DtGroundCollisionAvoidanceController is a controller that helps entities to avoid running into other entities and/or feature obstructions.

Uses Descriptor Type: DtGroundCollisionAvoidanceDescriptor

Inheritance diagram for DtGroundCollisionAvoidanceController:

[legend]

Public Member Functions
	DtGroundCollisionAvoidanceController (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtGroundCollisionAvoidanceController ()

virtual bool	init ()

virtual void	tick ()

virtual double	distanceSquaredToDestination ()

virtual void	avoidCollision (const DtCollision &potentialCollision)

virtual const char *	type () const

Public Member Functions inherited from DtGroundAutoControllerComponent
	DtGroundAutoControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtGroundAutoControllerComponent ()

virtual void	clearTask ()

virtual double	approximateThrottle (double desiredSpeed, double headingError=0.0)

virtual double	headingErrorRequiringMinTurnRadius ()

virtual double	calculateSteering (double currentHeading, double desiredHeading) const

virtual double	calculateCurrentBrakingDistance () const

virtual bool	createAutomotiveControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createSteeringPort ()

virtual bool	createBrakePort ()

virtual bool	createGearPort ()

virtual bool	createParkingBrakePort ()

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedAnalogOutputPort *	steeringPort ()

virtual DtConstrainedAnalogOutputPort *	brakePort ()

virtual DtConstrainedIntegerOutputPort *	gearPort ()

virtual DtBooleanOutputPort *	parkingBrakePort ()

virtual double	decelerationSoilFactor () const

virtual double	calcSteeringForTurnInPlace ()

virtual double	calcThrottleForTurnInPlace ()

virtual double	calcBrakeForTurnInPlace ()

virtual int	calcGearForTurnInPlace ()

virtual double	calcSteeringForPivot ()

virtual double	calcThrottleForPivot ()

virtual double	calcSteeringForKTurn ()

virtual double	calcThrottleForKTurn ()

virtual double	calcBrakeForKTurn ()

virtual double	findSpeedForKTurn ()

virtual double	findHeadingForKTurn ()

virtual void	setHeadingToTurnTo (double headingToTurnTo)

virtual double	headingToTurnTo () const

virtual double	calculateHeadingToTurnTo ()

virtual void	setTurnToMode (int headingToTurnTo)

virtual int	turnToMode () const

virtual void	setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)

virtual double	kTurnReverseGoalHeading () const

virtual void	setKTurnReverseComplete (bool kTurnReverseComplete)

virtual bool	kTurnReverseComplete () const

virtual void	processSetSpeed (DtSimMessage *msg)

Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick ()

virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)

virtual void	taskNotify (const DtSimTask &task)

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

virtual std::vector< int >	currentPendingSubstaskIds () const

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual DtSimTaskStatePtr	currentTaskState () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const

virtual bool	clearTopLevelTasks ()

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)

virtual void	clearTaskById (int taskId)

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 ()

Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtTaskControllerComponent ()

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio)

virtual void	registerTaskMsgCallbacks ()

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	enable ()

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const

virtual void	setTasked (bool tasked)

virtual bool	tasked () const

Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtControllerComponent ()

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	disableTaskTypes ()

Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSimComponent ()

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod)

virtual double	minTickPeriod () const

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)

virtual double	minTickPeriodVariance () const

virtual void	setNextTickTime (double nextTickTime)

virtual double	nextTickTime () const

virtual double	calculateNextTickTime () const

virtual double	calculateFirstTickTime () const

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

virtual void	putData (std::string &fp, int indentLevel=0)

virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)

virtual void	addInputPort (DtInputPort *port)

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)

virtual DtList	inputPortList () const

virtual void	addOutputPort (DtOutputPort *port)

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)

virtual DtList	outputPortList () const

virtual void	addInputPortGroup (DtInputPortGroup *group)

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)

virtual DtList	inputPortGroupList () const

virtual void	addOutputPortGroup (DtOutputPortGroup *group)

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)

virtual DtList	outputPortGroupList () const

virtual int	priority () const

virtual void	setPriority (int priority)

double	dT () const

virtual void	setDT (double deltaT)

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual const DtComponentDescriptor *	componentDescriptor () const

virtual bool	tickWhileDestroyed () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()

const DtPhysicalWorld *	physicalWorld () const

const DtAttachedTerrain *	terrainAttachedTo () const

DtLocalObject *	entity ()

const DtLocalObject *	entity () const

DtSimulationServices *	simulationServices ()

const DtSimulationServices *	simulationServices () const

const Coordinate_System *	coordinateSystem () const

virtual bool	taskVisualizationsEnabled () const

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

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 int	notifyLevel () const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

VRF4API_METHOD const DtSimulationServices *	simManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()

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

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

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

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

	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)

const DtReaderWriter &	operator= (const DtReaderWriter &orig)

bool	operator== (const DtReaderWriter &) const

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()

virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual void	postPutSelf ()

virtual void	prePutSelf ()

virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

virtual void	postGetSelf ()

virtual void	preGetSelf ()

virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual DtSymbolString	name () const

virtual void	addAlias (const DtSymbolString &alias)

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)

bool	isReadonly () const

virtual void	reset ()

virtual int	alignment () const

virtual bool	variableIsBound () const

virtual void	unbindVariable ()

virtual void	setName (const DtString &)

virtual const char *	readerWriterType () const

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)

virtual std::list < DtVariableNameType >	unboundVariables () const

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const

virtual bool	hasVariableReference () const

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)

virtual void	recordUpdateTime () const

virtual bool	wasUpdatedSince (DtTime t) const

virtual bool	changedSinceLastChecked ()

virtual bool	peekChangedSinceLastChecked () const

virtual void	setValueSpecified (bool specified, bool recurse=false)

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()

virtual DtSymbolString	variableName () const

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)

virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

const DtReaderWriterRegistry &	registry () const

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const

virtual bool	toXml (const DtFilename &) const

virtual bool	fromXml (const DtString &)

virtual bool	fromXmlFile (const DtFilename &)

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const

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())

virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

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

Static Public Member Functions inherited from DtGroundAutoControllerComponent
static void	setSpeedCallback (DtSimMessage msg, void usrData)

Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage msg, void usr, DtSimTaskStatePtr taskState)

Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()

static void	setFactory (DtSimComponentFactory *factory)

static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject owner, DtSimulationServices simManager, DtComponentSystem parentSystem, DtComponentDescriptor desc=0, DtReaderWriterRegistry *parentRegistry=0)

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)

static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)

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 ()

static const DtFilename &	appPath ()

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)

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)

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
	DtGroundCollisionAvoidanceController ()

	DtGroundCollisionAvoidanceController (const DtGroundCollisionAvoidanceController &orig)

const DtGroundCollisionAvoidanceController &	operator= (const DtGroundCollisionAvoidanceController &orig)

virtual void	clearCollisionStateData ()

virtual void	clearingCollision ()

bool	isAppreciablyMoving (DtVector velocity, double velocityTolerance) const

bool	setDefaultPortValuesForAvoidance (DtAutoTransmissionGear currentGear)

bool	determineObstructionMovementDirection (DtDcm obstructionLocalOrientationMatrix, const DtVector &obstructionVelocity, int &obstructionDirectionSign) const

bool	followingObstruction (const DtUUID &entity) const

void	avoidMovingObstruction (const DtCollision &potentialCollision)

void	avoidNonMovingObstruction (const DtCollision &potentialCollision)

void	startClearingCollision (double clearingDistance)

bool	calculateCollisionBV ()

bool	createPortGroups ()

bool	createPorts ()

Protected Member Functions inherited from DtGroundAutoControllerComponent
virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual const DtSoilFactors *	currentSoilFactors () const

virtual bool	decideToGiveUpTask () const

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)

virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore ()

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()

bool	testInvariant () const

DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)

virtual void	updateTaskVisualizations ()

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)

virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)

virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)

virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)

void	removeSimObjectPredicateCallback (const DtSimObject , DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void userData=0)

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
double	myClearingDistance

bool	myAvoidingCollision

Dt3dBoundingVolume *	myCollisionBV

bool	myHavePortGroup

DtRwUUID	myFollowEntityName

DtNavigationLocalObjectFacade	myNavigationLocalObjectFacade

Ports and Port Groups
DtCollisionInputPort *	myCollisionAvoidancePort

DtInputPortGroup *	myCollisionAvoidancePortGroup

DtStringInputPort *	myFollowEntityInputPort

DtBooleanOutputPort *	myCollisionPort

Protected Attributes inherited from DtGroundAutoControllerComponent
DtGroundVehicleStateRepository *	myGroundVehicleState

DtAutomotivePSR *	myProcessState

double	mySpeedLastTick

double	myAccumulatedSpeedError

double	myMaxMinRadiusSpeed

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtConstrainedAnalogOutputPort *	myThrottlePort

DtConstrainedAnalogOutputPort *	mySteeringPort

DtConstrainedAnalogOutputPort *	myBrakePort

DtConstrainedIntegerOutputPort *	myGearPort

DtBooleanOutputPort *	myParkingBrakePort

DtOutputPortGroup *	myAutomotiveControlPortGroup

Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap

std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList

bool	myTaskIsRunning

Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio

bool	myTaskTypesEnabled

bool	myInitialized

Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity

DtComponentSystem *	mySystem

DtListItem *	myListItem

DtInputPortMap	myInputPortList

DtOutputPortMap	myOutputPortList

DtInputPortGroupMap	myInputPortGroupList

DtOutputPortGroupMap	myOutputPortGroupList

int	myPriority

double	myMinTickPeriod

double	myMinTickPeriodVariance

double	myNextTickTime

double	myLastTickSimTime

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

bool	myTickEveryFrame

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager	myPredicateCallbackManager

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

bool	myInvalid

bool	myChangedFlag

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

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

Constructor & Destructor Documentation

DtGroundCollisionAvoidanceController::DtGroundCollisionAvoidanceController	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject 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 DtGroundCollisionAvoidanceController::~DtGroundCollisionAvoidanceController ( )

virtual

Destructor. Cleans up any allocated ports/port groups, and bounding volumes.

DtGroundCollisionAvoidanceController::DtGroundCollisionAvoidanceController ( )

protected

Default constructor; should not be called. Here because the compiler will generate an unprotected one otherwise.

DtGroundCollisionAvoidanceController::DtGroundCollisionAvoidanceController ( const DtGroundCollisionAvoidanceController & orig )

protected

copy constructor

Member Function Documentation

virtual bool DtGroundCollisionAvoidanceController::init ( )

virtual

Initializes the follow controller name, the object ID, and the collisionBV (bounding volume)

Returns: A boolean indicating success or failure.

Reimplemented from DtGroundAutoControllerComponent.

virtual void DtGroundCollisionAvoidanceController::tick ( )

virtual

Calculate new control values based on potential collisions. If the controller has received potential collision data, then it acts to avoid a collision. If it does not receive collision data, but has on the previous tick, then the controller starts clearing the collision.

See Also: avoidCollision(); clearingCollision()

Reimplemented from DtSimComponent.

virtual double DtGroundCollisionAvoidanceController::distanceSquaredToDestination ( )

virtual

Calculates the distance squared from the current location (in local coords) to the destination.

Returns: a double set to the distance squared.

virtual void DtGroundCollisionAvoidanceController::avoidCollision ( const DtCollision & potentialCollision )

virtual

Activates all automotive ports/groups and provides the necessary steering, brake, and throttle values.

Parameters

obstruction A pointer to a DtSimObject to avoid. Assumed to be non-NULL.

See Also: avoidMovingObstruction(); avoidNonMovingObstruction()

virtual const char* DtGroundCollisionAvoidanceController::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: DtGroundAutoCollisionAvoidanceType

Reimplemented from DtGroundAutoControllerComponent.

static DtSimComponent* DtGroundCollisionAvoidanceController::creator	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

static

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject 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.

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

protected

assignment operator

virtual void DtGroundCollisionAvoidanceController::clearCollisionStateData ( )

protectedvirtual

This just cleans up some state variables when it's determined that an entity is no longer potentially colliding.

virtual void DtGroundCollisionAvoidanceController::clearingCollision ( )

protectedvirtual

Moves the vehicle in a straight line for the defined clearingDistance after it is no longer at risk of colliding with the obstruction. This is done to keep the vehicle from turning back to the goal too soon, which would cause a jitter as the vehicle went in and out of the collision state.

bool DtGroundCollisionAvoidanceController::isAppreciablyMoving	(	DtVector	velocity,
		double	velocityTolerance
	)		const

protected

If the magnitude of any component of the velocity is greater than the velocity tolerance, then the entity is considered appreciably moving.

Returns: A boolean signifying whether or not the entity is appreciably moving.

bool DtGroundCollisionAvoidanceController::setDefaultPortValuesForAvoidance ( DtAutoTransmissionGear currentGear )

protected

Sets the ports to appropriate default values.

Throttle is set to the approximate throttle for the ordered speed.
Break is set to either 0 or .5 depending on dif. between current and ordered speed
Gear is set to the specified currentGear
Steering is set to 0.
ParkingBrake is set to false
Parameters

currentGear The current gear of the entity.

Returns
A boolean signifying success or failure.

bool DtGroundCollisionAvoidanceController::determineObstructionMovementDirection	(	DtDcm	obstructionLocalOrientationMatrix,
		const DtVector &	obstructionVelocity,
		int &	obstructionDirectionSign
	)		const

protected

Determines if the obstruction is moving forward or in reverse.

Parameters

obstructionDirectionSign A reference to an integer representing the direction of movement: 1 for forward, -1 for reverse.

Returns: a boolean signifying success or failure in the calculation.

bool DtGroundCollisionAvoidanceController::followingObstruction ( const DtUUID & entity ) const

protected

Checks to see if the entity is currently tasked to follow the specified entity.

Returns: A boolean signifying success or failure.

void DtGroundCollisionAvoidanceController::avoidMovingObstruction ( const DtCollision & potentialCollision )

protected

Calculates and sets control values for avoiding a moving obstruction based on obstruction's relative movement (head-on, in front of, etc.) If the obstruction is moving in roughly the same direction, and the entity is in front, it does nothing. If it is behind, and following the entity, then it lets the follow entity controller take over. If not following the entity, then it slows down to avoid a collision.

If the obstruction is coming head on, then the entity attempts to turn out of the way as if the obstruction was a non-moving entity.

Note: Assumes that the obstruction is an entity, since it is moving. If the potential collision is not an entity, this function will have to be updated.

void DtGroundCollisionAvoidanceController::avoidNonMovingObstruction ( const DtCollision & potentialCollision )

protected

Calculates control values for avoiding a non-moving obstruction.

If the entity is not following the obstruction, and the entity can turn, it turns to the opposite direction of the obstruction's location to the entity. (i.e. if the obstruction is on the right, the entity turns to the left.) Otherwise, the entity stops, since either the leader has stopped or it is unable to turn.

Note: Does not assume that the obstruction is an entity, since it is not moving. Uses only the data contained in the collision object, and does not look up any other data (such as a vrfObject).

void DtGroundCollisionAvoidanceController::startClearingCollision ( double clearingDistance )

protected

Sets state as appropriate for clearing a collision and then starts clearing the collision.

Parameters

clearingDistance The distance the entity will move before it considers itself of having fully avoided the collision. This is to prevent entities from immediately turning back into the path of the potential collision once initially avoided it.

See Also: clearingCollision()

bool DtGroundCollisionAvoidanceController::calculateCollisionBV ( )

protected

Calculates a bounding volume representing the potential collision volume occupied by the entity. The entities oriented bounding volume is extended in the direction of travel. It represents a prediction of the entity's future movement for some period of time.

Returns: A boolean signifying success or failure. If the function fails, the bounding volume is not defined to be valid.

Note: Almost exact same function as in the DtObstructionSensor class.; This function assumes simplified movement, and only works for movement "forward/backward" in body coordinates (x direction). For more complicated collision bounding volumes, this function must be overridden.

bool DtGroundCollisionAvoidanceController::createPortGroups ( )

protectedvirtual

Overridden to create myAutomotiveControlPortGroup.

Reimplemented from DtGroundAutoControllerComponent.

bool DtGroundCollisionAvoidanceController::createPorts ( )

protectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtGroundAutoControllerComponent.

Member Data Documentation

double DtGroundCollisionAvoidanceController::myClearingDistance

protected

This is only used when clearing.

bool DtGroundCollisionAvoidanceController::myAvoidingCollision

protected

Dt3dBoundingVolume* DtGroundCollisionAvoidanceController::myCollisionBV

protected

bool DtGroundCollisionAvoidanceController::myHavePortGroup

protected

DtRwUUID DtGroundCollisionAvoidanceController::myFollowEntityName

protected

DtCollisionInputPort* DtGroundCollisionAvoidanceController::myCollisionAvoidancePort

protected

Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.

DtInputPortGroup* DtGroundCollisionAvoidanceController::myCollisionAvoidancePortGroup

protected

Input Port Group Name: collision-avoidance-control
Input Port Group Description:

DtStringInputPort* DtGroundCollisionAvoidanceController::myFollowEntityInputPort

protected

Input Port Name: follow-entity-name
Input Port Description: Check this port to see if any possible collision is with the entity we're suppose to follow
Input Port Range:
Input Port Default Value:
.

DtBooleanOutputPort* DtGroundCollisionAvoidanceController::myCollisionPort

protected

Output Port Name: collision
Output Port Description: Specifies if there's a collision occurring Output Port Range:
Output Group Parent:
.

DtNavigationLocalObjectFacade DtGroundCollisionAvoidanceController::myNavigationLocalObjectFacade

protected

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-0-branch/include/vrfmodel/groundCollisionAvoidanceController.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation