DtHumanFollowController is a controller that models following behavior for humans.

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: DtHumanFollowControllerDescriptor

Inheritance diagram for DtHumanFollowController:

[legend]

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

virtual	~DtHumanFollowController ()

virtual const char *	type () const

virtual bool	init ()

virtual bool	createPSR ()

virtual void	tick ()

virtual void	processFollowEntityTask (DtSimMessage *msg)

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	stop ()

virtual void	clearTask ()

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 bool	decideToGiveUpTask () 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 bool	postAddComponentsInit ()

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 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 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
	DtHumanFollowController (const DtHumanFollowController &orig)

const DtHumanFollowController &	operator= (const DtHumanFollowController &orig)

virtual void	setSmoother (const DtVector &location)

virtual DtVector	smoothedLocation ()

virtual DtVector	constrainedStation (const DtSimObject *leaderState, const DtVector &position)

virtual bool	nearDestination ()

virtual double	distanceToDestination () const

virtual DtVector	localDestination () const

virtual bool	getDestination (DtVector &destination) const

virtual bool	atDestination ()

virtual void	doMoving ()

virtual bool	destinationIsInsideObstruction (const DtVector &localDestination) const

virtual bool	createPortGroups ()

virtual bool	createPorts ()

virtual void	moveToDestination ()

virtual void	computeTopoVectors ()

virtual bool	usingNavBot ()

virtual void	moveUsingNavData ()

virtual void	processNavAreaChanged ()

virtual bool	needToUpdateNavInterfaceDestination (const DtVector &newLocalDestination)

virtual DtVector	predictedDestination ()

virtual void	updateTaskVisualizations ()

virtual void	processNavigationInterfaceChanged ()

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)

Static Protected Member Functions
static void	navAreaChangedCallback (void *usr)

Protected Attributes
DtSimObjectReference	myEntityToFollow

DtHumanStateRepository *	myHumanStateRepository

DtHumanFollowPSR *	myProcessState

DtVector	myLocalDestination

DtVector	myWorldDestination

DtVector	myLocalDestinationMove

DtVector	myTopoDestinationMoveUnit2D

DtVector	myTopoDestinationToEntity2D

DtVector	mySmoothedStationLocation

DtVector	myStationLocationWithRayToCenterline

DtVector	myStationLocation

DtVector	myLookAheadStationLocation

double	myAtDistanceSquared

double	myNearDistanceSquared

double	myFarCatchUpFactor

bool	myIgnoreNavData

DtVector	myTransitionPoint

DtActiveBotNavInterface *	myNavInterface

DtVector	myNavInterfaceCurrentDestination

double	myNavInterfaceDestinationSetTime

DtHumanFollowControllerDescriptor *	myComponentDescriptor

DtTrigonometricSmoother *	myLeaderSmoother

bool	myWarnedOnceDestroyed

DtStringOutputPort *	myFollowTargetOutputPort

bool	myCanMoveDirect

DtPlatformSimObjectFacade	myEntityToFollowSimObjectFacade

Ports and Port Groups
DtCollisionInputPort *	myCollisionAvoidancePort

DtInputPortGroup *	myCollisionAvoidancePortGroup

DtHumanMovementControlOutputPortGroup *	myHumanMovementControlOutputPortGroup

DtVectorOutputPort *	myDestinationOutputPort

DtBooleanOutputPort *	myIsMovingPort

DtBooleanOutputPort *	myUseCollisionAvoidancePort


bool	myNearDestination

bool	myPassedDestination

bool	myAtDestination

double	myDistanceSquared

bool	myDestinationIsInsideObstruction

double	myCurrentSpeed

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

DtHumanFollowController::DtHumanFollowController	(	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 DtHumanFollowController::~DtHumanFollowController ( )

virtual

destructor

DtHumanFollowController::DtHumanFollowController ( const DtHumanFollowController & orig )

protected

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual const char* DtHumanFollowController::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: DtHumanFollowControllerType

Implements DtTaskControllerComponent.

virtual bool DtHumanFollowController::init ( )

virtual

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual bool DtHumanFollowController::createPSR ( )

virtual

Creates myProcessState data member, and adds it to our process state repository manager. Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual void DtHumanFollowController::tick ( )

virtual

Calculate new control values.

Reimplemented from DtSimComponent.

static void DtHumanFollowController::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 DtHumanFollowController::processFollowEntityTask ( DtSimMessage * msg )

virtual

virtual DtUUID DtHumanFollowController::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 DtHumanFollowController::setEntityToFollow ( const DtUUID & entity )

virtual

virtual const DtVector& DtHumanFollowController::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 DtHumanFollowController::setOffsetVector ( const DtVector & offsets )

virtual

static DtSimComponent* DtHumanFollowController::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 DtHumanFollowController::registerTaskMsgCallbacks ( )

virtual

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

Reimplemented from DtTaskControllerComponent.

virtual bool DtHumanFollowController::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.
Creates a smoother if one does not exist.
Also computes myLookAheadStationLocation by adding leader velocity * destinationSmoothingPeriod (from the descriptor) to the station position, i.e. myLocalDestination; then calls setSmoother().
If the station location (myLocalDestination) has changed since last tick, sets myPredictedDestination by calling predictedDestination(), then checks to see if the nav (path planning) interface should be given a new destination by calling needToUpdateNavInterfaceDestination(). If so,.

virtual bool DtHumanFollowController::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.

virtual double DtHumanFollowController::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.

virtual double DtHumanFollowController::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.

virtual void DtHumanFollowController::stop ( )

virtual

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().

virtual void DtHumanFollowController::clearTask ( )

virtual

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

Reimplemented from DtSingleTaskControllerComponent.

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

protected

assignment operator; see comments on copy constructor!

virtual void DtHumanFollowController::setSmoother ( const DtVector & location )

protectedvirtual

Sets the current location, velocity and acceleration in the smoother. In this implementation, the location argument is used as the location, and the leader velocity and acceleration are used for those parameters. "Current" time is sim time. The smoother used is DtTrigonometricSmoother myLeaderSmoother.
Called from setupDestination().

virtual DtVector DtHumanFollowController::smoothedLocation ( )

protectedvirtual

Gets the smoothed location from the smoother at the current time (sim time). If the leader speed is below a threshold (0.1 m/s), then the station location is used.
In this implementation, the smoother used is DtTrigonometricSmoother myLeaderSmoother. This function can be overridden if another smoothing approach is desired.

virtual DtVector DtHumanFollowController::constrainedStation	(	const DtSimObject *	leaderState,
		const DtVector &	position
	)

protectedvirtual

Assumes the nav bot is being used.

virtual bool DtHumanFollowController::nearDestination ( )

protectedvirtual

Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()). If the distance to the destination is less than the near distance in the descriptor, myNearDestination is set true. myNearDestination is also the return value.

virtual double DtHumanFollowController::distanceToDestination ( ) const

protectedvirtual

This is the distance to the station, i.e. leader position + offset. The value returned is the SQUARE of the 2D distance (horizontal in topo coordinates).

virtual DtVector DtHumanFollowController::localDestination ( ) const

protectedvirtual

This is the station (leader + offset) in local coordinates, run through the smoother; unless using the nav interface and there is a valid transition point (see DtActiveBotNavInterface), in which case that is the local destination.

virtual bool DtHumanFollowController::getDestination ( DtVector & destination ) const

protectedvirtual

getDestination()

Parameters

destination (Output) The position this object is trying to drive to in local coordinates. Calls localDestination().

Returns: true always.

virtual bool DtHumanFollowController::atDestination ( )

protectedvirtual

Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true. If the myDistanceSquared !<= at-distance, atDestination() sets myAtDestination to false. myAtDestination is returned to the calling function.

virtual void DtHumanFollowController::doMoving ( )

protectedvirtual

Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.

virtual bool DtHumanFollowController::destinationIsInsideObstruction ( const DtVector & localDestination ) const

protectedvirtual

Returns whether or not current destination is inside an obstruction.

virtual bool DtHumanFollowController::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtHumanFollowController::createPorts ( )

protectedvirtual

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual void DtHumanFollowController::moveToDestination ( )

protectedvirtual

Attempts to move to the destination location. Override to provide movement functionality.

virtual void DtHumanFollowController::computeTopoVectors ( )

protectedvirtual

Computes myTopoDestinationMoveUnit and myTopoDestinationToEntity for use in desiredHeading and desiredSpeed. Uses myLocalDestinationMove and the entity location.

virtual bool DtHumanFollowController::usingNavBot ( )

protectedvirtual

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

virtual void DtHumanFollowController::moveUsingNavData ( )

protectedvirtual

Uses calculations from the navBot to control the entity or end the task. Assumes that myNavInterface is valid and that myIgnoreNavData is false.

static void DtHumanFollowController::navAreaChangedCallback ( void * usr )

staticprotected

virtual void DtHumanFollowController::processNavAreaChanged ( )

protectedvirtual

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

protectedvirtual

Determine if the navBot (path planning) interface needs to be reset with a new destination.

virtual DtVector DtHumanFollowController::predictedDestination ( )

protectedvirtual

Gets a goal (destination) location to use as the target for moving. If there is a myLeaderSmoother, then this location is obtained from the smoother. Otherwise, the myLocalDestination is used (i.e., the station relative to the leader). Once this location is determined, the ground elevation at that point is found, and that is the (3D) point returned.

virtual void DtHumanFollowController::updateTaskVisualizations ( )

protectedvirtual

Called to update task visualizations after every tick. Implemented by subclasses.

Reimplemented from DtSimComponent.

virtual void DtHumanFollowController::processNavigationInterfaceChanged ( )

protectedvirtual

Member Data Documentation

DtSimObjectReference DtHumanFollowController::myEntityToFollow

protected

Set fresh each frame in setupDestination().

DtHumanStateRepository* DtHumanFollowController::myHumanStateRepository

protected

Cache pointer to our specific type of state repository.

DtHumanFollowPSR* DtHumanFollowController::myProcessState

protected

Container for state data associated with this component. This state is saved and restored as part of a scenario (or checkpoint).

DtCollisionInputPort* DtHumanFollowController::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* DtHumanFollowController::myCollisionAvoidancePortGroup

protected

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

DtHumanMovementControlOutputPortGroup* DtHumanFollowController::myHumanMovementControlOutputPortGroup

protected

Output Group Name: movement-control
.

DtVectorOutputPort* DtHumanFollowController::myDestinationOutputPort

protected

Output Port Name: destination
Output Port Description: Specifies the current destination of the entity in geocentric coordinates. Output Port Range:
Output Group Parent:
.

DtBooleanOutputPort* DtHumanFollowController::myIsMovingPort

protected

Output Port Name: is-moving
Output Port Description: Indicates the entity is being actively moved by this controller.
Output Port Range:
Output Group Parent:
.

DtBooleanOutputPort* DtHumanFollowController::myUseCollisionAvoidancePort

protected

Output Port Name: use-collision-avoidance
Output Port Description: Indicates whether or not this controller should use the collision avoidance controller.
Output Port Range:
Output Group Parent:
.

DtVector DtHumanFollowController::myLocalDestination

protected

The Destination is the location of the station (leader + offset), either raw (if using the nav interface) or smoothed (if using this location to direct movement directly).

DtVector DtHumanFollowController::myWorldDestination

protected

The geoc version of the above, for output to the Destination output port.

DtVector DtHumanFollowController::myLocalDestinationMove

protected

The direction of movement of myLocalDestination from the last tick to the present.

DtVector DtHumanFollowController::myTopoDestinationMoveUnit2D

protected

Unit vector for the above, in topo coordinates.

DtVector DtHumanFollowController::myTopoDestinationToEntity2D

protected

Vector from myLocalDestination to entity, in topo coordinates.

DtVector DtHumanFollowController::mySmoothedStationLocation

protected

This is the smoothed movement target position. If not using the nav interface, it is the smoothed station location (same as myLocalDestination). If using the nav interface, it is the smoothed lookahead location.

DtVector DtHumanFollowController::myStationLocationWithRayToCenterline

protected

If using nav areas, this is the smoothedStationLocation, but pulled in to the center line directly behind the leader if a ray cannot be traced from the center line laterally to the station so that the entity and the leader can move directly to one another.

DtVector DtHumanFollowController::myStationLocation

protected

The location of the station (i.e. the desired offset location from leader location). In local coordinates.

DtVector DtHumanFollowController::myLookAheadStationLocation

protected

The location of the station at a time targetLookAheadTime in the future. In local coordinates.

bool DtHumanFollowController::myNearDestination

protected