DtGroundFollowEntityController is a controller that models following behavior for ground vehicles.

Developer Description: Each simulation frame the destination to which the entity moves is recalculated to be in the right place with respect to the followed entity.

Uses Descriptor Type: DtGroundMoveToDescriptor

Inheritance diagram for DtGroundFollowEntityController:

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

virtual	~DtGroundFollowEntityController ()

virtual const char *	type () const

virtual void	processFollowEntityTask (DtSimMessage *msg)

virtual DtVector	predictedDestination ()

virtual DtUUID	entityToFollow ()

virtual void	setEntityToFollow (const DtUUID &entity)

virtual const DtVector &	offsetVector () const

virtual void	setOffsetVector (const DtVector &offsets)

virtual void	registerTaskMsgCallbacks ()

virtual bool	setupDestination ()

virtual bool	passedDestination ()

virtual double	findDesiredSpeed ()

virtual double	findDesiredHeading ()

virtual void	setupDestinationVector () const

virtual DtAutoTransmissionGear	determineGearSetting ()

virtual void	stop (bool success) override

virtual void	tick ()

virtual bool	usingNavBot ()

virtual void	updateNavBotDestination ()

virtual bool	needToUpdateNavInterfaceDestination (const DtVector &newLocalDestination)

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

virtual	~DtGroundMoveToDestinationControllerComponent ()

virtual bool	init ()

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual void	processSetLocation (DtSimMessage *msg)

virtual void	processModifyVrfObject (DtSimMessage *msg)

virtual void	clearTask ()

virtual bool	getDestination (DtVector &destination)

virtual const DtVector &	destinationVector () const

virtual bool	nearDestination ()

virtual bool	atDestination ()

virtual void	doMoving ()

virtual void	updateTaskVisualizations ()

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

virtual	~DtGroundAutoControllerComponent ()

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	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 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 void	followEntityCallback (DtSimMessage msg, void usrData)

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

Static Public Member Functions inherited from DtGroundMoveToDestinationControllerComponent
static void	setLocationCallback (DtSimMessage msg, void usr)

static void	modifyVrfObjectCallback (DtSimMessage msg, void usr)

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
	DtGroundFollowEntityController ()

	DtGroundFollowEntityController (const DtGroundFollowEntityController &orig)

const DtGroundFollowEntityController &	operator= (const DtGroundFollowEntityController &orig)

virtual bool	createPorts ()

Protected Member Functions inherited from DtGroundMoveToDestinationControllerComponent
virtual void	invalidateDestinationVector () const

virtual double	desiredHeadingFromDestination (const DtDcm &localToTopoDcm)

virtual void	moveToDestination ()

virtual double	distanceToDestination () const

virtual bool	decideToGiveUpTask () const

virtual bool	createPortGroups ()

virtual void	setDestinationIsInsideObstruction (bool yesNo)

virtual bool	destinationIsInsideObstruction () const

virtual void	useNavBotData ()

virtual unsigned	maxNumFailedPathAttempts () const

virtual bool	findAlternateDestination ()

virtual void	processNavAreaChanged ()

DtVector	localDestination () const

virtual void	processNavigationInterfaceChanged ()

virtual void	processEstimatedTotCalculation ()

virtual void	processGroundVehicleLocationChanged ()

Protected Member Functions inherited from DtGroundAutoControllerComponent
virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual const DtSoilFactors *	currentSoilFactors () 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	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
DtGroundFollowEntityDescriptor *	myComponentDescriptor

DtSimObjectReference	myLeaderPointer

DtStringOutputPort *	myFollowEntityOutputPort

DtTrigonometricSmoother *	myLeaderSmoother

DtVector	myPredictedDestination

double	myNavInterfaceDestinationSetTime

DtVector	myNavInterfaceCurrentDestination

bool	myWarnedOnceDestroyed

DtPlatformSimObjectFacade	myLeaderPointerSimObjectFacade

Protected Attributes inherited from DtGroundMoveToDestinationControllerComponent
double	myDistanceSquared

DtVector	myLocalDestination

DtVector	myWorldDestination

bool	myHasIntermediateDestination

DtVector	myIntermediateWorldDestination

DtVector	myIntermediateLocalDestination

DtVector	myDestinationVector

bool	myDestinationVectorIsValid

double	myCurrentSpeed

bool	myAtDestination

bool	myNearDestination

bool	myPassedDestination

const DtGroundMoveToDescriptor *	myMoveToDescriptor

DtActiveBotNavInterface *	myNavInterface

bool	myIgnoreNavData

bool	myDestinationIsInsideObstruction

unsigned	myNumFailedPathAttempts

const double	DtEstimatedTotCalcInterval = 5.0

bool	myEstimatedTotCalcEnabled

double	myEstimatedTotValue

double	myEstimatedTotLastCalcTime

DtVector	myEstimatedTotTextPos

bool	myChangedLocation

DtCollisionInputPort *	myCollisionAvoidancePort

DtInputPortGroup *	myCollisionAvoidancePortGroup

DtBooleanOutputPort *	myClampToNavDataPort

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 Member Functions inherited from DtGroundMoveToDestinationControllerComponent
static void	navAreaChangedCallback (void *usr)

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

DtGroundFollowEntityController::DtGroundFollowEntityController	(	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 DtGroundFollowEntityController::~DtGroundFollowEntityController ( )

virtual

destructor

DtGroundFollowEntityController::DtGroundFollowEntityController ( )

protected

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

DtGroundFollowEntityController::DtGroundFollowEntityController ( const DtGroundFollowEntityController & orig )

protected

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual const char* DtGroundFollowEntityController::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: DtGroundAutoFollowEntityType

Reimplemented from DtGroundMoveToDestinationControllerComponent.

static void DtGroundFollowEntityController::followEntityCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of move-to tasks.

virtual void DtGroundFollowEntityController::processFollowEntityTask ( DtSimMessage * msg )

virtual

virtual DtVector DtGroundFollowEntityController::predictedDestination ( )

virtual

virtual DtUUID DtGroundFollowEntityController::entityToFollow ( )

virtual

What entity are we following? This accessor has the side effect of setting myProcessState->myEntityToFollow to DtString::nullString(), if the entity is not tasked and myEntityToFollow is not already the null string.

virtual void DtGroundFollowEntityController::setEntityToFollow ( const DtUUID & entity )

virtual

virtual const DtVector& DtGroundFollowEntityController::offsetVector ( ) const

virtual

The offset from the entity's position to follow at, in entity coordinates. This comes from the follow task message.

virtual void DtGroundFollowEntityController::setOffsetVector ( const DtVector & offsets )

virtual

static DtSimComponent* DtGroundFollowEntityController::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.

virtual void DtGroundFollowEntityController::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register its interest in followEntity commands.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual bool DtGroundFollowEntityController::setupDestination ( )

virtual

Sets the world destination in the process state repository to the location of the entity we're following plus the indicated offset and then calls down to the base class.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual bool DtGroundFollowEntityController::passedDestination ( )

virtual

Overrides to force the entity to be near the destination as well as across the 'destination' line to be considered past the destination.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual double DtGroundFollowEntityController::findDesiredSpeed ( )

virtual

Overrides so we can speed up when falling behind and slow down if we get past the position we're supposed to be in.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual double DtGroundFollowEntityController::findDesiredHeading ( )

virtual

Overrides so the entity won't turn toward the destination point when it is close to or past the destination; rather, in these cases, it assumes the heading of the lead entity.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual void DtGroundFollowEntityController::setupDestinationVector ( ) const

virtual

Provides a vector in local coordinates that points in the opposite direction from the leader's heading. If this entity is in reverse gear, then it is the same as the leader's heading. (This can be used in DtGroundMoveToDestinationControllerComponent:: passedDestination(); however it is not currently used.)

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual DtAutoTransmissionGear DtGroundFollowEntityController::determineGearSetting ( )

virtual

Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on dot product of the followed entity's velocity vector and it's heading vector. If the followed entity is not moving, then gear is the same as the previous frame.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual void DtGroundFollowEntityController::stop ( bool success )

overridevirtual

Overrides so we don't complete the task when we're at the right location with regard to the followed entity. Simply calls DtGroundMoveToControllerComponent::doMoving().

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual void DtGroundFollowEntityController::tick ( )

virtual

Overridden to tick myLeaderSmoother.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual bool DtGroundFollowEntityController::usingNavBot ( )

inlinevirtual

Returns: True if the controller is currently using the navigation system bot to control movement.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual void DtGroundFollowEntityController::updateNavBotDestination ( )

virtual

Update navInterface.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual bool DtGroundFollowEntityController::needToUpdateNavInterfaceDestination ( const DtVector & newLocalDestination )

virtual

Returns true if the navInterface's destination should be updated.

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

protected

assignment operator; see comments on copy constructor!

virtual bool DtGroundFollowEntityController::createPorts ( )

protectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

Member Data Documentation

DtGroundFollowEntityDescriptor* DtGroundFollowEntityController::myComponentDescriptor

protected

DtSimObjectReference DtGroundFollowEntityController::myLeaderPointer

protected

Set fresh each frame by setupDestination()

DtStringOutputPort* DtGroundFollowEntityController::myFollowEntityOutputPort

protected

DtTrigonometricSmoother* DtGroundFollowEntityController::myLeaderSmoother

protected

DtVector DtGroundFollowEntityController::myPredictedDestination

protected

double DtGroundFollowEntityController::myNavInterfaceDestinationSetTime

protected

DtVector DtGroundFollowEntityController::myNavInterfaceCurrentDestination

protected

bool DtGroundFollowEntityController::myWarnedOnceDestroyed

protected

DtPlatformSimObjectFacade DtGroundFollowEntityController::myLeaderPointerSimObjectFacade

protected

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

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