DtGroundMoveAlongControllerComponent is a controller that models movement of a ground entity along a route.

End User Description: This is a new test of the script.

Uses Descriptor Type: DtGroundMoveToDescriptor

Inheritance diagram for DtGroundMoveAlongControllerComponent:

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

virtual	~DtGroundMoveAlongControllerComponent ()

virtual bool	init ()

virtual const char *	type () const

virtual void	preFirstTickInit ()

virtual void	tick ()

virtual DtSimTaskStatePtr	currentTaskState () const

virtual void	processRouteChanged (const DtSimObject *obj)

virtual void	registerTaskMsgCallbacks ()

virtual DtAutomotivePSR *	getPSR ()

virtual bool	setupRoute ()

virtual bool	setupDestination ()

virtual double	findDesiredSpeed ()

virtual DtAutoTransmissionGearEnum	determineGearSetting ()

virtual double	findCosTurnAngle ()

virtual void	stop (bool success=true) override

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

virtual	~DtGroundMoveToDestinationControllerComponent ()

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual void	processSetLocation (DtSimMessage *msg)

virtual void	processModifyVrfObject (DtSimMessage *msg)

virtual bool	getDestination (DtVector &destination)

virtual const DtVector &	destinationVector () const

virtual double	findDesiredHeading ()

virtual bool	nearDestination ()

virtual bool	atDestination ()

virtual bool	passedDestination ()

virtual void	doMoving ()

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

virtual	~DtGroundAutoControllerComponent ()

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

virtual double	headingErrorRequiringMinTurnRadius ()

virtual double	calculateSteering (double currentHeading, double desiredHeading) const

virtual double	calculateCurrentBrakingDistance () const

virtual bool	createAutomotiveControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createSteeringPort ()

virtual bool	createBrakePort ()

virtual bool	createGearPort ()

virtual bool	createParkingBrakePort ()

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedAnalogOutputPort *	steeringPort ()

virtual DtConstrainedAnalogOutputPort *	brakePort ()

virtual DtConstrainedIntegerOutputPort *	gearPort ()

virtual DtBooleanOutputPort *	parkingBrakePort ()

virtual double	decelerationSoilFactor () const

virtual double	calcSteeringForTurnInPlace ()

virtual double	calcThrottleForTurnInPlace ()

virtual double	calcBrakeForTurnInPlace ()

virtual int	calcGearForTurnInPlace ()

virtual double	calcSteeringForPivot ()

virtual double	calcThrottleForPivot ()

virtual double	calcSteeringForKTurn ()

virtual double	calcThrottleForKTurn ()

virtual double	calcBrakeForKTurn ()

virtual double	findSpeedForKTurn ()

virtual double	findHeadingForKTurn ()

virtual void	setHeadingToTurnTo (double headingToTurnTo)

virtual double	headingToTurnTo () const

virtual double	calculateHeadingToTurnTo ()

virtual void	setTurnToMode (int headingToTurnTo)

virtual int	turnToMode () const

virtual void	setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)

virtual double	kTurnReverseGoalHeading () const

virtual void	setKTurnReverseComplete (bool kTurnReverseComplete)

virtual bool	kTurnReverseComplete () const

virtual void	processSetSpeed (DtSimMessage *msg)

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

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick ()

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

virtual void	taskNotify (const DtSimTask &task)

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

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

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const

virtual bool	clearTopLevelTasks ()

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)

virtual void	clearTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId)

virtual std::list < DtTaskMessage * >	currentTaskMessages () const

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const

virtual void	disable ()

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

virtual	~DtTaskControllerComponent ()

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio)

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

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

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

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

virtual void	enable ()

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const

virtual void	setTasked (bool tasked)

virtual bool	tasked () const

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

virtual	~DtControllerComponent ()

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	disableTaskTypes ()

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

virtual	~DtSimComponent ()

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod)

virtual double	minTickPeriod () const

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)

virtual double	minTickPeriodVariance () const

virtual void	setNextTickTime (double nextTickTime)

virtual double	nextTickTime () const

virtual double	calculateNextTickTime () const

virtual double	calculateFirstTickTime () const

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

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

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

virtual void	addInputPort (DtInputPort *port)

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)

virtual DtList	inputPortList () const

virtual void	addOutputPort (DtOutputPort *port)

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)

virtual DtList	outputPortList () const

virtual void	addInputPortGroup (DtInputPortGroup *group)

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)

virtual DtList	inputPortGroupList () const

virtual void	addOutputPortGroup (DtOutputPortGroup *group)

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)

virtual DtList	outputPortGroupList () const

virtual int	priority () const

virtual void	setPriority (int priority)

double	dT () const

virtual void	setDT (double deltaT)

virtual const DtComponentDescriptor *	componentDescriptor () const

virtual bool	tickWhileDestroyed () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()

const DtPhysicalWorld *	physicalWorld () const

const DtAttachedTerrain *	terrainAttachedTo () const

DtLocalObject *	entity ()

const DtLocalObject *	entity () const

DtSimulationServices *	simulationServices ()

const DtSimulationServices *	simulationServices () const

const Coordinate_System *	coordinateSystem () const

virtual bool	taskVisualizationsEnabled () const

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

virtual bool	isEnabled ()

virtual void	setIsEnabled (bool yesNo)

virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const

virtual int	notifyLevel () const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

VRF4API_METHOD const DtSimulationServices *	simManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()

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

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

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

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

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

const DtReaderWriter &	operator= (const DtReaderWriter &orig)

bool	operator== (const DtReaderWriter &) const

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()

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

virtual void	postPutSelf ()

virtual void	prePutSelf ()

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

virtual void	postGetSelf ()

virtual void	preGetSelf ()

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

virtual DtSymbolString	name () const

virtual void	addAlias (const DtSymbolString &alias)

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)

bool	isReadonly () const

virtual void	reset ()

virtual int	alignment () const

virtual bool	variableIsBound () const

virtual void	unbindVariable ()

virtual void	setName (const DtString &)

virtual const char *	readerWriterType () const

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)

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

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const

virtual bool	hasVariableReference () const

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)

virtual void	recordUpdateTime () const

virtual bool	wasUpdatedSince (DtTime t) const

virtual bool	changedSinceLastChecked ()

virtual bool	peekChangedSinceLastChecked () const

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

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()

virtual DtSymbolString	variableName () const

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)

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

const DtReaderWriterRegistry &	registry () const

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const

virtual bool	toXml (const DtFilename &) const

virtual bool	fromXml (const DtString &)

virtual bool	fromXmlFile (const DtFilename &)

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

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

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static void	moveAlongCallback (DtSimMessage msg, void usr, DtSimTaskStatePtr taskStatePtr)

static void	routeChangedCallback (const DtSimObject obj, void usr)

static DtReaderWriter *	provideNextRoutePointIndex (void *c)

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

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

static void	modifyVrfObjectCallback (DtSimMessage msg, void usr)

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

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

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

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

static void	setFactory (DtSimComponentFactory *factory)

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

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

static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()

static const DtFilename &	appPath ()

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)

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

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

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

Protected Member Functions
virtual void	processMoveAlong (const DtTaskMessage &msg, DtSimTaskStatePtr taskStatePtr)

	DtGroundMoveAlongControllerComponent ()

	DtGroundMoveAlongControllerComponent (const DtGroundMoveAlongControllerComponent &orig)

DtGroundMoveAlongControllerComponent &	operator= (const DtGroundMoveAlongControllerComponent &orig)

virtual void	buildLocalRoute ()

virtual void	emptyVertexList ()

virtual void	clearTask ()

virtual bool	decideToGiveUpTask () const

virtual void	updateTaskVisualizations ()

virtual void	processEstimatedTotCalculation ()

virtual bool	createPorts ()

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

virtual void	invalidateDestinationVector () const

virtual double	desiredHeadingFromDestination (const DtDcm &localToTopoDcm)

virtual void	moveToDestination ()

virtual double	distanceToDestination () const

virtual bool	createPortGroups ()

virtual void	setDestinationIsInsideObstruction (bool yesNo)

virtual bool	destinationIsInsideObstruction () const

virtual bool	usingNavBot ()

virtual void	useNavBotData ()

virtual void	updateNavBotDestination ()

virtual unsigned	maxNumFailedPathAttempts () const

virtual bool	findAlternateDestination ()

virtual void	processNavAreaChanged ()

DtVector	localDestination () const

virtual void	processNavigationInterfaceChanged ()

virtual void	processGroundVehicleLocationChanged ()

Protected Member Functions inherited from DtGroundAutoControllerComponent
virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual const DtSoilFactors *	currentSoilFactors () const

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

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

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

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore ()

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()

bool	testInvariant () const

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

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

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

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

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

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

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

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

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

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

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

Protected Attributes
DtSimObjectReference	myRoute

bool	myRouteHasChanged

bool	myResetVertex

int	myPreviousVertex

bool	myNeedsDestinationSetupOnNextTick

DtVectorOutputPort *	myCurrentVertexLocationOutputPort

bool	myWaitingForDiscovery

Protected Attributes inherited from DtGroundMoveToDestinationControllerComponent
double	myDistanceSquared

DtVector	myLocalDestination

DtVector	myWorldDestination

bool	myHasIntermediateDestination

DtVector	myIntermediateWorldDestination

DtVector	myIntermediateLocalDestination

DtVector	myDestinationVector

bool	myDestinationVectorIsValid

double	myCurrentSpeed

bool	myAtDestination

bool	myNearDestination

bool	myPassedDestination

const DtGroundMoveToDescriptor *	myMoveToDescriptor

DtActiveBotNavInterface *	myNavInterface

bool	myIgnoreNavData

bool	myDestinationIsInsideObstruction

unsigned	myNumFailedPathAttempts

const double	DtEstimatedTotCalcInterval = 5.0

bool	myEstimatedTotCalcEnabled

double	myEstimatedTotValue

double	myEstimatedTotLastCalcTime

DtVector	myEstimatedTotTextPos

bool	myChangedLocation

DtCollisionInputPort *	myCollisionAvoidancePort

DtInputPortGroup *	myCollisionAvoidancePortGroup

DtBooleanOutputPort *	myClampToNavDataPort

Protected Attributes inherited from DtGroundAutoControllerComponent
DtGroundVehicleStateRepository *	myGroundVehicleState

DtAutomotivePSR *	myProcessState

double	mySpeedLastTick

double	myAccumulatedSpeedError

double	myMaxMinRadiusSpeed

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtConstrainedAnalogOutputPort *	myThrottlePort

DtConstrainedAnalogOutputPort *	mySteeringPort

DtConstrainedAnalogOutputPort *	myBrakePort

DtConstrainedIntegerOutputPort *	myGearPort

DtBooleanOutputPort *	myParkingBrakePort

DtOutputPortGroup *	myAutomotiveControlPortGroup

Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap

std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList

bool	myTaskIsRunning

Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio

bool	myTaskTypesEnabled

bool	myInitialized

Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity

DtComponentSystem *	mySystem

DtListItem *	myListItem

DtInputPortMap	myInputPortList

DtOutputPortMap	myOutputPortList

DtInputPortGroupMap	myInputPortGroupList

DtOutputPortGroupMap	myOutputPortGroupList

int	myPriority

double	myMinTickPeriod

double	myMinTickPeriodVariance

double	myNextTickTime

double	myLastTickSimTime

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

bool	myTickEveryFrame

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager	myPredicateCallbackManager

Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName

DtReaderWriterRegistry	myRegistry

DtReaderWriterRegistry *	myParentRegistry

bool	myValueSpecified

bool	myReadOnlyFlag

bool	myIsVariableReference

DtSymbolString	myVariableName

bool	myVariableIsBound

DtReaderWriter *	myDefaultValue

aliasContainer	myAliases

bool	myInvalid

bool	myChangedFlag

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer

typedef std::vector < DtSymbolString >::iterator	aliasIter

typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter

typedef std::vector< DtFilename >	SearchPaths

typedef std::pair < DtSymbolString, DtString >	DtVariableNameType

typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()

Protected Types inherited from DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair

typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap

Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap

typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap

typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap

typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap

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

Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Constructor & Destructor Documentation

DtGroundMoveAlongControllerComponent::DtGroundMoveAlongControllerComponent	(	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 DtGroundMoveAlongControllerComponent::~DtGroundMoveAlongControllerComponent ( )

virtual

destructor

DtGroundMoveAlongControllerComponent::DtGroundMoveAlongControllerComponent ( )

protected

default constructor - should not be called

DtGroundMoveAlongControllerComponent::DtGroundMoveAlongControllerComponent ( const DtGroundMoveAlongControllerComponent & orig )

protected

copy constructor

Member Function Documentation

virtual bool DtGroundMoveAlongControllerComponent::init ( )

virtual

Registers the attribute function with the parent system.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual const char* DtGroundMoveAlongControllerComponent::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: DtGroundAutoMoveAlongType

Reimplemented from DtGroundMoveToDestinationControllerComponent.

Reimplemented in DtGroundPatrolRouteController.

virtual void DtGroundMoveAlongControllerComponent::preFirstTickInit ( )

virtual

Override to try and look up route if we start out with a move-along route task and if found register routeChangedCallback as a vertices changed callback. Otherwise register an objectAddedCallback if route not found yet.

Reimplemented from DtSimComponent.

virtual void DtGroundMoveAlongControllerComponent::tick ( )

virtual

If tasked and destinationIsInsideObstruction() but the current vertex in the route is not the last one, print a warning to the console, call setDestinationIsInsideObstruction(false) and then call stop().

Reimplemented from DtGroundMoveToDestinationControllerComponent.

static void DtGroundMoveAlongControllerComponent::moveAlongCallback	(	DtSimMessage *	msg,
		void *	usr,
		DtSimTaskStatePtr	taskStatePtr
	)

static

virtual DtSimTaskStatePtr DtGroundMoveAlongControllerComponent::currentTaskState ( ) const

virtual

Returns: Current execution state of the task. At the base class level, returns 0. Derived classes that have tasks with DtTaskState (data associated with execution of the task) may return a new DtTaskState instance, filled out with the appropriate information about the current task execution state. Task controllers that do not need to return task state do not need to override this function.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundPatrolRouteController.

static void DtGroundMoveAlongControllerComponent::routeChangedCallback	(	const DtSimObject *	obj,
		void *	usr
	)

static

Handle messages that may indicate the route we're following has changed.

virtual void DtGroundMoveAlongControllerComponent::processRouteChanged ( const DtSimObject * obj )

virtual

virtual void DtGroundMoveAlongControllerComponent::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register it's interest in MoveAlong commands.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

Reimplemented in DtGroundPatrolRouteController.

static DtReaderWriter* DtGroundMoveAlongControllerComponent::provideNextRoutePointIndex ( void * c )

static

A callback to provide a controller attribute ("next-route-point-index")

virtual DtAutomotivePSR* DtGroundMoveAlongControllerComponent::getPSR ( )

inlinevirtual

Gets the process state repository for purposes of providing attributes.

References DtGroundAutoControllerComponent::myProcessState.

static DtSimComponent* DtGroundMoveAlongControllerComponent::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 DtGroundMoveAlongControllerComponent::setupRoute ( )

virtual

Look up the route by name, and set myRoute if found. Looks up the route in the Control Manager. If it does not find the route, it returns false. Otherwise, it sets the myRoute member to point to the object found. setupRoute() then checks the myRouteChanged flag. If myRouteChanged is true, it calls the route object�s resyncRouteState() member function to update the current DtRouteState. setupRoute() then returns true.

virtual bool DtGroundMoveAlongControllerComponent::setupDestination ( )

virtual

Sets myControlPoint to the position of the route's current vertex. If setupRoute() returns false, setupControlPoint() calls taskComplete() and returns false. Otherwise, it sets the position of the myControlPoint member variable to the position of myRoute�s current vertex. If myRouteHasChanged is true, setupGoalVector() is called, and myRouteHasChanged is set to false. true is then returned.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual double DtGroundMoveAlongControllerComponent::findDesiredSpeed ( )

virtual

Overrides so the entity will slow down when coming to large turns in the route, but not slowdown/stop if the turn is small. Checks the myNearGoal member variable. If myNearGoal is false, the desired speed is simply the ordered speed. If myNearGoal is true, findDesiredSpeed() next checks to see if the entity is moving toward the last vertex in the route. If it is, then the desired speed in the approach speed parameter specified in the DtGroundMoveToDescriptor. If myNearGoal is true and the entity is not approaching the last vertex, findDesiredSpeed() calls the function findCosTurnAngle() to get a measure of the turn that may be required when the current vertex is reached. If the turn angle is less than 30 degrees then the desired speed is the speed which the entity has been ordered to go. If the turn angle is between 30 and 45 degrees, then the desired speed is the mean of the ordered speed and the approach speed parameter. If the turn angle is greater than 45 degrees, the desired speed is the approach speed parameter. In all cases above, if the current gear is DtAutoGearReverse, the desired speed is negated before being returned.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual DtAutoTransmissionGearEnum DtGroundMoveAlongControllerComponent::determineGearSetting ( )

virtual

Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed(). If ordered speed is negative, DtAutoGearReverse is returned. If ordered speed is positive, DtAutoGearForward is returned. In either case, the member variable myProcessState->myCurrentGear is set to the appropriate value.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual double DtGroundMoveAlongControllerComponent::findCosTurnAngle ( )

virtual

Returns the cos of the angle of the next turn in the route.

virtual void DtGroundMoveAlongControllerComponent::stop ( bool success = true )

overridevirtual

Overrides to advance to the next vertex rather then actually stop when a vertex is reached. Checks to see if the entity is currently moving to the last vertex in the route. If so, DtGroundMoveToControllerComponent::stop() is called. Otherwise, myProcessState->routeState()->next() is called, followed by setupControlPoint() and setupGoalVector().

Reimplemented from DtGroundMoveToDestinationControllerComponent.

Reimplemented in DtGroundPatrolRouteController.

virtual void DtGroundMoveAlongControllerComponent::processMoveAlong	(	const DtTaskMessage &	msg,
		DtSimTaskStatePtr	taskStatePtr
	)

protectedvirtual

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

protected

assignment operator

virtual void DtGroundMoveAlongControllerComponent::buildLocalRoute ( )

protectedvirtual

builds the local copy of the route by copying myRoute's vertices to my local storage in process state repository: myVertices. (calls process state repository's setRouteVertices()).

virtual void DtGroundMoveAlongControllerComponent::emptyVertexList ( )

protectedvirtual

removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).

virtual void DtGroundMoveAlongControllerComponent::clearTask ( )

protectedvirtual

Override to clear route name and route state data stored in myProcessState.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual bool DtGroundMoveAlongControllerComponent::decideToGiveUpTask ( ) const

protectedvirtual

Checks to see if destination is inside an obstruction. If it is, returns true. Otherwise it returns the value of DtGroundAutoControllerComponent::decideToGiveUpTask()

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual void DtGroundMoveAlongControllerComponent::updateTaskVisualizations ( )

protectedvirtual

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

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual void DtGroundMoveAlongControllerComponent::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented from DtGroundMoveToDestinationControllerComponent.

virtual bool DtGroundMoveAlongControllerComponent::createPorts ( )

protectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtGroundMoveToDestinationControllerComponent.

Member Data Documentation

DtSimObjectReference DtGroundMoveAlongControllerComponent::myRoute

protected

This is looked up once per tick - assumed unchanging while we have control.

bool DtGroundMoveAlongControllerComponent::myRouteHasChanged

protected

This gets set to true when a modifyRoute message for the route we're following is received.

bool DtGroundMoveAlongControllerComponent::myResetVertex

protected

int DtGroundMoveAlongControllerComponent::myPreviousVertex

protected

bool DtGroundMoveAlongControllerComponent::myNeedsDestinationSetupOnNextTick

protected

DtVectorOutputPort* DtGroundMoveAlongControllerComponent::myCurrentVertexLocationOutputPort

protected

Output Port Name: current-vertex-location
Output Port Description: Specifies the current vertex location of the entity's route in local coordinates. Output Port Range:
Output Group Parent:
.

bool DtGroundMoveAlongControllerComponent::myWaitingForDiscovery

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation