbalCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Processes a command to set the aiming of the gimbal.

virtual void DtSensorGimbalController::processSetAimGimbal ( DtSimMessage * msg )

virtual

static void DtSensorGimbalController::setZoomSensorCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Processes a command to set the zoom level of a gimbaled sensor.

virtual void DtSensorGimbalController::processSetZoomSensor ( DtSimMessage * msg )

virtual

static void DtSensorGimbalController::setManualControlCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Processes a command to set the manual control flag.

Does not change sensor gimbal operation, but can be queried to see if someone is currently in manual control of the sensor.

virtual void DtSensorGimbalController::processSetManualControl ( DtSimMessage * msg )

virtual

static void DtSensorGimbalController::setFieldOfViewColorCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Processes a command to set color of the sensor field of view.

virtual void DtSensorGimbalController::processSetFieldOfViewColor ( DtSimMessage * msg )

virtual

static void DtSensorGimbalController::setLasingCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Processes a command to turn on lasing from the gimbaled sensor.

virtual void DtSensorGimbalController::processSetLasing ( DtSimMessage * msg )

virtual

static void DtSensorGimbalController::laseTargetTaskCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Processes a command lase a specified target.

virtual void DtSensorGimbalController::processLaseTargetTaskMessage ( DtSimMessage * msg )

virtual

static void DtSensorGimbalController::laseLocationTaskCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Processes a command lase a specified location.

virtual void DtSensorGimbalController::processLaseLocationTaskMessage ( DtSimMessage * msg )

virtual

virtual void DtSensorGimbalController::setGimbalControlCallback ( const DtEvent & )

virtual

Processes a direct control command for the aiming of the gimbal.

virtual void DtSensorGimbalController::processGimbalControl ( DtSensorFieldOfViewControlInter * ctrlInter )

virtual

virtual bool DtSensorGimbalController::isUnderManualControl ( ) const

virtual

Methods accessible via Lua extensions.

Returns the manual control setting.

virtual std::string DtSensorGimbalController::mode ( ) const

virtual

Returns the current gimbal mode.

virtual double DtSensorGimbalController::orientation ( double & elevation ) const

virtual

Return azimuth and elevation of sensor.

virtual DtLocation3D DtSensorGimbalController::lookingAt ( ) const

virtual

The location the sensor would be lasing if it were lasing.

virtual void DtSensorGimbalController::bindLuaFunctions ( lua_State * L )

virtual

Binds method for this class to the lua state.

This simple method will send an object console message to the entity that implements this task

Implements DtBindableLuaComponentInterface.

virtual void DtSensorGimbalController::bindLuaGlobals ( lua_State * )

virtual

Override to bind lua globals.

Implements DtBindableLuaComponentInterface.

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

static

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).

Returns: New instance of this class.

virtual bool DtSensorGimbalController::targetPoint	(	const DtTaitBryan &	orientation,
		DtVector &	location
	)		const

protectedvirtual

if the sensor were to be targeting, what would it target

virtual DtVector DtSensorGimbalController::localEyepoint ( ) const

protectedvirtual

virtual bool DtSensorGimbalController::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtSensorGimbalController::createPorts ( )

protectedvirtual

Overridden to create local ports.

Reimplemented from DtSimComponent.

virtual DtSensorGimbalControllerPSR* DtSensorGimbalController::createPSR ( )

protectedvirtual

Create the PSR.

virtual void DtSensorGimbalController::restoreDefaultAiming ( )

protectedvirtual

Reset to default aiming mode and position: a fixed angle at the configured neutral angle.

virtual void DtSensorGimbalController::aimSensorAtPoint ( const DtVector & worldLocation )

protectedvirtual

Attempts to aim the sensor at the given world location.

virtual void DtSensorGimbalController::trackObject ( const DtVrfObject * objectToTrack )

protectedvirtual

Attempts to track the given object.

virtual void DtSensorGimbalController::aimSensorAtAngle	(	double	azimuth,
		double	elevation
	)

protectedvirtual

Attempts to aim the sensor at the given azimuth an elevation, in radians relative to the orientation of the entity.

virtual void DtSensorGimbalController::scanSensor ( )

protectedvirtual

Scans back and forth across an area.

Default behavior is to scan through the allowable azimuth range while leaving the elevation set to the neutral elevation.

virtual void DtSensorGimbalController::searchAndTrackObject ( const DtVrfObject * objectToTrack )

protectedvirtual

Scans back and forth across an area until it finds the given object to track.

Then it tries to track the object. If the target is lost, returns to scanning.

virtual void DtSensorGimbalController::currentPositionAzimuthAndElevation	(	DtVector &	offset,
		double &	az,
		double &	el
	)		const

protectedvirtual

Gets current body relative positional offset and aiming azimuth and elevation.

virtual void DtSensorGimbalController::currentWorldLocationAndOrientation	(	DtVector &	location,
		DtTaitBryan &	orientation
	)		const

protectedvirtual

Gets current world orientation and location of sensor gimbal.

virtual DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalAzimuthPart ( )

protectedvirtual

Part for gimbal azimuth rotation.

virtual const DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalAzimuthPart ( ) const

protectedvirtual

virtual DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalElevationPart ( )

protectedvirtual

Part for gimbal elevation rotation.

virtual const DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalElevationPart ( ) const

protectedvirtual

virtual bool DtSensorGimbalController::findLocationOfSensorAiming	(	const DtVector &	sensorLocation,
		const DtTaitBryan &	orientation,
		DtVector &	aimingPoint
	)		const

protectedvirtual

Finds the location where the sensor is currently aiming.

Returns true if data was available to complete the operation. All coordinates are local.

virtual const DtVrfObject* DtSensorGimbalController::getLasingTarget ( )

protectedvirtual

Gets the current target for the integrated laser.

virtual void DtSensorGimbalController::calcAndSetPortValues	(	const DtString &	functionGroup,
		const DtString &	function,
		double	value,
		bool	repeat
	)

protectedvirtual

Override to set.

Implements DtJoystickControllerInterface.

virtual void DtSensorGimbalController::joystickConnected ( )

protectedvirtual

Called when joystick is connected for this controller.

Implements DtJoystickControllerInterface.

virtual void DtSensorGimbalController::joystickDisconnected ( )

protectedvirtual

Called when joystick is disconnected for this controller.

Implements DtJoystickControllerInterface.

static DtRwColor DtSensorGimbalController::randomFieldOfViewColor ( )

staticprotected

Generates a new random color (RGBA) for the sensor field of view.

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

private

assignment operator; not implemented

Member Data Documentation

DtSensorGimbalControllerDescriptor* DtSensorGimbalController::mySensorGimbalDescriptor

protected

DtSensorGimbalControllerPSR* DtSensorGimbalController::myProcessState

protected

bool DtSensorGimbalController::myDataNeededForAimingPoint

protected

Whether the data is not yet loaded to find the aiming point.

DtVector DtSensorGimbalController::myWorldLocationForAimingPoint

protected

World location and orientation for determining the aiming point when data was not initially available.

DtTaitBryan DtSensorGimbalController::myWorldOrientationForAimingPoint

protected

bool DtSensorGimbalController::myJoystickConnected

protected

DtInputPortGroup* DtSensorGimbalController::mySensorOffsetInputPortGroup

protected

Input Port Group Name: sensor-offset
Input Port Group Description: Allows the actuator to communicate the orientation offset of the sensor relative to the entity.

DtOrientationInputPort* DtSensorGimbalController::myOrientationInputPort

protected

Input Port Name: orientation
Input Port Description: Specifies the orientation of the sensor relative to the entity on which it is mounted.

Input Port Range:
Input Port Default Value: 0,0,0
Input Group Parent: sensor-offset

DtVectorInputPort* DtSensorGimbalController::myPositionInputPort

protected

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.

Input Port Range:
Input Port Default Value: 0,0,0
Input Group Parent: sensor-offset

DtAnalogOutputPort* DtSensorGimbalController::myOrderedElevationPort

protected

Output Port Name: ordered-elevation
Output Port Description: Elevation at which to attempt to aim the gimbal, in radians.

Output Port Range:
Output Group Parent:

DtAnalogOutputPort* DtSensorGimbalController::myOrderedAzimuthPort

protected

Output Port Name: ordered-azimuth
Output Port Description: Azimuth at which to attempt to aim the gimbal, in radians.

Output Port Range:
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myElevationRotationRatePercentagePort

protected

Output Port Name: elevation-rotation-rate-percentage
Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the elevation.

Output Port Range:0-100
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myAzimuthRotationRatePercentagePort

protected

Output Port Name: azimuth-rotation-rate-percentage
Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the azimuth.

Output Port Range:0-100
Output Group Parent:

DtStringOutputPort* DtSensorGimbalController::myTargetObjectPort

protected

Output Port Name: target-object
Output Port Description: Name of the object the sensor is targeting.

Output Port Range:
Output Group Parent:

DtVectorOutputPort* DtSensorGimbalController::myTargetLocationPort

protected

Output Port Name: target-location
Output Port Description: Location the sensor is targeting.

Output Port Range:
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myTrackingModePort

protected

Output Port Name: tracking-mode
Output Port Description: Tracking mode of the sensor.

Output Port Range: Values specified by DtSensorTrackingMode enum
Output Group Parent:

DtAnalogOutputPort* DtSensorGimbalController::myZoomLevelPort

protected

Output Port Name: zoom-level
Output Port Description: Current zoom level.

Output Port Range: 1.0 to maximum zoom level
Output Group Parent:

DtIntegerOutputPort* DtSensorGimbalController::myFieldOfViewColorPort

protected

Output Port Name: field-of-view-color
Output Port Description: Color of the sensor's field of view.

Output Port Range: RGBA value
Output Group Parent:

DtBooleanOutputPort* DtSensorGimbalController::myLaserOnPort

protected

Output Port Name: laser-on
Output Port Description: Indicates whether the laser attached to this gimbaled sensor is on or off.

Output Port Range:
Output Port Default Value: false
Output Group Parent:

DtEntityListInputPort* DtSensorGimbalController::myTargetListPort

protected

Input Port Name: target-list
Input Port Description: Specifies the targets for the integrated laser.

Input Port Range:
Input Port Default Value:

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation