DtSensorGimbalActuator Class Reference

DtSensorGimbalActuator provides a model of a sensor on a gimbal.

End User Description: The sensor gimbal actuator aims a gimbal at the desired angle.

Uses Descriptor Type: DtSensorGimbalActuatorDescriptor

Inheritance diagram for DtSensorGimbalActuator:

Public Member Functions
	DtSensorGimbalActuator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSensorGimbalActuator ()
virtual bool	init ()
virtual void	preFirstTickInit ()
virtual const char *	type () const
virtual void	tick ()
virtual void	bindLuaFunctions (lua_State *L)
virtual void	bindLuaGlobals (lua_State *L)
virtual bool	gimbalLimitHit () const
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	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)
Public Member Functions inherited from DtBindableLuaComponent< DtSensorGimbalActuator >
	DtBindableLuaComponent (DtLocalObject *entity, const DtString &componentName, const DtString &componentType)
virtual	~DtBindableLuaComponent ()
bool	shouldBind (lua_State *L) const
Public Member Functions inherited from DtBindableLuaComponentInterface
	DtBindableLuaComponentInterface (DtLocalObject *entity, const DtString &componentName, const DtString &componentType)
virtual	~DtBindableLuaComponentInterface ()
virtual void	bind (DtLocalObject *, const DtString &scriptId, lua_State *)
virtual DtString	bindableName (const DtString &) const

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 bool	createPortGroups ()
virtual bool	createPorts ()
virtual DtSensorGimbalActuatorPSR *	createPSR ()
virtual void	updatePorts ()
virtual void	updateParts (double azRate, double elRate)
	DtSensorGimbalActuator ()
	DtSensorGimbalActuator (const DtSensorGimbalActuator &orig)
const DtSensorGimbalActuator &	operator= (const DtSensorGimbalActuator &orig)
Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual void	setRadio (DtSimRadio *radio)
	DtActuatorComponent ()
Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
bool	testInvariant () const
DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
virtual void	updateTaskVisualizations ()
virtual void	destroyTaskVisualizations ()
virtual void	destroyTaskVisualization (const DtString &name)
virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
double	calculateNextTaskVisTickTime () const
DtVrfObjectStateRepository *	localStateRepository ()
const DtVrfObjectStateRepository *	localStateRepository () const
void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	removeSimObjectPredicateCallback (const DtSimObject *, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	invokeSimObjectPredicateCallbacks ()
virtual void	clearPredicateCallbacks ()
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
DtSensorGimbalActuatorDescriptor *	myGimbalDescriptor
DtSensorGimbalActuatorPSR *	myProcessState
DtArtPartType	myGimbalAzimuthArtPart
DtArtPartType	myGimbalElevationArtPart
bool	myRotation360
bool	myNeedToRetrieveGimbalLimits
double	myMaxAzimuthRate
double	myMinAzimuth
double	myMaxAzimuth
double	myMaxElevationRate
double	myMinElevation
double	myMaxElevation
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
Ports and Port Groups
DtAnalogInputPort *	myOrderedElevationPort
DtAnalogInputPort *	myOrderedAzimuthPort
DtIntegerInputPort *	myRotationRatePercentagePort
DtIntegerInputPort *	myElevationRotationRatePercentagePort
DtIntegerInputPort *	myAzimuthRotationRatePercentagePort
DtOutputPortGroup *	mySensorOutputPortGroup
DtOrientationOutputPort *	myOrientationOutputPort
DtVectorOutputPort *	myPositionOutputPort
DtBooleanOutputPort *	myOrientationAchievedOutputPort
DtOutputPortGroup *	myGimbalLimitsOutputPortGroup
DtAnalogOutputPort *	myMinAzimuthOutputPort
DtAnalogOutputPort *	myMaxAzimuthOutputPort
DtAnalogOutputPort *	myMinElevationOutputPort
DtAnalogOutputPort *	myMaxElevationOutputPort
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
Protected Attributes inherited from DtBindableLuaComponentInterface
DtLocalObject *	myBoundEntity
lua_State *	myBoundForState
DtString	myType

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

DtSensorGimbalActuator::DtSensorGimbalActuator	(	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 DtSensorGimbalActuator::~DtSensorGimbalActuator ( )

virtual

destructor

DtSensorGimbalActuator::DtSensorGimbalActuator ( )

protected

default constructor; not implemented

DtSensorGimbalActuator::DtSensorGimbalActuator ( const DtSensorGimbalActuator &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtSensorGimbalActuator::init ( )

virtual

Overridden to cache a pointer to the entity's radio in this class.

Reimplemented from DtActuatorComponent.

virtual void DtSensorGimbalActuator::preFirstTickInit ( )

virtual

Initializes the articulated parts.

Reimplemented from DtSimComponent.

virtual const char* DtSensorGimbalActuator::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

DtSensorGimbalActuatorActuatorType

Implements DtSimComponent.

virtual void DtSensorGimbalActuator::tick ( )

virtual

Update the gimbal azimuth and elevation.

Reimplemented from DtSimComponent.

virtual bool DtSensorGimbalActuator::gimbalLimitHit ( ) const

virtual

Methods accessible via Lua extensions.

Returns true if sensor gimbal is in a position where it has reached its rotation limit on at least one axis.

virtual void DtSensorGimbalActuator::bindLuaFunctions ( lua_State *  L )

virtual

Binds method for this class to the lua state. This simple method will send an object console message to the entity that implements this task.

Implements DtBindableLuaComponentInterface.

virtual void DtSensorGimbalActuator::bindLuaGlobals ( lua_State *  )

virtual

Override to bind lua globals.

Implements DtBindableLuaComponentInterface.

static DtSimComponent* DtSensorGimbalActuator::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 DtSensorGimbalActuator::createPortGroups ( )

protectedvirtual

creates mySensorOutputPortGroup.

Reimplemented from DtSimComponent.

virtual bool DtSensorGimbalActuator::createPorts ( )

protectedvirtual

Overridden to create local ports.

Reimplemented from DtSimComponent.

virtual DtSensorGimbalActuatorPSR* DtSensorGimbalActuator::createPSR ( )

protectedvirtual

Create the PSR.

virtual void DtSensorGimbalActuator::updatePorts ( )

protectedvirtual

Updates the output ports with current state.

virtual void DtSensorGimbalActuator::updateParts ( double  azRate, double  elRate  )

protectedvirtual

Updates the articulated parts with current state.

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

protected

assignment operator; not implemented

Member Data Documentation

DtSensorGimbalActuatorDescriptor* DtSensorGimbalActuator::myGimbalDescriptor

protected

DtSensorGimbalActuatorPSR* DtSensorGimbalActuator::myProcessState

protected

DtArtPartType DtSensorGimbalActuator::myGimbalAzimuthArtPart

protected

DtArtPartType DtSensorGimbalActuator::myGimbalElevationArtPart

protected

bool DtSensorGimbalActuator::myRotation360

protected

Cache for the condition for 360 rotation.

bool DtSensorGimbalActuator::myNeedToRetrieveGimbalLimits

protected

double DtSensorGimbalActuator::myMaxAzimuthRate

protected

double DtSensorGimbalActuator::myMinAzimuth

protected

double DtSensorGimbalActuator::myMaxAzimuth

protected

double DtSensorGimbalActuator::myMaxElevationRate

protected

double DtSensorGimbalActuator::myMinElevation

protected

double DtSensorGimbalActuator::myMaxElevation

protected

DtAnalogInputPort* DtSensorGimbalActuator::myOrderedElevationPort

protected

Input Port Name: ordered-elevation
Input Port Description: Elevation at which to attempt to aim the gimbal, in radians.
Input Port Range: -pi to pi
Input Port Default Value: 0
.

DtAnalogInputPort* DtSensorGimbalActuator::myOrderedAzimuthPort

protected

Input Port Name: ordered-azimuth
Input Port Description: Azimuth at which to attempt to aim the gimbal, in radians.
Input Port Range: -pi to pi
Input Port Default Value: 0
.

DtIntegerInputPort* DtSensorGimbalActuator::myRotationRatePercentagePort

protected

Input Port Name: rotation-rate-percentage
Input Port Description: Percentage of maximum rotation rate the actuator should use when rotating.
Input Port Range: 0-100
Input Port Default Value: 100
.

DtIntegerInputPort* DtSensorGimbalActuator::myElevationRotationRatePercentagePort

protected

Input Port Name: elevation-rotation-rate-percentage
Input Port Description: Percentage of maximum rotation rate the actuator should use when rotating the elevation.
Input Port Range:0-100
Input Port Default Value: 100
.

DtIntegerInputPort* DtSensorGimbalActuator::myAzimuthRotationRatePercentagePort

protected

Input Port Name: azimuth-rotation-rate-percentage
Input Port Description: Percentage of maximum rotation rate the Input should use when rotating the azimuth.
Input Port Range:0-100
Input Port Default Value: 100
.

DtOutputPortGroup* DtSensorGimbalActuator::mySensorOutputPortGroup

protected

Output Port Group Name: sensor-offset
Output Port Group Description: Allows an external controller to provide position and orientation of the sensor relative to the entity origin. Designed to be connected to a DtObjectSensor or derived class.

DtOrientationOutputPort* DtSensorGimbalActuator::myOrientationOutputPort

protected

Output Port Name: orientation
Input Port Description: Outputs the orientation of the sensor relative to the entity on which it is mounted.
Output Port Range:
Output Port Default Value: 0,0,0
Output Group Parent: sensor-offset.

DtVectorOutputPort* DtSensorGimbalActuator::myPositionOutputPort

protected

Input Port Name: position
Input Port Description: Outputs the position of the sensor in body coordinates relative to the entity which it is mounted on.
Output Port Range:
Output Port Default Value: 0,0,0
Output Group Parent: sensor-offset.

DtBooleanOutputPort* DtSensorGimbalActuator::myOrientationAchievedOutputPort

protected

Output Port Name: orientation-achieved
Output Port Description: Specifies whether the gimbal was able to turn to the specified orientation.
Output Port Range:
Output Port Default Value: ""
Output Group Parent:

DtOutputPortGroup* DtSensorGimbalActuator::myGimbalLimitsOutputPortGroup

protected

Output Port Group Name: gimbal-limits
Output Port Group Description: Allows the actuator to communicate the azimuth and elevation limits of the gimbal.

DtAnalogOutputPort* DtSensorGimbalActuator::myMinAzimuthOutputPort

protected

Output Port Name: min-azimuth
Output Port Description: The minimum azimuth at which the gimbal can aim.
Output Port Range: 0 - 2pi
Output Group Parent:
.

DtAnalogOutputPort* DtSensorGimbalActuator::myMaxAzimuthOutputPort

protected

Output Port Name: max-azimuth
Output Port Description: The maximum azimuth at which the gimbal can aim.
Output Port Range: 0 - 2pi
Output Group Parent:
.

DtAnalogOutputPort* DtSensorGimbalActuator::myMinElevationOutputPort

protected

Output Port Name: min-elevation
Output Port Description: The minimum elevation at which the gimbal can aim.
Output Port Range: -pi - pi
Output Group Parent:
.

DtAnalogOutputPort* DtSensorGimbalActuator::myMaxElevationOutputPort

protected

Output Port Name: max-elevation
Output Port Description: The maximum elevation at which the gimbal can aim.
Output Port Range: -pi - pi
Output Group Parent:
.

DtPlatformLocalObjectFacade DtSensorGimbalActuator::myPlatformLocalObjectFacade

protected

Member to allow for access to platform specific data.

---

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

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