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VR-Forces 4.8 Class Documentation
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VR-Forces 4.8 Class Documentation
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DtSurfaceEntityMoveAlongController is a controller that models movement of a ship along a route. More...
Public Member Functions | |
| DtSurfaceEntityMoveAlongController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSurfaceEntityMoveAlongController () |
| Destructor. More... | |
| virtual const char * | type () const |
| Returns a string identifies the class type of component. More... | |
| virtual bool | init () |
| Calls the parent init, then registers the attribute provider functions. More... | |
| virtual void | preFirstTickInit () |
| Checks to see if there is a route, and if so registers for verticesChangedCallback for the route. More... | |
| virtual void | clearTask () |
| Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup. More... | |
| virtual void | processMoveAlongTask (DtSimMessage *msg) |
| Retrieves the route name from the task message. More... | |
| virtual void | processRouteChanged (const DtVrfObject *obj) |
| Handles changes to the verticies in the route. More... | |
| virtual bool | atGoal () |
| Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached. More... | |
| virtual bool | passedGoal () |
| Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached. More... | |
| virtual bool | targetNextVertex () |
| virtual void doMoving(double desiredSpeed); More... | |
| virtual void | tick () |
| Overridden to check for valid myProcessState pointer. 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... | |
 Public Member Functions inherited from DtSurfaceEntityMoveToLocationController | |
| DtSurfaceEntityMoveToLocationController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSurfaceEntityMoveToLocationController () |
| destructor More... | |
| virtual void | processMoveToLocationTask (DtSimMessage *msg) |
| Retrieves the move to location from the task message. More... | |
| virtual void | initializeLocals (const DtVector &globalTarget) |
| Initialize local variables and PSR data with the parameters of the task. More... | |
| Public Member Functions inherited from DtSurfaceEntityPilotController | |
| DtSurfaceEntityPilotController (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) | |
| virtual | ~DtSurfaceEntityPilotController () |
| Destructor. More... | |
| virtual bool | createSurfaceControlPortGroup () |
| Creates the surface control output port group. 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 | 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 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 | 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 | 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... | |
Static Public Member Functions | |
| static void | moveAlongCallback (DtSimMessage *msg, void *usr) |
| Called when a move along message is received. More... | |
| static void | routeChangedCallback (const DtVrfObject *obj, void *user) |
| Calls processRouteChanged(). More... | |
| static void | objectAboutToBeRemovedCallback (const DtVrfObject *obj, void *usr) |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| static DtReaderWriter * | provideCurrentMinTurnRadius (void *controller) |
| Attribute access functions. More... | |
| static DtReaderWriter * | provideTurnRadiusForOrderedSpeed (void *controller) |
| Provides the turn-radius-for-ordered-speed attribute for the surface entity movement system. More... | |
| static DtReaderWriter * | provideNextRoutePointIndex (void *controller) |
| Provides the index of the route point the entity is moving towards. More... | |
| Static Public Member Functions inherited from DtSurfaceEntityMoveToLocationController | |
| static void | moveToLocationCallback (DtSimMessage *msg, void *usr) |
| Called when a move to location message is received. More... | |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| Static Public Member Functions inherited from DtSurfaceEntityPilotController | |
| static DtSimComponent * | creator (const DtString &name, DtVrfObject *owner, DtSimManager *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
| static DtReaderWriter * | provideOrderedSpeed (void *controller) |
| Attribute access functions. More... | |
| 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 | |
| DtSurfaceEntityMoveAlongController () | |
| default constructor; not implemented More... | |
| DtSurfaceEntityMoveAlongController (const DtSurfaceEntityMoveAlongController &orig) | |
| copy constructor; not implemented More... | |
| const DtSurfaceEntityMoveAlongController & | operator= (const DtSurfaceEntityMoveAlongController &orig) |
| assignment operator; not implemented More... | |
| virtual bool | getNextRoutePoint (int &index, DtVector *&point) |
| Determines the next point along the route to use. More... | |
| virtual DtVector | previousRoutePoint () |
| Gets the previous route point, before the current aim point; used for computing the route direction to the aim point. More... | |
| virtual void | setStateForCurrentPoint () |
| Set up Process State for current route point. More... | |
| virtual bool | setupControlPoint () |
| Makes sure the route state is valid (in case this is the first tick since a scenario load). More... | |
| virtual void | controlMovement () |
| Executes the control function for the task, to produce control port outputs. More... | |
| virtual void | moveToMiddleOrFinalPoint () |
| Checks the PSR routeState to see if the current target point is the last in the route or not, and then calls MoveToWithFinalSpeed either with the orderedSpeed or 0.0 as the final speed. More... | |
| virtual bool | shouldMoveToRouteSegment (double &distanceToSegment) |
| Tests the current position and orientation of the entity with respect to the current route segment (i.e., the direct line between the last route point and the current target route point) to determine if the entity should make some special maneuvers to move onto the route segment rather than just heading toward the target route point. More... | |
| virtual void | controlMovementToRouteSegment (double distanceToSegment) |
| Controls the entity to move it toward the current route segment. More... | |
| virtual DtReal | computeStartTurnDistance2 () |
| Computes how far before the next control point the ship has to start turning toward the following route point to keep the ship close to the route without overshooting the control point. More... | |
| virtual DtReal | minTurnRadiusForSpeed (double speed) const |
| Compute the minimum turn radius based on given speed, normal lateral acceleration, and minimum turn radius parameter. More... | |
| virtual DtVrfMovingObjectStateRepository * | getSR () |
| Gets the entity state repository for purposes of providing attributes. More... | |
| virtual DtSurfaceMovementPSR * | getPSR () |
| Gets the process state repository for purposes of providing attributes. More... | |
| virtual const DtSurfaceEntityParameters * | getParams () |
| Gets the entity parameters for the purposes of providing attributes. More... | |
| virtual void | registerTaskMsgCallbacks () |
| Registers interest in move along tasks by calling addTaskProcessorCallback with moveAlongCallback as the function pointer and the 'this' pointer as the user data. More... | |
| virtual void | emptyVertexList () |
| Removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()). More... | |
| virtual void | processObjectAboutToBeRemoved (const DtVrfObject *obj) |
| Ends the task if the route object is removed. More... | |
| virtual void | processEstimatedTotCalculation () |
| calculate estimated tot More... | |
| virtual bool | createPorts () |
| Overridden to call createThrottlePort() and createRudderPort(). More... | |
| virtual double | integralControl () const |
| A correction term based on Integral control (i.e., accumulated error) that is used when the entity is within the threshold distance of the route line and steering directly to the next waypoint. More... | |
| virtual double | integratedErrorDecayRate () const |
| The reduction factor in the accumulated error, per second. More... | |
| virtual double | integralControlGain () const |
| Returns radian offset per accumulated normalized error. More... | |
| Protected Member Functions inherited from DtSurfaceEntityMoveToLocationController | |
| virtual void | updateTaskVisualizations () |
| update visualizations More... | |
| Protected Member Functions inherited from DtSurfaceEntityPilotController | |
| virtual void | moveToWithFinalSpeed (const DtVector &localDestination, const double cruiseSpeed, const double finalSpeed) |
| Sets the controls needed to sail towards the given destination at the given cruiseSpeed for as long as possible until the entity decelerates to finalSpeed at the destination. More... | |
| virtual void | moveToWithFinalSpeed (const double goalHeading, const double cruiseSpeed, const double finalSpeed) |
| This version is the same but takes a heading and uses it directly, instead of computing it from the destination. More... | |
| virtual void | turn (double desiredRate) |
| Sets the controls to turn at the given rate. More... | |
| virtual void | turn (double desiredRate, double desiredHeading) |
| Set control outputs to make a turn to the given heading. More... | |
| virtual void | immediateNormalStop () |
| Decelerates the entity to a stop immediately. More... | |
| virtual double | calculateControlForTurn (double yawAngle, double desiredRate) |
| Calculates the turn rate control for a given turn angle. More... | |
| virtual double | calculateNormalAcceleration (double cruiseSpeed, double distance, double turnAngle, double finalSpeed) |
| Calculates the acceleration needed to reach the desired speed, but constrained to be able to decelerate to the finalSpeed when the distance reaches zero. More... | |
| virtual double | calculateNormalAcceleration (double desiredSpeed) |
| Calculates the acceleration needed to reach the desired speed. More... | |
| virtual double | limitedAcceleration (double desiredAcceleration, double desiredSpeed) |
| Returns the desired acceleration modified as necessary by the constraints of maximum vehicle acceleration (positive and negative, or braking) and normal desired fraction of max to employ. More... | |
| virtual double | followerAcceleration (double dT, double distance, double maxDeceleration, double followerSpeed, double leaderSpeed) |
| Compute the acceleration limit of an entity following another entity so as to permit the follower to safely stop if the leader decelerates to a stop starting next tick (a "car-following" control). More... | |
| virtual bool | createPortGroups () |
| Overridden to call createSurfaceControlPortGroup(). More... | |
| virtual void | lookupAndCacheProcessSR () |
| This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState. More... | |
| virtual bool | postAddComponentsInit () |
| Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded. More... | |
| virtual bool | decideToGiveUpTask () const |
| If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class. More... | |
| DtSurfaceEntityPilotController () | |
| default constructor; not implemented More... | |
| DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig) | |
| copy constructor; not implemented More... | |
| const DtSurfaceEntityPilotController & | operator= (const DtSurfaceEntityPilotController &orig) |
| assignment operator; not implemented 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 | 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 Attributes | |
| double | myMinManeuverDistance2 |
| Caches a threshold distance inside of which the entity will not consider moving to the route line, vs. More... | |
| double | myIntegratedAlignmentError |
| This is the accumulated error of normalized distance from the route segment line. More... | |
| DtVectorOutputPort * | myCurrentVertexLocationOutputPort |
| Output Port Name: current-vertex-location Output Port Description: Specifies the current vertex location of the entity's route in local coordinates. More... | |
| Protected Attributes inherited from DtSurfaceEntityMoveToLocationController | |
| DtLocation3D | myEntityPoint |
| These data are computed each tick and used later in the same tick. More... | |
| DtBoolean | myPassedGoal |
| DtBoolean | myAtGoal |
| DtVector2D | myCurrentGoalToEntity2DVector |
| DtVector2D | myCurrentEntityToGoal2DVector |
| DtLocation3D | myAimingPoint |
| Note: in general, this is not. More... | |
| const double | DtEstimatedTotCalcInterval = 5.0 |
| Interval for estimated tot calculations. More... | |
| bool | myEstimatedTotCalcEnabled |
| enabled flag for the tot calculations More... | |
| double | myEstimatedTotValue |
| the tot value More... | |
| double | myEstimatedTotLastCalcTime |
| used for tot calculation intervals More... | |
| DtVector | myEstimatedTotTextPos |
| tot text position More... | |
| Protected Attributes inherited from DtSurfaceEntityPilotController | |
| DtVrfMovingObjectStateRepository * | myEntityState |
| DtSurfaceEntityPilotControllerDescriptor * | myDescriptor |
| const DtSurfaceEntityParameters * | myParameters |
| Cache a pointer to the entity parameters. More... | |
| DtSurfaceMovementPSR * | myProcessState |
| Pointer to a process state repository used to store state data associated with this component. More... | |
| double | myDistanceSquared |
| A controller-global value that several functions test. More... | |
| DtAnalogOutputPort * | myAccelerationPort |
| DtAnalogOutputPort * | myClampSpeedPort |
| The goal speed; used by the actuator to prevent accelerating past the desired speed if dT is much longer than expected. More... | |
| DtAnalogOutputPort * | myTurnRatePort |
| Rotation rate in radians/sec. Positive is to the right. More... | |
| DtAnalogOutputPort * | myFinalHeadingPort |
| A clamp heading, similar to clamp speed. More... | |
| DtOutputPortGroup * | mySurfaceControlPortGroup |
| Output Port Group Name: surface-control Output Port Group Description: acceleration, clamp speed, turn rate, and final heading ports. 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... | |
DtSurfaceEntityMoveAlongController is a controller that models movement of a ship along a route.
End User Description: DtSurfaceEntityMoveAlongController (surfEntMvAlgCtl.h) is derived from DtSurfaceEntityMoveToLocationController.
It overrides DtTaskControllerComponent::registerTaskMsgCallbacks() and registers the callback function moveAlongCallback() for DtMoveAlongType. When a message is received, the callback invokes processMoveAlongTask(), which looks up the route in the object manager and stores a pointer to it in myRoute.
Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor
| DtSurfaceEntityMoveAlongController::DtSurfaceEntityMoveAlongController | ( | const DtString & | name, |
| DtVrfObject * | owner, | ||
| DtSimManager * | simManager, | ||
| DtComponentDescriptor * | desc = 0, |
||
| DtReaderWriterRegistry * | parentRegistry = 0 |
||
| ) |
| 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 |
Destructor.
Removes any remaining vertices changed callback added by processMoveAlongTask. Deletes myControlPoint. Calls emptyVertexList().
|
protected |
default constructor; not implemented
|
protected |
copy constructor; not implemented
|
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.
Reimplemented from DtSurfaceEntityMoveToLocationController.
Reimplemented in DtSurfaceEntityPatrolRouteController.
|
virtual |
Calls the parent init, then registers the attribute provider functions.
Reimplemented from DtSurfaceEntityPilotController.
|
virtual |
Checks to see if there is a route, and if so registers for verticesChangedCallback for the route.
This make sures that the callback is registered if the task was loaded from a scenario.
Reimplemented from DtSimComponent.
|
virtual |
Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.
Reimplemented from DtSurfaceEntityPilotController.
|
static |
Called when a move along message is received.
Instances of this component will register this callback (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of move-along tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processMoveAlongTask is called with the move along message.
|
virtual |
Retrieves the route name from the task message.
Called by moveAlongCallback to lookup the route stored in the move to message and store a pointer to it in myRoute. The name of the route and the reverse flag are saved in the process state repository. A verticies changed callback is registered on the route with routeChangedCallback as the function pointer. The myRouteHasChanged flag is then set to false. Start at closest point is checked, and setCurrentVertexToClosestInDirectionOfTraversal() is used to set the current route point. Finally, setupControlPoint() is called.
|
static |
Calls processRouteChanged().
Casts the user data pointer to an instance of this class upon which it calls processRouteChanged() with the object pointer.
|
static |
Attribute access functions.
These functions are registered with the parent system in init().
Provides the current-min-turn-radius attribute for the surface entity movement system. This is computed from current speed and maximum lateral acceleration. It also considers the entity's minimum turn radius parameter.
|
static |
Provides the turn-radius-for-ordered-speed attribute for the surface entity movement system.
Depends on maximum lateral acceleration; it also considers the entity's minimum turn radius and maximum speed parameters. This attribute is useful when planning a route that will be followed at the ordered speed, regardless of what the current entity speed is now.
|
static |
Provides the index of the route point the entity is moving towards.
|
virtual |
Handles changes to the verticies in the route.
Checks to make sure that the route is not null, that it's name matches the name stored in the process state repository, and that the controller is tasked. Iterates over the vertices in the route and compares them to the route vertices stored in the process state repository. If one of the verticies differs, myRouteHasChanged is set to true.
|
virtual |
Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached.
Calls down to DtSurfaceEntityMoveToController::atGoal() to determine if the current vertex has been reached. If not, false is returned. If the base class returns true, targetNextVertex is called to advance the target waypoint. If this call returns false, it indicates that the last vertex in the route has been reached and atGoal will return true.
Reimplemented from DtSurfaceEntityMoveToLocationController.
|
virtual |
Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached.
Calls down to DtSurfaceEntityMoveToController::passedGoal() to determine if the current vertex has been passed. If not, false is returned. If the base class returns true, targetNextVertex is called to advance the target waypoint. If this call returns false, it indicates that the last vertex in the route has been passed and passedGoal will return true.
Reimplemented from DtSurfaceEntityMoveToLocationController.
|
virtual |
virtual void doMoving(double desiredSpeed);
Advance to the next vertex in the route state.
Checks to see if the current vertex stored in the route state of the process state repository is the last vertex in the route. If so, false is returned. If not, the route state is advanced and setupControlPoint() is called. If successful, doMoving is called with findDesiredSpeed. If not, false is returned.
Reimplemented in DtSurfaceEntityPatrolRouteController.
|
static |
|
static |
| 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 |
Overridden to check for valid myProcessState pointer.
If it is null a warning is printed to the object console.
Reimplemented from DtSurfaceEntityMoveToLocationController.
|
virtual |
If we are currently tasked, this will cause us to notify the entity that we're done and delete the task.
To indicate that the task has failed (and is being abandoned) call this method with success set to false.
Reimplemented from DtSingleTaskControllerComponent.
|
protected |
assignment operator; not implemented
|
protectedvirtual |
Determines the next point along the route to use.
Starting from the current route point, the function walks down the route points until a threshold distance is reached. The last point before this threshold is taken as the next point. This procedure is necessary to let the entity look ahead some when the route points are very close together. Ideally the move-along controller would plan a fine-motion path between closely spaced downstream points so as to best stay on the route; skipping ahead some distance is a rough substitute for such planning. The gotcha is the waypoint just beyond this threshold where the path may make a sharp turn.
Uses the current turn radius as a threshold.
Provides the index of the next point, and the next point that are more than the threshold beyond the current point, and returns true in the normal case. If the current point is the last point in the route, then the index and point will be the same as the current point, and the function returns false. If there are more points in the route beyond the current point, but the route ends before the threshold distance, then the index and point for the last point in the route are provided, and the function returns false.
|
protectedvirtual |
Gets the previous route point, before the current aim point; used for computing the route direction to the aim point.
Uses the PSR prevRouteIndex.
|
protectedvirtual |
Set up Process State for current route point.
Sets the localAimPoint, startTurnDistance2, and goalVector in the process state repository for the current point in the routeState. This is called when a new route task is processed, when the route is changed, and when the entity arrives at a point and sets up the next point.
|
protectedvirtual |
Makes sure the route state is valid (in case this is the first tick since a scenario load).
Reimplemented from DtSurfaceEntityMoveToLocationController.
|
protectedvirtual |
Executes the control function for the task, to produce control port outputs.
Executes the control function for the task for normal movement along a route; i.e. it moves directly toward the next route point. For the move-along-route controller, this function calls shouldMoveToRouteSegment() and possibly controlMovementToRouteSegment(); otherwise calls moveToMiddleOrFinalPoint().
Reimplemented from DtSurfaceEntityMoveToLocationController.
|
protectedvirtual |
Checks the PSR routeState to see if the current target point is the last in the route or not, and then calls MoveToWithFinalSpeed either with the orderedSpeed or 0.0 as the final speed.
Reimplemented in DtSurfaceEntityPatrolRouteController.
|
protectedvirtual |
Tests the current position and orientation of the entity with respect to the current route segment (i.e., the direct line between the last route point and the current target route point) to determine if the entity should make some special maneuvers to move onto the route segment rather than just heading toward the target route point.
| distanceToSegment | is the distance from the entity to the current segment of the route that the entity is following; it is computed in this function, and passed back for use by the calling code. This output parameter is undefined if the function returns false. |
|
protectedvirtual |
Controls the entity to move it toward the current route segment.
| distanceToSegment | is the distance of the entity from the route segment it is currently following. |
|
protectedvirtual |
Computes how far before the next control point the ship has to start turning toward the following route point to keep the ship close to the route without overshooting the control point.
Returns the square of this distance. Looks at the heading change required to the following point, estimates the turning radius the ship will take based on its speed and lateral acceleration limit, and determines where the circular turn path will start.
|
protectedvirtual |
Compute the minimum turn radius based on given speed, normal lateral acceleration, and minimum turn radius parameter.
|
inlineprotectedvirtual |
Gets the entity state repository for purposes of providing attributes.
Reimplemented from DtSurfaceEntityPilotController.
References DtSurfaceEntityPilotController::myEntityState.
|
inlineprotectedvirtual |
Gets the process state repository for purposes of providing attributes.
References DtSurfaceEntityPilotController::myProcessState.
|
inlineprotectedvirtual |
Gets the entity parameters for the purposes of providing attributes.
References DtSurfaceEntityPilotController::myParameters.
|
protectedvirtual |
Registers interest in move along tasks by calling addTaskProcessorCallback with moveAlongCallback as the function pointer and the 'this' pointer as the user data.
Reimplemented from DtSurfaceEntityMoveToLocationController.
Reimplemented in DtSurfaceEntityPatrolRouteController.
|
protectedvirtual |
Removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).
|
protectedvirtual |
Ends the task if the route object is removed.
|
protectedvirtual |
A correction term based on Integral control (i.e., accumulated error) that is used when the entity is within the threshold distance of the route line and steering directly to the next waypoint.
Over long distances, the steering control and actuator will sometimes cause the entity to drift outside this threshold distance, due to subtle (and unsolved) problems with computing long distance and short distance headings on an ellipsoidal earth. The error each tick is normalized (to the threshold for this entity) and added to myIntegratedAlignmentError. The accumulated value is reduced by integratedErrorDecayRate() each second. The accumulated error is multiplied by integralControlGain() and added to the computed heading to the next route point.
|
inlineprotectedvirtual |
The reduction factor in the accumulated error, per second.
Must be < 1.0.
|
inlineprotectedvirtual |
Returns radian offset per accumulated normalized error.
Positive because positive error is to left, requiring positive angle adjustment.
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calculate estimated tot
Reimplemented from DtSurfaceEntityMoveToLocationController.
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Overridden to call createThrottlePort() and createRudderPort().
Reimplemented from DtSurfaceEntityPilotController.
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Caches a threshold distance inside of which the entity will not consider moving to the route line, vs.
heading directly to the route point.
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This is the accumulated error of normalized distance from the route segment line.
This value is used for Integral control while the entity is within the threshold distance to the line and trying to steer directly to the next waypoint.
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Output Port Name: current-vertex-location
Output Port Description: Specifies the current vertex location of the entity's route in local coordinates.
Output Port Range:
Output Group Parent: