DtAutomotiveActuatorComponent Class Reference

DtAutomotiveActuatorComponent provides a kinematics-based model of an automotive system.

End User Description: The DtAutomotiveActuatorComponent converts throttle, brake, and steering into orientation, acceleration, velocity, and position.

Examples

• Add Actuator Component Uses Descriptor Type: DtAutomotiveActuatorDescriptor

Inheritance diagram for DtAutomotiveActuatorComponent:

Public Member Functions
	DtAutomotiveActuatorComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtAutomotiveActuatorComponent ()
virtual bool	init ()
virtual const char *	type () const
virtual void	tick ()
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 bool	postAddComponentsInit ()
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 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 double	maxSpeedSoilFactor () const
virtual double	accelSoilFactor () const
virtual double	decelSoilFactor () const
virtual DtString	soilTypeString () const
virtual const DtSoilFactors *	soilFactors (const DtString &soilType) const
virtual void	useFuel (double fuelUsed)
virtual double	fuelLeft () const
virtual void	updateRepository (const DtVector &localPosition, const DtVector &localVelocity, const DtVector &localAcceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity, double newHeading)
virtual double	calculateMaxDecelerationFromBrake (double brake)
virtual double	calculateAccelerationFromEngine (double throttle, double speed, DtAutoTransmissionGear gear, double pitch)
virtual void	calculateFactorsFromSoilAndWeather (const DtVector &location, double &tractionFactor, double &dragFactor)
virtual double	calculateMaximumTractionAcceleration (const double tractionFactor)
virtual double	calculateSoilDragDeceleration (const double dragFactor, const double speed)
virtual double	calculateAccelerationFromSlope (double pitch)
virtual void	calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
virtual bool	useHighFidelityGroundClamping () const
virtual bool	useNavDataGroundClamping ()
bool	groundClamp (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal, bool &dataAvailable)
void	groundClampHighFidelity (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal, bool &dataAvailable)
void	groundClampLowFidelity (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal, bool &dataAvailable)
void	groundClampWithNavData (double heading, const DtVector &location, DtAttachedTerrain &terrain, DtVector &newNormal)
virtual double	calculateHeading (const double oldHeading, const DtVector &oldBodyVelocity, const DtAutoTransmissionGear gear, const double steering, const double throttle, const double speed, const double maxTractionAcceleration, const double soilDragFactor, const double dT)
virtual DtVector	calculateBodyAcceleration (double throttle, DtAutoTransmissionGear gear, double brake, const DtVector &oldBodyVelocity, double oldPitch, double maxTractionAcceleration, double dragFactor, double dT)
virtual DtVector	calculateBodyVelocity (const DtVector &oldBodyVelocity, const DtVector &newBodyAcceleration, double dT)
virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyAcceleration, const DtVector &oldBodyVelocity, double newHeading)
virtual bool	checkForTerrainCollisions () const
virtual bool	foundTerrainCollision (double heading, const DtVector &oldLocalPosition, const DtVector &newLocalPosition, DtVrfChordIntersectionRecord &collisionIntersectionRecord) const
virtual bool	createMovementChord (DtChord &movementChord, double heading, const DtVector &oldLocalPosition, const DtVector &newLocalPosition) const
virtual bool	terrainPassable (double heading, const DtVrfChordIntersectionRecord &terrainIntersectionRecord) const
virtual double	calculateMaxSpeed ()
virtual double	calculateMaxAcceleration ()
virtual void	calculateDirectionOfLinearMotion (const DtDcm &newLocalOrientation, const DtVector &newLocalPosition, DtDcm &newLocalDirectionOfLinearMotion)
virtual double	slopeBoostRate () const
virtual void	setSlopeBoostRate (const double boost)
virtual double	calculateSlopeBoostRate ()
virtual bool	createPortGroups ()
virtual bool	createPorts ()
virtual bool	createPSR ()
virtual bool	rotationalVelocityShouldBeClamped (const DtVector &bodyRotationalVelocity)
virtual double	steeringControlValue () const
virtual double	throttleControlValue () const
virtual double	brakeControlValue () const
virtual DtAutoTransmissionGear	gearControlValue () const
virtual bool	parkingBrakeControlValue () const
virtual bool	checkIfMoveOntoEmbarked (const DtVector &localPosition)
virtual bool	checkAndDisembarkIfEmbarked (const DtVector &localPosition)
void	processTerrainChangeNotification (const DtExtent &spatExtent)
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)

Static Protected Member Functions
static void	terainChangeNotification (const DtExtent &spatExtent, void *usr)

Protected Attributes
DtGroundVehicleStateRepository *	myGroundVehicleState
DtAutomotivePSR *	myProcessState
DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
Ports and Port Groups
DtConstrainedAnalogInputPort *	myThrottlePort
DtConstrainedAnalogInputPort *	mySteeringPort
DtConstrainedAnalogInputPort *	myBrakePort
DtConstrainedIntegerInputPort *	myGearPort
DtBooleanInputPort *	myParkingBrakePort
DtInputPortGroup *	myAutomotiveControlPortGroup
DtBooleanInputPort *	myClampToNavDataPort
Temporary variables, not saved to PSR
const DtAutomotiveActuatorDescriptor *	myAutomotiveDescriptor
bool	myKeepParentPosition
DtUUID	myWasJustEmbarkedOn
double	myLastPitch
double	myLastPitchHeading
DtVector	myLastPitchLocation
double	mySlopeBoostRate
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
bool	myTerrainUpdateTriggeredFlag
bool	myDataUnavailableOnTerrainUpdate
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

Private Member Functions
	DtAutomotiveActuatorComponent ()
	DtAutomotiveActuatorComponent (const DtAutomotiveActuatorComponent &orig)
const DtAutomotiveActuatorComponent &	operator= (const DtAutomotiveActuatorComponent &orig)

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

DtAutomotiveActuatorComponent::DtAutomotiveActuatorComponent	(	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 DtAutomotiveActuatorComponent::~DtAutomotiveActuatorComponent ( )

virtual

destructor

DtAutomotiveActuatorComponent::DtAutomotiveActuatorComponent ( )

private

Default constructor; not implemented.

DtAutomotiveActuatorComponent::DtAutomotiveActuatorComponent ( const DtAutomotiveActuatorComponent &  orig )

private

Copy constructor; not implemented.

Member Function Documentation

virtual bool DtAutomotiveActuatorComponent::init ( )

virtual

Calls createPSR() to create our process state repository.

Reimplemented from DtActuatorComponent.

Reimplemented in MyActuatorComponent.

virtual const char* DtAutomotiveActuatorComponent::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

DtAutomotiveActuatorType

Implements DtSimComponent.

Reimplemented in MyActuatorComponent.

virtual void DtAutomotiveActuatorComponent::tick ( )

virtual

Calculate new kinematic state.

Reimplemented from DtSimComponent.

Reimplemented in MyActuatorComponent.

static DtSimComponent* DtAutomotiveActuatorComponent::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 double DtAutomotiveActuatorComponent::maxSpeedSoilFactor ( ) const

protectedvirtual

Returns

Max speed factor (0-1.) for the current terrain.

virtual double DtAutomotiveActuatorComponent::accelSoilFactor ( ) const

protectedvirtual

Returns

Acceleration factor (0-1.) for the current terrain.

virtual double DtAutomotiveActuatorComponent::decelSoilFactor ( ) const

protectedvirtual

Returns

Deceleration factor (0-1.) for the current terrain.

virtual DtString DtAutomotiveActuatorComponent::soilTypeString ( ) const

protectedvirtual

Returns the soil type under the groundCenter interaction point.

virtual const DtSoilFactors* DtAutomotiveActuatorComponent::soilFactors ( const DtString &  soilType ) const

protectedvirtual

Returns

Ptr to the soil factors instance in the entity's parameter entry.

NULL if the entity is on unspecified type terrain.

virtual void DtAutomotiveActuatorComponent::useFuel ( double  fuelUsed )

protectedvirtual

Looks up the resource named “fuel” in the entity’s Resource Manager. If the resource is not found, useFuel() just returns. If the resource is found, the amount of fuel passed as the argument to useFuel() is deducted from the resource. When the resource reaches 0, a warning is printed (using DtWarn).

Parameters

fuelUsed

Amount of fuel to deplete.

virtual double DtAutomotiveActuatorComponent::fuelLeft ( ) const

protectedvirtual

Looks up the resource named “fuel” in the entity’s Resource Manager. If the resource is not found, it returns an appropriately large constant to implement unlimited fuel. Otherwise, the value of the resource is returned.

Returns

Amount of fuel resource still available.

virtual void DtAutomotiveActuatorComponent::updateRepository ( const DtVector &  localPosition, const DtVector &  localVelocity, const DtVector &  localAcceleration, const DtTaitBryan &  localOrientation, const DtVector &  rotationalVelocity, double  newHeading  )

protectedvirtual

Updates the local state repository: It places the position, velocity, acceleration, and orientation arguments into the local repository. It puts the heading into the repository. It calculates the current speed from the velocity vector passed and sets that value in the local repository. It calculates the distance traveled this frame (speed * dT) and uses that and the fuel consumption ground vehicle parameter to determine the fuel used, and then calls useFuel().

Parameters

localPosition	Position in local (database) coordinates in meters.
localVelocity	Velocity in local (database) coordinates in meters/second.
localVelocity	Velocity in local (database) coordinates in meters/second/second.
localOrientation	Local orientation of entity in radians.
rotationalVelocity	In radians/second.
newHeading	In radians.

virtual double DtAutomotiveActuatorComponent::calculateMaxDecelerationFromBrake ( double  brake )

protectedvirtual

Returns

The maximum possible deceleration resulting from the current application of the brake for this tick. This value is always non-negative, regardless of direction of movement. This calculation does not consider traction limits of soil or weather.

virtual double DtAutomotiveActuatorComponent::calculateAccelerationFromEngine ( double  throttle, double  speed, DtAutoTransmissionGear  gear, double  pitch  )

protectedvirtual

Returns

The acceleration resulting from the internal engine systems of this entity. Result is signed, with positive being body-forward acceleration and negative body-reverse. Assumes that the vehicle is moving in the direction that its gear enables. Acceleration = the entity parameter max acceleration at speed 0, but decreases to zero at entity parameter value of max speed; there are no effects from soil or slope included.

virtual void DtAutomotiveActuatorComponent::calculateFactorsFromSoilAndWeather ( const DtVector &  location, double &  tractionFactor, double &  dragFactor  )

protectedvirtual

Calculates factors affecting drag of the soil and limits on traction based on soil type and weather.

Parameters

location	Entity location in local coordinates.
tractionFactor	Output factor. 1.0 = perfect traction, 0 = no traction.
dragFactor	Output factor. 1.0 = no soil drag; 0 = high soil drag (0.01 is effectively the minimum value).

virtual double DtAutomotiveActuatorComponent::calculateMaximumTractionAcceleration ( const double  tractionFactor )

protectedvirtual

Calculates the maximum traction force available. This is the max that can be used for acceleration or braking, or lateral acceleration. Computed from maxStoppingAcceleration * tractionFactor.

Returns

A positive acceleration value; the value must be signed appropriately for forward and reverse movement.

virtual double DtAutomotiveActuatorComponent::calculateSoilDragDeceleration ( const double  dragFactor, const double  speed  )

protectedvirtual

Calculates the drag acceleration caused by the drag factor. Normally the dragFactor comes from calculateFactorsFromSoilAndWeather. The calculation multiplies a constant by speed^2 x (1-factor)/factor. Factor values below 0.01 are treated as 0.01. The constant in 0.02, estimated empirically.

Returns

A positive value representing deceleration.

virtual double DtAutomotiveActuatorComponent::calculateAccelerationFromSlope ( double  pitch )

protectedvirtual

Parameters

pitch

is the inclination of the ground as an angle in radians.

Returns

The acceleration resulting from the specified slope.

Note

Returns a signed value, representing body-forward acceleration.

virtual void DtAutomotiveActuatorComponent::calculateOrientationAndPosition ( const DtVector &  newLocalProjectedLocation, double  newHeading, DtDcm &  newLocalOrientation, DtVector &  newLocalPosition  )

protectedvirtual

Calculates the orientation and position of the entity, given a new location and heading. Checks for intersections with the terrain, to determine altitude and orientation (from support points) from 1/4 of the height of the entity's bounding volume as a rough approximation of the entity's wheel's or tread (or knees).

Returns

nothing, but sets the specified orientation and position appropriately.

Note

As a side effect, this also fills in the soil type, position, and altitude information of the groundCenter of the vrfObject. This is done through the placePoints() call from the state repository.

virtual bool DtAutomotiveActuatorComponent::useHighFidelityGroundClamping ( ) const

protectedvirtual

Returns

a boolean signifying whether or not to use high fidelity ground clamping when calculating the orientation of the entity.

Note

it currently just returns the value of the user specified parameter in the automotivePSR, which defaults to true.

virtual bool DtAutomotiveActuatorComponent::useNavDataGroundClamping ( )

protectedvirtual

Returns

a boolean signifying whether or not to use nav data for ground clamping when calculating the orientation of the entity.

bool DtAutomotiveActuatorComponent::groundClamp ( double  heading, const DtVector &  location, DtAttachedTerrain &  terrain, DtVector &  newNormal, bool &  dataAvailable  )

protected

Clamps the entity to the ground at the specified location, and determines the normal of the plane the entity is on at that location.

Returns

a boolean indicating success or failure in performing the ground clamping and determining the new normal.

Note

As a side effect of this function, the soil type in the center ground interaction point is set.

The type of ground clamping also depends on the entity's configuration. Either high or low fidelity ground clamping is performed as specified.

See Also

groundClampHighFidelity

groundClampLowFidelity

void DtAutomotiveActuatorComponent::groundClampHighFidelity ( double  heading, const DtVector &  location, DtAttachedTerrain &  terrain, DtVector &  newNormal, bool &  dataAvailable  )

protected

Uses all four ground interaction points to determine the plane of the entity and the soil type. The left, right, and other support points are used to determine the plane, and the returned normal is the normal to that plane.

void DtAutomotiveActuatorComponent::groundClampLowFidelity ( double  heading, const DtVector &  location, DtAttachedTerrain &  terrain, DtVector &  newNormal, bool &  dataAvailable  )

protected

Uses only the center ground interaction point. The normal is the normal of the polygon on which the center point sits. And the soil type is also the polygon's. This requires fewer intersection tests with the terrain, but also may return an incorrect normal if the entity is sitting across several polygons.

void DtAutomotiveActuatorComponent::groundClampWithNavData ( double  heading, const DtVector &  location, DtAttachedTerrain &  terrain, DtVector &  newNormal  )

protected

Uses nav data for ground clamping. Only used in certain circumstances when nav data is not readily available.

virtual double DtAutomotiveActuatorComponent::calculateHeading ( const double  oldHeading, const DtVector &  oldBodyVelocity, const DtAutoTransmissionGear  gear, const double  steering, const double  throttle, const double  speed, const double  maxTractionAcceleration, const double  soilDragFactor, const double  dT  )

protectedvirtual

Determines the new heading given the old heading, the velocity, gear, steering, throttle, tractionFactor, and time delta.

Parameters

gear	DtAutoTransmission value for gear.
steering	Input value in [-1, 1] for steering. Note that when steering = -1 or 1, the vehicle should steer at its minimum turn radius.
throttle	Input value in [0, 1] for throttle setting
maxTractionAcceleration	The maximum acceleration that can be applied to the ground by the wheels/tracks forward or backward. Always positive.
soilDragFactor	A value in [0, 1] that indicates the amount of drag caused by the soil, where 1 = no (extra) drag.

Returns

The new heading value.

virtual DtVector DtAutomotiveActuatorComponent::calculateBodyAcceleration ( double  throttle, DtAutoTransmissionGear  gear, double  brake, const DtVector &  oldBodyVelocity, double  oldPitch, double  maxTractionAcceleration, double  dragFactor, double  dT  )

protectedvirtual

Calculates the linear acceleration in body coordinates of the entity in meters/second/second. Calls following functions for components of the acceleration: calculateAccelerationFromEngine() calculateAccelerationFromSlope() calculateMaxDecelerationFromBrake()

virtual DtVector DtAutomotiveActuatorComponent::calculateBodyVelocity ( const DtVector &  oldBodyVelocity, const DtVector &  newBodyAcceleration, double  dT  )

protectedvirtual

virtual DtVector DtAutomotiveActuatorComponent::calculateProjectedLocation ( const DtVector &  oldLocalPosition, const DtVector &  newBodyAcceleration, const DtVector &  oldBodyVelocity, double  newHeading  )

protectedvirtual

virtual bool DtAutomotiveActuatorComponent::checkForTerrainCollisions ( ) const

protectedvirtual

Returns

a boolean signifying whether or not the terrain should be checked for collisions with the entity's bounding volume while it moves. If this returns true, the entity will not move through the terrain. If this is false, it may move through terrain polygons, such as building walls when moving to a new location.

Note

it currently just returns the value of the user specified parameter in the automotivePSR.

virtual bool DtAutomotiveActuatorComponent::foundTerrainCollision ( double  heading, const DtVector &  oldLocalPosition, const DtVector &  newLocalPosition, DtVrfChordIntersectionRecord &  collisionIntersectionRecord  ) const

protectedvirtual

Checks the terrain in between the specified old and new positions, along the specified heading for any terrain intersections.

Returns

a boolean signifying whether or not a terrain collision was found. If so, a valid intersection record is returned in the user specified intersection record.

virtual bool DtAutomotiveActuatorComponent::createMovementChord ( DtChord &  movementChord, double  heading, const DtVector &  oldLocalPosition, const DtVector &  newLocalPosition  ) const

protectedvirtual

Creates a chord along the specified heading, starting at the old position and ending at the new position, but each location is increased by the half height of the entity so that the check is done along the center of the entity's movement. Additionally, the chord is extended in the heading direction by the half-length of the entity to ensure that collision with the front of the entity and not just the center, are detected.

Returns

a boolean signifying whether or not the chord could be created.

Note

Returns a valid chord in movementChord only if the return value is true.

virtual bool DtAutomotiveActuatorComponent::terrainPassable ( double  heading, const DtVrfChordIntersectionRecord &  terrainIntersectionRecord  ) const

protectedvirtual

Determines if the terrain referenced in the intersection record is "passable" by the entity. Currently, just looks at the slope of the terrain. If the slope is greater than 80 degrees, the terrain is considered impassable.

virtual double DtAutomotiveActuatorComponent::calculateMaxSpeed ( )

protectedvirtual

Calculates the maximum speed for the entity, considering soil factors.

virtual double DtAutomotiveActuatorComponent::calculateMaxAcceleration ( )

protectedvirtual

TODO – used?

Calculates the maximum acceleration for the entity, considering soil factors

virtual void DtAutomotiveActuatorComponent::calculateDirectionOfLinearMotion ( const DtDcm &  newLocalOrientation, const DtVector &  newLocalPosition, DtDcm &  newLocalDirectionOfLinearMotion  )

protectedvirtual

Computes direction of linear motion. In base class, this is equivalent to newLocalOrientation, so it sets newLocalDirectionOfLinearMotion = newLocalOrientation.

virtual double DtAutomotiveActuatorComponent::slopeBoostRate ( ) const

protectedvirtual

Slope boost rate– entity parameters provide a max acceleration, which is related to max power, but also a max slope. If max acceleration indicates the max forward force the vehicle can generate, then that would determine the max slope (i.e. max slope = asin(max acceleration/g)). Since max slope is given separately, that must indicate the force available, apparently through low gearing.

virtual void DtAutomotiveActuatorComponent::setSlopeBoostRate ( const double  boost )

protectedvirtual

virtual double DtAutomotiveActuatorComponent::calculateSlopeBoostRate ( )

protectedvirtual

Calculate the boost rate for an entity, based on their allowed max acceleration and the maximum slope they are supposed to be able to climb. Since the actuator computes acceleration from a = f(throttle, speed, max acceleration) - slope acceleration, where f is the engine acceleration, we provide a boost to f so that it remains > slope acceleration up to max slope.
Boost = pitch / (max pitch) * (slope acceleration at max slope - f at 1 mps) * throttle. This boost will allow the vehicle to maintain 1 mps speed at full throttle at its max slope. The value of Boost/slope/throttle is computed and set in init().

virtual bool DtAutomotiveActuatorComponent::createPortGroups ( )

protectedvirtual

Creates the local port groups.

Reimplemented from DtSimComponent.

virtual bool DtAutomotiveActuatorComponent::createPorts ( )

protectedvirtual

Creates the input ports and adds them to the component.

Reimplemented from DtSimComponent.

virtual bool DtAutomotiveActuatorComponent::createPSR ( )

protectedvirtual

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 bool DtAutomotiveActuatorComponent::rotationalVelocityShouldBeClamped ( const DtVector &  bodyRotationalVelocity )

protectedvirtual

Returns true if given magnitude of body rotational velocity is < 0.0001 radians/sec, false otherwise. Called in tick() to determine whether or not to clamp small values for velocity to zero.

virtual double DtAutomotiveActuatorComponent::steeringControlValue ( ) const

protectedvirtual

Returns

Value on mySteeringPort if an active connection, otherwise 0.

virtual double DtAutomotiveActuatorComponent::throttleControlValue ( ) const

protectedvirtual

Returns

Value on myThrottlePort if an active connection, otherwise 0.

virtual double DtAutomotiveActuatorComponent::brakeControlValue ( ) const

protectedvirtual

Returns

Value on myBreakPort if an active connection, otherwise 1.

virtual DtAutoTransmissionGear DtAutomotiveActuatorComponent::gearControlValue ( ) const

protectedvirtual

Returns

Value on myGearPort if an active connection, otherwise DtAutoGearForward.

virtual bool DtAutomotiveActuatorComponent::parkingBrakeControlValue ( ) const

protectedvirtual

Returns

Value on myParkingBrakePort if an active connection, otherwise false.

virtual bool DtAutomotiveActuatorComponent::checkIfMoveOntoEmbarked ( const DtVector &  localPosition )

protectedvirtual

Check to see if there are any entities at the location given that can be moved onto for embarkation. If ther are then check to see if they are intersected. Return true if is.

virtual bool DtAutomotiveActuatorComponent::checkAndDisembarkIfEmbarked ( const DtVector &  localPosition )

protectedvirtual

static void DtAutomotiveActuatorComponent::terainChangeNotification ( const DtExtent &  spatExtent, void *  usr  )

staticprotected

Callback for terrain change notifications.

Parameters

spatExtent	the spatial extents in local coordinates for change
usr	this

void DtAutomotiveActuatorComponent::processTerrainChangeNotification ( const DtExtent &  spatExtent )

protected

Checks to see if entity is within the spatial extents of the terrain change notification and if so sets the terrain change flag so that the correct position and orientation will be set during the tick() method.

Parameters

spatExtent

the spatial extents in local coordinates for change

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

private

assignment operator; not implemented

Member Data Documentation

DtConstrainedAnalogInputPort* DtAutomotiveActuatorComponent::myThrottlePort

protected

Input Port Name: throttle
Input Port Description:
Input Port Range:
Input Port Default Value: 0
Input Group Parent:

DtConstrainedAnalogInputPort* DtAutomotiveActuatorComponent::mySteeringPort

protected

Input Port Name: steering
Input Port Description:
Input Port Range: -1.0 to 1.0
Input Port Default Value: 0
Input Group Parent:

DtConstrainedAnalogInputPort* DtAutomotiveActuatorComponent::myBrakePort

protected

Input Port Name: brake
Input Port Description:
Input Port Range: 0.0 to 1.0
Input Port Default Value: 0
Input Group Parent: automotive-control.

DtConstrainedIntegerInputPort* DtAutomotiveActuatorComponent::myGearPort

protected

Input Port Name: gear
Input Port Description:
Input Port Default Value: 0
Input Port Range: Reverse, Neutral, Forward, Pivot
Input Group Parent: automotive-control.

DtBooleanInputPort* DtAutomotiveActuatorComponent::myParkingBrakePort

protected

Input Port Name: parking-brake
Input Port Description:
Input Port Range:
Input Port Default Value: True (Brake On)
Input Group Parent: automotive-control.

DtInputPortGroup* DtAutomotiveActuatorComponent::myAutomotiveControlPortGroup

protected

Input Port Group Name: automotive-control
Input Port Group Description: Provides input to the automotive actuator (powertrain).

DtBooleanInputPort* DtAutomotiveActuatorComponent::myClampToNavDataPort

protected

Input Port Name: clamp-to-nav-data
Input Port Description: Tells the actuator that it should temporarily use nav data for ground clamping rather than the terrain.
Input Port Range:
Input Port Default Value: False
.

DtGroundVehicleStateRepository* DtAutomotiveActuatorComponent::myGroundVehicleState

protected

DtAutomotivePSR* DtAutomotiveActuatorComponent::myProcessState

protected

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

DtUpdateRepositoryOutputPortGroup* DtAutomotiveActuatorComponent::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository. All values are in local coordinates.

const DtAutomotiveActuatorDescriptor* DtAutomotiveActuatorComponent::myAutomotiveDescriptor

protected

Member to allow for access to platform specific data.

bool DtAutomotiveActuatorComponent::myKeepParentPosition

protected

Member to allow for access to platform specific data.

DtUUID DtAutomotiveActuatorComponent::myWasJustEmbarkedOn

protected

Member to allow for access to platform specific data.

double DtAutomotiveActuatorComponent::myLastPitch

protected

Member to allow for access to platform specific data.

double DtAutomotiveActuatorComponent::myLastPitchHeading

protected

Member to allow for access to platform specific data.

DtVector DtAutomotiveActuatorComponent::myLastPitchLocation

protected

Member to allow for access to platform specific data.

double DtAutomotiveActuatorComponent::mySlopeBoostRate

protected

Member to allow for access to platform specific data.

DtPlatformLocalObjectFacade DtAutomotiveActuatorComponent::myPlatformLocalObjectFacade

protected

Member to allow for access to platform specific data.

bool DtAutomotiveActuatorComponent::myTerrainUpdateTriggeredFlag

protected

A flag that is set if the terrain has been altered.

bool DtAutomotiveActuatorComponent::myDataUnavailableOnTerrainUpdate

protected

A flag to indicate that data was not available when querying terrain during a terrain update so that it will continue to try to adjust for the terrain update when the data is available.

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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/automotiveActuatorComponent.h