DtSubSurfaceEntitySimpleActuator Class Reference

Provides a simple actuator model for surface vessels.

Provides a simple, kinematics-based model for sub surface vessels; derived from surface entity simple actuator, but includes depth inputs.

End User Description: A simple subsurface ship actuator that provides for vessels to move according to acceleration, speed and turn commands. In effect, low level actions such as setting the engine commands (forward/back, amount) and rudder commands (degrees) are abstracted away. The inputs are simply desired acceleration, desired turn radius, and final speed/heading. This makes this actuator something of a low-level controller. The DtSubSurfaceEntitySimpleActuator converts acceleration and turn radius inputs into orientation (heading), acceleration, velocity, and position.
In addition, this actuator has depth rate and clamp depth inputs

Uses Descriptor Type: DtSubSurfaceEntitySimpleActuatorDescriptor

Inheritance diagram for DtSubSurfaceEntitySimpleActuator:

Public Member Functions
	DtSubSurfaceEntitySimpleActuator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSubSurfaceEntitySimpleActuator ()
virtual bool	init ()
virtual const char *	type () const
Public Member Functions inherited from DtSurfaceEntitySimpleActuator
	DtSurfaceEntitySimpleActuator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSurfaceEntitySimpleActuator ()
virtual bool	postAddComponentsInit ()
virtual void	initProcessSR ()
virtual void	decrementFuelResource (double fuelUsed)
Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent ()
virtual DtSimRadio *	radio ()
virtual bool	tickWhileDestroyed () const
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	postTick ()
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
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	taskVisualizationsActive () const
virtual bool	taskVisualizationsEnabled () const
virtual void	onRestore ()
makVrf::DtTaskVisualizationMap &	taskVisualizations ()
virtual void	enable ()
virtual void	disable ()
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 DtSurfaceEntitySimpleActuator
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
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
virtual bool	createPorts ()
virtual void	tick ()
virtual double	updateVerticalSpeed (const double dt)
virtual void	adjustAttitude (const double newSpeed, const DtVector &position, const double yawRate, double &roll, double &pitch, double &altitude)
virtual double	altitudeFromDepth (double depth, double surfaceAltitude)
virtual double	depthFromAltitude (double altitude, double surfaceAltitude)
	DtSubSurfaceEntitySimpleActuator ()
	DtSubSurfaceEntitySimpleActuator (const DtSubSurfaceEntitySimpleActuator &orig)
const DtSubSurfaceEntitySimpleActuator &	operator= (const DtSubSurfaceEntitySimpleActuator &orig)
Protected Member Functions inherited from DtSurfaceEntitySimpleActuator
virtual bool	createPortGroups ()
virtual void	updateHeading (const double dT, double &newHeading)
virtual void	updateVelocity (const double dT, const double newHeading, const double newVerticalSpeed, double &acceleratingDT, double &newSpeed, DtVector &newVelocity, bool &maxSpeedAchieved)
virtual void	updateOrientationAndPosition (const double dT, const double acceleratingDT, const double newHeading, DtVector &newVelocity, const double newSpeed, DtDcm &newBodyToLocalMatrix, DtVector &newPosition)
virtual void	setAltitude (DtVector &localPosition, const Coordinate_System *cs, const double altitudeAdjustment)
virtual bool	getTerrainSurfaces (const DtVector &databaseLocation, double &groundHeight, DtSurface &groundSurface, DtVector &groundNormal, double &waterHeight, DtSurface::DtMedium &topSurfaceMedium, bool *dataAvailable=0, bool overrideBlockingAssert=false)
virtual bool	isShipAground (const DtVector &localPosition, const DtDcm &bodyToLocalMatrix, DtSurface::DtMedium topMedium=DtSurface::WaterSurface)
virtual void	sinkingAttitude (const DtVector &newPosition, DtDcm &newBodyToLocalMatrix)
virtual void	setOrientationToBottom (const DtVector &newPosition, const double newHeading, const DtVector &groundNormal, DtDcm &newBodyToLocalMatrix)
virtual void	computeNewRates (const double turnRate, const double newSpeed, const double newHeading, const double acceleration, const DtDcm &bodyToLocalMatrix, DtVector &bodyRotationRates, DtVector &relativeAcceleration, double &limitedAcceleration)
virtual void	sinkingRates (DtVector &newPosition, DtVector &newVelocity, DtVector &newRelativeAcceleration, DtVector &newBodyRotationRates)
virtual void	unpoweredDriftRates (const double newSpeed, const double newHeading, DtVector &newBodyRotationRates, DtVector &newRelativeAcceleration)
double	driftDecelerationMagnitude () const
virtual void	updateRepository (const DtVector &newPosition, const DtVector &newVelocity, const DtVector &newAcceleration, const DtTaitBryan &newOrientation, const DtVector &newBodyRotationRates)
virtual double	computeFuelUsed (const double dT)
DtSurfaceEntityStateRepository *	surfaceEntityState (void) const
virtual bool	createPSR ()
	DtSurfaceEntitySimpleActuator ()
	DtSurfaceEntitySimpleActuator (const DtSurfaceEntitySimpleActuator &orig)
const DtSurfaceEntitySimpleActuator &	operator= (const DtSurfaceEntitySimpleActuator &orig)
Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual void	setRadio (DtSimRadio *radio)
	DtActuatorComponent ()
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
Ports and Port Groups
DtAnalogInputPort *	myDepthRatePort
DtAnalogInputPort *	myClampDepthPort
double	myDepth
double	myAltitudeRate
Protected Attributes inherited from DtSurfaceEntitySimpleActuator
DtSurfaceEntityStateRepository *	mySurfaceEntityState
const DtSurfaceEntityParameters *	myParameters
DtSurfaceEntityActuatorDescriptor *	myDescriptor
DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
DtSurfaceMovementPSR *	myProcessState
bool	myOutOfFuelWarningPrinted
double	myMaxRollRate
bool	myAgroundAndDestroyed
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
DtInputPortGroup *	mySurfaceControlPortGroup
DtAnalogInputPort *	myAccelerationPort
DtAnalogInputPort *	myClampSpeedPort
DtAnalogInputPort *	myTurnRatePort
DtAnalogInputPort *	myFinalHeadingPort
double	mySeaFloorHeight
double	myWaterHeight
bool	myIsAground
double	mySinkingPitchRate
double	mySinkingRollRate
double	mySinkingStartRate
Protected Attributes inherited from DtActuatorComponent
DtSimRadio *	myRadio
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 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

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

Constructor.

virtual DtSubSurfaceEntitySimpleActuator::~DtSubSurfaceEntitySimpleActuator ( )

virtual

Destructor.
Removes myProcessState from the process state repository manager. Deletes all ports and port groups.

DtSubSurfaceEntitySimpleActuator::DtSubSurfaceEntitySimpleActuator ( )

protected

default constructor; not implemented

DtSubSurfaceEntitySimpleActuator::DtSubSurfaceEntitySimpleActuator ( const DtSubSurfaceEntitySimpleActuator &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtSubSurfaceEntitySimpleActuator::init ( )

virtual

Calls the base init, then sets initial values for PSR depth rate and clamp depth. Also sets mySurfacedAltitude.

Reimplemented from DtSurfaceEntitySimpleActuator.

virtual const char* DtSubSurfaceEntitySimpleActuator::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

DtSubSurfaceEntitySimpleActuatorType

Reimplemented from DtSurfaceEntitySimpleActuator.

static DtSimComponent* DtSubSurfaceEntitySimpleActuator::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 bool DtSubSurfaceEntitySimpleActuator::createPorts ( )

protectedvirtual

Creates the depthRate and clampDepth ports, and calls the parent createPorts() to create the rest.

Reimplemented from DtSurfaceEntitySimpleActuator.

virtual void DtSubSurfaceEntitySimpleActuator::tick ( )

protectedvirtual

Ticks the parent, then sets depth ports/data received.

Reimplemented from DtSurfaceEntitySimpleActuator.

virtual double DtSubSurfaceEntitySimpleActuator::updateVerticalSpeed ( const double  dt )

protectedvirtual

Sets the vertical speed according to the input port. Negates it so that positive is UP.

Reimplemented from DtSurfaceEntitySimpleActuator.

virtual void DtSubSurfaceEntitySimpleActuator::adjustAttitude ( const double  newSpeed, const DtVector &  position, const double  yawRate, double &  roll, double &  pitch, double &  altitude  )

protectedvirtual

Adjusts the attitude of the entity for improved appearance. For subsurface: the roll is 0. The pitch is determined by the depthRate and speed: it is set to match depthRate/speed. However, if speed is very low pitch is left to 0. Pitch is constrained to a maximum. AltitudeAdj is left at 0. This value is not used for in setting a subsurface vessel altitude.

Reimplemented from DtSurfaceEntitySimpleActuator.

virtual double DtSubSurfaceEntitySimpleActuator::altitudeFromDepth ( double  depth, double  surfaceAltitude  )

protectedvirtual

This function computes the altitude of the entity's origin from a depth. Depth is the distance of the bottom of the bounding box below the surface of the water (in meters; positive number means deeper, i.e. the negative of altitude). The function uses the latticeOffset of the bounding volume, which is the vector from the entity's origin to the center of the bounding box...but in topographic coordinates, so the Z component is positive-down. So the formula is altitude = -depth + bb.halfHeight + bb.latticeOffset[2] + surfaceAlt. Example: origin at center of bb, surfaceAltitude = 0: depth of 0 => altitude is 1/2 bb height, putting the bottom of the bb at the surface altitude. Example: origin at bottom of bb (latticeOffset[2]= -halfHeight): depth of 20 => altitude= -20 + halfHeight - halfHeight = -20, putting the bottom of the bb at -20.

virtual double DtSubSurfaceEntitySimpleActuator::depthFromAltitude ( double  altitude, double  surfaceAltitude  )

inlineprotectedvirtual

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

protected

assignment operator; not implemented

Member Data Documentation

DtAnalogInputPort* DtSubSurfaceEntitySimpleActuator::myDepthRatePort

protected

Desired depth change rate, in m/s. Note that increasing depth is decreasing altitude.

DtAnalogInputPort* DtSubSurfaceEntitySimpleActuator::myClampDepthPort

protected

Final desired depth that entity is trying to change to. This prevents overshoot if dT is unexpectedly large one tick.

double DtSubSurfaceEntitySimpleActuator::myDepth

protected

Computed and cached within a tick, to avoid recomputation.

double DtSubSurfaceEntitySimpleActuator::myAltitudeRate

protected

The negative of depthRate on the input port, or 0 if the port isn't active.

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

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