DtGroundMoveToDestinationControllerComponent is a controller that provides a kinematics-based model of an automotive system that converts throttle, brake, and steering into orientation, acceleration, velocity, and position.

End User Description: It moves the entity of which it is a part towards a user-specified (or other controller specified) destination. Uses Descriptor Type: DtGroundMoveToDescriptor

Inheritance diagram for DtGroundMoveToDestinationControllerComponent:

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

virtual	~DtGroundMoveToDestinationControllerComponent ()

virtual bool	init ()

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual void	tick ()

virtual const char *	type () const

virtual void	processSetLocation (DtSimMessage *msg)

virtual void	processModifyVrfObject (DtSimMessage *msg)

virtual void	registerTaskMsgCallbacks ()

virtual void	clearTask ()

virtual bool	getDestination (DtVector &destination)

virtual const DtVector &	destinationVector () const

virtual double	findDesiredSpeed ()

virtual double	findDesiredHeading ()

virtual DtAutoTransmissionGearEnum	determineGearSetting ()

virtual bool	nearDestination ()

virtual bool	atDestination ()

virtual bool	passedDestination ()

virtual void	stop (bool success=true)

virtual void	doMoving ()

virtual void	updateTaskVisualizations ()

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

virtual	~DtGroundAutoControllerComponent ()

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

virtual double	headingErrorRequiringMinTurnRadius ()

virtual double	calculateSteering (double currentHeading, double desiredHeading) const

virtual double	calculateCurrentBrakingDistance () const

virtual bool	createAutomotiveControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createSteeringPort ()

virtual bool	createBrakePort ()

virtual bool	createGearPort ()

virtual bool	createParkingBrakePort ()

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedAnalogOutputPort *	steeringPort ()

virtual DtConstrainedAnalogOutputPort *	brakePort ()

virtual DtConstrainedIntegerOutputPort *	gearPort ()

virtual DtBooleanOutputPort *	parkingBrakePort ()

virtual double	decelerationSoilFactor () const

virtual double	calcSteeringForTurnInPlace ()

virtual double	calcThrottleForTurnInPlace ()

virtual double	calcBrakeForTurnInPlace ()

virtual int	calcGearForTurnInPlace ()

virtual double	calcSteeringForPivot ()

virtual double	calcThrottleForPivot ()

virtual double	calcSteeringForKTurn ()

virtual double	calcThrottleForKTurn ()

virtual double	calcBrakeForKTurn ()

virtual double	findSpeedForKTurn ()

virtual double	findHeadingForKTurn ()

virtual void	setHeadingToTurnTo (double headingToTurnTo)

virtual double	headingToTurnTo () const

virtual double	calculateHeadingToTurnTo ()

virtual void	setTurnToMode (int headingToTurnTo)

virtual int	turnToMode () const

virtual void	setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)

virtual double	kTurnReverseGoalHeading () const

virtual void	setKTurnReverseComplete (bool kTurnReverseComplete)

virtual bool	kTurnReverseComplete () const

virtual void	processSetSpeed (DtSimMessage *msg)

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

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick ()

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

virtual void	taskNotify (const DtSimTask &task)

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

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

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual DtSimTaskStatePtr	currentTaskState () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const

virtual bool	clearTopLevelTasks ()

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)

virtual void	clearTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId)

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

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const

virtual void	disable ()

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

virtual	~DtTaskControllerComponent ()

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio)

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

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

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

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

virtual void	enable ()

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const

virtual void	setTasked (bool tasked)

virtual bool	tasked () const

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

virtual	~DtControllerComponent ()

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	disableTaskTypes ()

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

virtual	~DtSimComponent ()

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod)

virtual double	minTickPeriod () const

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)

virtual double	minTickPeriodVariance () const

virtual void	setNextTickTime (double nextTickTime)

virtual double	nextTickTime () const

virtual double	calculateNextTickTime () const

virtual double	calculateFirstTickTime () const

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

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

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

virtual void	addInputPort (DtInputPort *port)

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)

virtual DtList	inputPortList () const

virtual void	addOutputPort (DtOutputPort *port)

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)

virtual DtList	outputPortList () const

virtual void	addInputPortGroup (DtInputPortGroup *group)

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)

virtual DtList	inputPortGroupList () const

virtual void	addOutputPortGroup (DtOutputPortGroup *group)

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)

virtual DtList	outputPortGroupList () const

virtual int	priority () const

virtual void	setPriority (int priority)

double	dT () const

virtual void	setDT (double deltaT)

virtual const DtComponentDescriptor *	componentDescriptor () const

virtual bool	tickWhileDestroyed () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()

const DtPhysicalWorld *	physicalWorld () const

const DtAttachedTerrain *	terrainAttachedTo () const

DtLocalObject *	entity ()

const DtLocalObject *	entity () const

DtSimulationServices *	simulationServices ()

const DtSimulationServices *	simulationServices () const

const Coordinate_System *	coordinateSystem () const

virtual bool	taskVisualizationsEnabled () const

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

virtual bool	isEnabled ()

virtual void	setIsEnabled (bool yesNo)

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

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

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

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

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

virtual int	notifyLevel () const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

VRF4API_METHOD const DtSimulationServices *	simManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()

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

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

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

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

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

const DtReaderWriter &	operator= (const DtReaderWriter &orig)

bool	operator== (const DtReaderWriter &) const

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()

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

virtual void	postPutSelf ()

virtual void	prePutSelf ()

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

virtual void	postGetSelf ()

virtual void	preGetSelf ()

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

virtual DtSymbolString	name () const

virtual void	addAlias (const DtSymbolString &alias)

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)

bool	isReadonly () const

virtual void	reset ()

virtual int	alignment () const

virtual bool	variableIsBound () const

virtual void	unbindVariable ()

virtual void	setName (const DtString &)

virtual const char *	readerWriterType () const

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)

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

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const

virtual bool	hasVariableReference () const

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)

virtual void	recordUpdateTime () const

virtual bool	wasUpdatedSince (DtTime t) const

virtual bool	changedSinceLastChecked ()

virtual bool	peekChangedSinceLastChecked () const

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

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()

virtual DtSymbolString	variableName () const

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)

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

const DtReaderWriterRegistry &	registry () const

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const

virtual bool	toXml (const DtFilename &) const

virtual bool	fromXml (const DtString &)

virtual bool	fromXmlFile (const DtFilename &)

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const

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

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

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

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static void	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 bool	setupDestination ()

virtual void	setupDestinationVector () const

virtual void	invalidateDestinationVector () const

virtual double	desiredHeadingFromDestination (const DtDcm &localToTopoDcm)

virtual void	moveToDestination ()

virtual double	distanceToDestination () const

virtual bool	decideToGiveUpTask () const

virtual bool	createPortGroups ()

virtual bool	createPorts ()

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	processEstimatedTotCalculation ()

virtual void	processGroundVehicleLocationChanged ()

Protected Member Functions inherited from DtGroundAutoControllerComponent
virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual const DtSoilFactors *	currentSoilFactors () const

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

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

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

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore ()

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()

bool	testInvariant () const

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

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

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

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

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

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

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

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

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

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

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

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

Protected Attributes
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

Ports and Port Groups
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

Private Member Functions
	DtGroundMoveToDestinationControllerComponent ()

	DtGroundMoveToDestinationControllerComponent (const DtGroundMoveToDestinationControllerComponent &orig)

const DtGroundMoveToDestinationControllerComponent &	operator= (const DtGroundMoveToDestinationControllerComponent &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 DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair

typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap

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

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

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

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

Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Constructor & Destructor Documentation

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent	(	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 DtGroundMoveToDestinationControllerComponent::~DtGroundMoveToDestinationControllerComponent ( )

virtual

destructor

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( )

private

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

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( const DtGroundMoveToDestinationControllerComponent & orig )

private

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual bool DtGroundMoveToDestinationControllerComponent::init ( )

virtual

Initializes modifyVrfObjectCallback.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::setComponentDescriptor ( DtComponentDescriptor * componentDescriptor )

virtual

Overridden to cast and set our local pointer to the descriptor.

Reimplemented from DtSimComponent.

virtual void DtGroundMoveToDestinationControllerComponent::tick ( )

virtual

Looks at the value on myCollisionAvoidancePort, and if there is a value and the destination point is within the bounding volume of the collision object, setDestinationIsInsideObstruction(true) is called. If setupDestination() returns true, then moveToDestination() is called, otherwise an error is printed.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundFollowEntityController, and DtGroundMoveAlongControllerComponent.

virtual const char* DtGroundMoveToDestinationControllerComponent::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: DtGroundAutoMoveToDestinationType

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveToControllerComponent, DtGroundFollowEntityController, DtGroundPatrolBetweenController, DtGroundPatrolRouteController, DtGroundMoveAlongControllerComponent, and DtGroundMoveToLocationControllerComponent.

static void DtGroundMoveToDestinationControllerComponent::setLocationCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Calls processSetLocation.

virtual void DtGroundMoveToDestinationControllerComponent::processSetLocation ( DtSimMessage * msg )

virtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.

static void DtGroundMoveToDestinationControllerComponent::modifyVrfObjectCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Calls processModifyVrfObject.

virtual void DtGroundMoveToDestinationControllerComponent::processModifyVrfObject ( DtSimMessage * msg )

virtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e. a drag & drop in the front-end).

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

static

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

Returns: New instance of this class.

virtual void DtGroundMoveToDestinationControllerComponent::registerTaskMsgCallbacks ( )

virtual

Overridden to register interest in move to and set location commands.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtGroundFollowEntityController, DtGroundMoveToControllerComponent, DtGroundPatrolBetweenController, DtGroundMoveAlongControllerComponent, DtGroundPatrolRouteController, and DtGroundMoveToLocationControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::clearTask ( )

virtual

Releases the nav interface and then calls the parent clearTask().

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::getDestination ( DtVector & destination )

virtual

getDestination()

Parameters

destination the position this object is trying to drive to in local coordinates.

Returns: true if it has a valid destination () or false if it is unable to determine it's destination.

Note: Used by other areas of the simulation to determine where this object is going. (Information)

virtual const DtVector& DtGroundMoveToDestinationControllerComponent::destinationVector ( ) const

virtual

Returns the current destination vector for the entity.

Note: if the destination vector is currently invalidated, it recalculates it and sets it to valid.

See Also: setupDestinationVector

virtual double DtGroundMoveToDestinationControllerComponent::findDesiredSpeed ( )

virtual

Determines how fast we should go. If the myNearDestination member variable is true (set by nearDestination()), the desired speed is the value of the approachSpeed parameter in the DtGroundMoveToDescriptor. If the entity is in reverse gear, then that approach speed is negated. If myNearDestination is false, then the entity�s ordered speed is returned.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual double DtGroundMoveToDestinationControllerComponent::findDesiredHeading ( )

virtual

Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()). If the myNearDestination member variable is false, it calls headingAngleTo() to find the heading from the entity to the destination. In either case, if the current gear is DtAutoGearReverse, PI is added to heading before it is returned.

Reimplemented in DtGroundFollowEntityController.

virtual DtAutoTransmissionGearEnum DtGroundMoveToDestinationControllerComponent::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 in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual bool DtGroundMoveToDestinationControllerComponent::nearDestination ( )

virtual

Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()). nearDestination() calls calculateCurrentBrakingDistance(). If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the near-distance parameter of the DtGroundMoveToDescriptor, or if it is less than the square of the current braking distance, nearDestination() sets myNearDestination to true. If the above is not true, nearDestination() sets myNearDestination to false. myNearDestination is returned to the calling function.

virtual bool DtGroundMoveToDestinationControllerComponent::atDestination ( )

virtual

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

virtual bool DtGroundMoveToDestinationControllerComponent::passedDestination ( )

virtual

Determines if the entity will pass the destination to which it is moving this frame if it continues at its current velocity and acceleration. It dead-reckons its position. It calculates the vector that points from the entity to the destination It finds the dot product between this vector and destination vector, If that dot product is greater than 0.0, the entity will pass the destination this tick if it does not stop. myPassedDestination is set, and the value is returned to the calling function.

Reimplemented in DtGroundFollowEntityController.

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

virtual

Set port values for stopping, and mark the task complete.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, DtGroundPatrolBetweenController, and DtGroundPatrolRouteController.

virtual void DtGroundMoveToDestinationControllerComponent::doMoving ( )

virtual

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

virtual void DtGroundMoveToDestinationControllerComponent::updateTaskVisualizations ( )

virtual

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

Reimplemented from DtSimComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::setupDestination ( )

protectedvirtual

This function ensures that the destination stored in the process state matches the member function. Also calculates the destination in local coordinates from the world coordinates.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, and DtGroundMoveToControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::setupDestinationVector ( ) const

protectedvirtual

Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location. This is done by subtracting the DtVector representing the destination's position from the one representing the entity�s position.

Note: Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

Reimplemented in DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::invalidateDestinationVector ( ) const

protectedvirtual

Tells the component that any cached destination vector should be recalculated.

virtual double DtGroundMoveToDestinationControllerComponent::desiredHeadingFromDestination ( const DtDcm & localToTopoDcm )

protectedvirtual

Given the destination, calculate the heading needed to reach that point.

virtual void DtGroundMoveToDestinationControllerComponent::moveToDestination ( )

protectedvirtual

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

virtual double DtGroundMoveToDestinationControllerComponent::distanceToDestination ( ) const

protectedvirtual

virtual bool DtGroundMoveToDestinationControllerComponent::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 DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, and DerivedMoveToController.

virtual bool DtGroundMoveToDestinationControllerComponent::createPortGroups ( )

protectedvirtual

Overridden to create myAutomotiveControlPortGroup.

Reimplemented from DtGroundAutoControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::createPorts ( )

protectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::setDestinationIsInsideObstruction ( bool yesNo )

protectedvirtual

Set whether or not current destination is inside an obstruction. This should be reevaluated each tick.

virtual bool DtGroundMoveToDestinationControllerComponent::destinationIsInsideObstruction ( ) const

protectedvirtual

Returns whether or not current destination is inside an obstruction.

Returns: myDestinationIsInsideObstruction

virtual bool DtGroundMoveToDestinationControllerComponent::usingNavBot ( )

protectedvirtual

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

Reimplemented in DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::useNavBotData ( )

protectedvirtual

Uses calculations from the navBot to control the entity or end the task.

virtual void DtGroundMoveToDestinationControllerComponent::updateNavBotDestination ( )

protectedvirtual

Reimplemented in DtGroundFollowEntityController, and DtGroundMoveToControllerComponent.

virtual unsigned DtGroundMoveToDestinationControllerComponent::maxNumFailedPathAttempts ( ) const

protectedvirtual

Returns the maximum number of times this component will attempt to find a new destination when the desired destination is unreachable.

virtual bool DtGroundMoveToDestinationControllerComponent::findAlternateDestination ( )

protectedvirtual

Finds and sets up an alternate destination nearby the current destination in the case where we are unable to path to that destination.

static void DtGroundMoveToDestinationControllerComponent::navAreaChangedCallback ( void * usr )

staticprotected

virtual void DtGroundMoveToDestinationControllerComponent::processNavAreaChanged ( )

protectedvirtual

DtVector DtGroundMoveToDestinationControllerComponent::localDestination ( ) const

protected

virtual void DtGroundMoveToDestinationControllerComponent::processNavigationInterfaceChanged ( )

protectedvirtual

virtual void DtGroundMoveToDestinationControllerComponent::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::processGroundVehicleLocationChanged ( )

protectedvirtual

Called in response to setLocation message.

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

private

assignment operator; see comments on copy constructor!

Member Data Documentation

double DtGroundMoveToDestinationControllerComponent::myDistanceSquared

protected

DtVector DtGroundMoveToDestinationControllerComponent::myLocalDestination

protected

DtVector DtGroundMoveToDestinationControllerComponent::myWorldDestination

protected

bool DtGroundMoveToDestinationControllerComponent::myHasIntermediateDestination

protected

DtVector DtGroundMoveToDestinationControllerComponent::myIntermediateWorldDestination

protected

DtVector DtGroundMoveToDestinationControllerComponent::myIntermediateLocalDestination

protected

DtVector DtGroundMoveToDestinationControllerComponent::myDestinationVector

mutableprotected

bool DtGroundMoveToDestinationControllerComponent::myDestinationVectorIsValid

mutableprotected

double DtGroundMoveToDestinationControllerComponent::myCurrentSpeed

protected

bool DtGroundMoveToDestinationControllerComponent::myAtDestination

protected

bool DtGroundMoveToDestinationControllerComponent::myNearDestination

protected

bool DtGroundMoveToDestinationControllerComponent::myPassedDestination

protected

const DtGroundMoveToDescriptor* DtGroundMoveToDestinationControllerComponent::myMoveToDescriptor

protected

DtCollisionInputPort* DtGroundMoveToDestinationControllerComponent::myCollisionAvoidancePort

protected

Input Port Name: potential-collision-info
Input Port Description:
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.

DtInputPortGroup* DtGroundMoveToDestinationControllerComponent::myCollisionAvoidancePortGroup

protected

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

DtBooleanOutputPort* DtGroundMoveToDestinationControllerComponent::myClampToNavDataPort

protected

Output Port Name: clamp-to-nav-data
Output Port Description: When there is a failure to path plan due to unavailable terrain data, this port is used to tell the actuator to clamp to the nav data instead.
Output Port Range:
Output Port Default Value: False
.

DtActiveBotNavInterface* DtGroundMoveToDestinationControllerComponent::myNavInterface

protected

bool DtGroundMoveToDestinationControllerComponent::myIgnoreNavData

protected

bool DtGroundMoveToDestinationControllerComponent::myDestinationIsInsideObstruction

protected

unsigned DtGroundMoveToDestinationControllerComponent::myNumFailedPathAttempts

protected

const double DtGroundMoveToDestinationControllerComponent::DtEstimatedTotCalcInterval = 5.0

protected

Interval for estimated tot calculations.

bool DtGroundMoveToDestinationControllerComponent::myEstimatedTotCalcEnabled

protected

enabled flag for the tot calculations

double DtGroundMoveToDestinationControllerComponent::myEstimatedTotValue

protected

the tot value

double DtGroundMoveToDestinationControllerComponent::myEstimatedTotLastCalcTime

protected

used for tot calculation intervals

DtVector DtGroundMoveToDestinationControllerComponent::myEstimatedTotTextPos

protected

tot text position

bool DtGroundMoveToDestinationControllerComponent::myChangedLocation

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation