DtSensorGimbalController Class Reference

This class is responsible for controlling the aiming of a sensor on a gimbal. Uses Descriptor Type: DtComponentDescriptor.

Inheritance diagram for DtSensorGimbalController:

Public Member Functions
	DtSensorGimbalController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSensorGimbalController ()
virtual bool	init ()
virtual bool	postAddComponentsInit ()
virtual const char *	type () const
virtual void	tick ()
virtual void	bindLuaFunctions (lua_State *L)
virtual void	bindLuaGlobals (lua_State *L)
virtual void	setGimbalControlCallback (const makVrfEvents::DtEvent &)
virtual void	processGimbalControl (const makVrfEvents::DtSensorFieldOfViewControlEvent *ctrlInter)
virtual bool	isUnderManualControl () const
virtual std::string	mode () const
virtual double	orientation (double &elevation) const
virtual DtLocation3D	lookingAt () const
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	clearTask ()
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 bool	decideToGiveUpTask () 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	registerTaskMsgCallbacks ()
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 void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
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)
Public Member Functions inherited from DtJoystickControllerInterface
	DtJoystickControllerInterface (DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc)
virtual	~DtJoystickControllerInterface ()
virtual bool	joystickEnabled () const
Public Member Functions inherited from DtBindableLuaComponent< DtSensorGimbalController >
	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 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	targetPoint (const DtTaitBryan &orientation, DtVector &location) const
virtual DtVector	localEyepoint () const
virtual bool	createPortGroups ()
virtual bool	createPorts ()
virtual DtSensorGimbalControllerPSR *	createPSR ()
virtual void	restoreDefaultAiming ()
virtual void	aimSensorAtPoint (const DtVector &worldLocation)
virtual void	trackObject (const DtSimObject *objectToTrack)
virtual void	aimSensorAtAngle (double azimuth, double elevation)
virtual void	scanSensor ()
virtual void	searchAndTrackObject (const DtSimObject *objectToTrack)
virtual void	currentPositionAzimuthAndElevation (DtVector &offset, double &az, double &el) const
virtual void	currentWorldLocationAndOrientation (DtVector &location, DtTaitBryan &orientation) const
virtual makVrf::DtArticulatedPartStateRepository *	gimbalAzimuthPart ()
virtual const makVrf::DtArticulatedPartStateRepository *	gimbalAzimuthPart () const
virtual makVrf::DtArticulatedPartStateRepository *	gimbalElevationPart ()
virtual const makVrf::DtArticulatedPartStateRepository *	gimbalElevationPart () const
virtual bool	findLocationOfSensorAiming (const DtVector &sensorLocation, const DtTaitBryan &orientation, DtVector &aimingPoint) const
virtual DtSimObjectReference	getLasingTarget ()
virtual void	calcAndSetPortValues (const DtString &functionGroup, const DtString &function, double value, bool repeat)
virtual void	joystickConnected ()
virtual void	joystickDisconnected ()
virtual double	minAzimuth () const
virtual double	maxAzimuth () const
virtual double	minElevation () const
virtual double	maxElevation () 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	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 Member Functions inherited from DtJoystickControllerInterface
virtual void	processJoyDeviceRequest (DtSimMessage *msg)
virtual void	processJoystickControlMessage (DtSimMessage *msg)

Static Protected Member Functions
static DtRwColor	randomFieldOfViewColor ()
Static Protected Member Functions inherited from DtJoystickControllerInterface
static void	joyDeviceRequestCallback (DtSimMessage *msg, void *usr)
static void	joystickControlMessageCallback (DtSimMessage *msg, void *usr)

Protected Attributes
DtSensorGimbalControllerDescriptor *	mySensorGimbalDescriptor
DtSensorGimbalControllerPSR *	myProcessState
bool	myDataNeededForAimingPoint
bool	myJoystickConnected
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
DtVector	myWorldLocationForAimingPoint
DtTaitBryan	myWorldOrientationForAimingPoint
Ports and Port Groups
DtInputPortGroup *	mySensorOffsetInputPortGroup
DtOrientationInputPort *	myOrientationInputPort
DtVectorInputPort *	myPositionInputPort
DtInputPortGroup *	myGimbalLimitsPortGroup
DtAnalogInputPort *	myMinAzimuthPort
DtAnalogInputPort *	myMaxAzimuthPort
DtAnalogInputPort *	myMinElevationPort
DtAnalogInputPort *	myMaxElevationPort
DtAnalogOutputPort *	myOrderedElevationPort
DtAnalogOutputPort *	myOrderedAzimuthPort
DtIntegerOutputPort *	myElevationRotationRatePercentagePort
DtIntegerOutputPort *	myAzimuthRotationRatePercentagePort
DtStringOutputPort *	myTargetObjectPort
DtVectorOutputPort *	myTargetLocationPort
DtIntegerOutputPort *	myTrackingModePort
DtAnalogOutputPort *	myZoomLevelPort
DtIntegerOutputPort *	myFieldOfViewColorPort
DtBooleanOutputPort *	myLaserOnPort
DtEntityListInputPort *	myTargetListPort
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
Protected Attributes inherited from DtJoystickControllerInterface
const DtJoyDeviceControllerDescriptorInterface *	myJoyDeviceControllerDescriptor
bool	myJoystickEnabled
int	myRequestCount
DtSimulationServices *	myJoystickSimManager
DtLocalObject *	myJoystickOwner
Protected Attributes inherited from DtBindableLuaComponentInterface
DtLocalObject *	myBoundEntity
lua_State *	myBoundForState
DtString	myType

Private Member Functions
	DtSensorGimbalController ()
	DtSensorGimbalController (const DtSensorGimbalController &orig)
const DtSensorGimbalController &	operator= (const DtSensorGimbalController &orig)
virtual void	processSetAimGimbal (DtSimMessage *msg)
static void	setAimGimbalCallback (DtSimMessage *msg, void *usr)
virtual void	processSetZoomSensor (DtSimMessage *msg)
static void	setZoomSensorCallback (DtSimMessage *msg, void *usr)
virtual void	processSetManualControl (DtSimMessage *msg)
static void	setManualControlCallback (DtSimMessage *msg, void *usr)
virtual void	processSetFieldOfViewColor (DtSimMessage *msg)
static void	setFieldOfViewColorCallback (DtSimMessage *msg, void *usr)
virtual void	processSetLasing (DtSimMessage *msg)
static void	setLasingCallback (DtSimMessage *msg, void *usr)
virtual void	processLaseTargetTaskMessage (DtSimMessage *msg)
static void	laseTargetTaskCallback (DtSimMessage *msg, void *usrData)
virtual void	processLaseLocationTaskMessage (DtSimMessage *msg)
static void	laseLocationTaskCallback (DtSimMessage *msg, void *usrData)

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

DtSensorGimbalController::DtSensorGimbalController	(	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 DtSensorGimbalController::~DtSensorGimbalController ( )

virtual

Destructor.

DtSensorGimbalController::DtSensorGimbalController ( )

private

default constructor; not implemented

DtSensorGimbalController::DtSensorGimbalController ( const DtSensorGimbalController &  orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtSensorGimbalController::init ( )

virtual

Calls setRadio()

Reimplemented from DtControllerComponent.

virtual bool DtSensorGimbalController::postAddComponentsInit ( )

virtual

Calls enableTaskTypes()

Reimplemented from DtControllerComponent.

virtual const char* DtSensorGimbalController::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

DtSensorGimbalControllerType

Implements DtTaskControllerComponent.

virtual void DtSensorGimbalController::tick ( )

virtual

This gives the thread of control to the component. The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

static void DtSensorGimbalController::setAimGimbalCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set the aiming of the gimbal.

virtual void DtSensorGimbalController::processSetAimGimbal ( DtSimMessage *  msg )

virtual

Processes a command to set the aiming of the gimbal.

static void DtSensorGimbalController::setZoomSensorCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set the zoom level of a gimbaled sensor.

virtual void DtSensorGimbalController::processSetZoomSensor ( DtSimMessage *  msg )

virtual

Processes a command to set the zoom level of a gimbaled sensor.

static void DtSensorGimbalController::setManualControlCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set the manual control flag. Does not change sensor gimbal operation, but can be queried to see if someone is currently in manual control of the sensor.

virtual void DtSensorGimbalController::processSetManualControl ( DtSimMessage *  msg )

virtual

Processes a command to set the manual control flag. Does not change sensor gimbal operation, but can be queried to see if someone is currently in manual control of the sensor.

static void DtSensorGimbalController::setFieldOfViewColorCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to set color of the sensor field of view.

virtual void DtSensorGimbalController::processSetFieldOfViewColor ( DtSimMessage *  msg )

virtual

Processes a command to set color of the sensor field of view.

static void DtSensorGimbalController::setLasingCallback ( DtSimMessage *  msg, void *  usr  )

static

Processes a command to turn on lasing from the gimbaled sensor.

virtual void DtSensorGimbalController::processSetLasing ( DtSimMessage *  msg )

virtual

Processes a command to turn on lasing from the gimbaled sensor.

static void DtSensorGimbalController::laseTargetTaskCallback ( DtSimMessage *  msg, void *  usrData  )

static

Processes a command lase a specified target.

virtual void DtSensorGimbalController::processLaseTargetTaskMessage ( DtSimMessage *  msg )

virtual

Processes a command lase a specified target.

static void DtSensorGimbalController::laseLocationTaskCallback ( DtSimMessage *  msg, void *  usrData  )

static

Processes a command lase a specified location.

virtual void DtSensorGimbalController::processLaseLocationTaskMessage ( DtSimMessage *  msg )

virtual

Processes a command lase a specified location.

virtual void DtSensorGimbalController::setGimbalControlCallback ( const makVrfEvents::DtEvent &  )

virtual

Processes a direct control command for the aiming of the gimbal.

virtual void DtSensorGimbalController::processGimbalControl ( const makVrfEvents::DtSensorFieldOfViewControlEvent *  ctrlInter )

virtual

Processes a direct control command for the aiming of the gimbal.

virtual bool DtSensorGimbalController::isUnderManualControl ( ) const

virtual

Methods accessible via Lua extensions.

Returns the manual control setting.

virtual std::string DtSensorGimbalController::mode ( ) const

virtual

Returns the current gimbal mode.

virtual double DtSensorGimbalController::orientation ( double &  elevation ) const

virtual

Return azimuth and elevation of sensor.

virtual DtLocation3D DtSensorGimbalController::lookingAt ( ) const

virtual

The location the sensor would be lasing if it were lasing.

virtual void DtSensorGimbalController::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 DtSensorGimbalController::bindLuaGlobals ( lua_State *  )

virtual

Override to bind lua globals.

Implements DtBindableLuaComponentInterface.

static DtSimComponent* DtSensorGimbalController::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 DtSensorGimbalController::targetPoint ( const DtTaitBryan &  orientation, DtVector &  location  ) const

protectedvirtual

if the sensor were to be targeting, what would it target

virtual DtVector DtSensorGimbalController::localEyepoint ( ) const

protectedvirtual

virtual bool DtSensorGimbalController::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtSensorGimbalController::createPorts ( )

protectedvirtual

Overridden to create local ports.

Reimplemented from DtSimComponent.

virtual DtSensorGimbalControllerPSR* DtSensorGimbalController::createPSR ( )

protectedvirtual

Create the PSR.

virtual void DtSensorGimbalController::restoreDefaultAiming ( )

protectedvirtual

Reset to default aiming mode and position: a fixed angle at the configured neutral angle.

virtual void DtSensorGimbalController::aimSensorAtPoint ( const DtVector &  worldLocation )

protectedvirtual

Attempts to aim the sensor at the given world location.

virtual void DtSensorGimbalController::trackObject ( const DtSimObject *  objectToTrack )

protectedvirtual

Attempts to track the given object.

virtual void DtSensorGimbalController::aimSensorAtAngle ( double  azimuth, double  elevation  )

protectedvirtual

Attempts to aim the sensor at the given azimuth an elevation, in radians relative to the orientation of the entity.

virtual void DtSensorGimbalController::scanSensor ( )

protectedvirtual

Scans back and forth across an area. Default behavior is to scan through the allowable azimuth range while leaving the elevation set to the neutral elevation.

virtual void DtSensorGimbalController::searchAndTrackObject ( const DtSimObject *  objectToTrack )

protectedvirtual

Scans back and forth across an area until it finds the given object to track. Then it tries to track the object. If the target is lost, returns to scanning.

virtual void DtSensorGimbalController::currentPositionAzimuthAndElevation ( DtVector &  offset, double &  az, double &  el  ) const

protectedvirtual

Gets current body relative positional offset and aiming azimuth and elevation.

virtual void DtSensorGimbalController::currentWorldLocationAndOrientation ( DtVector &  location, DtTaitBryan &  orientation  ) const

protectedvirtual

Gets current world orientation and location of sensor gimbal.

virtual makVrf::DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalAzimuthPart ( )

protectedvirtual

Part for gimbal azimuth rotation.

virtual const makVrf::DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalAzimuthPart ( ) const

protectedvirtual

virtual makVrf::DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalElevationPart ( )

protectedvirtual

Part for gimbal elevation rotation.

virtual const makVrf::DtArticulatedPartStateRepository* DtSensorGimbalController::gimbalElevationPart ( ) const

protectedvirtual

virtual bool DtSensorGimbalController::findLocationOfSensorAiming ( const DtVector &  sensorLocation, const DtTaitBryan &  orientation, DtVector &  aimingPoint  ) const

protectedvirtual

Finds the location where the sensor is currently aiming. Returns true if data was available to complete the operation. All coordinates are local.

virtual DtSimObjectReference DtSensorGimbalController::getLasingTarget ( )

protectedvirtual

Gets the current target for the integrated laser.

virtual void DtSensorGimbalController::calcAndSetPortValues ( const DtString &  functionGroup, const DtString &  function, double  value, bool  repeat  )

protectedvirtual

Override to set.

Implements DtJoystickControllerInterface.

virtual void DtSensorGimbalController::joystickConnected ( )

protectedvirtual

Called when joystick is connected for this controller.

Implements DtJoystickControllerInterface.

virtual void DtSensorGimbalController::joystickDisconnected ( )

protectedvirtual

Called when joystick is disconnected for this controller.

Implements DtJoystickControllerInterface.

virtual double DtSensorGimbalController::minAzimuth ( ) const

protectedvirtual

Returns the minimum allowed azimuth angle.

virtual double DtSensorGimbalController::maxAzimuth ( ) const

protectedvirtual

Returns the maximum allowed azimuth angle.

virtual double DtSensorGimbalController::minElevation ( ) const

protectedvirtual

Returns the minimum allowed elevation angle.

virtual double DtSensorGimbalController::maxElevation ( ) const

protectedvirtual

Returns the maximum allowed elevation angle.

static DtRwColor DtSensorGimbalController::randomFieldOfViewColor ( )

staticprotected

Generates a new random color (RGBA) for the sensor field of view.

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

private

assignment operator; not implemented

Member Data Documentation

DtSensorGimbalControllerDescriptor* DtSensorGimbalController::mySensorGimbalDescriptor

protected

DtSensorGimbalControllerPSR* DtSensorGimbalController::myProcessState

protected

bool DtSensorGimbalController::myDataNeededForAimingPoint

protected

Whether the data is not yet loaded to find the aiming point.

DtVector DtSensorGimbalController::myWorldLocationForAimingPoint

protected

World location and orientation for determining the aiming point when data was not initially available.

DtTaitBryan DtSensorGimbalController::myWorldOrientationForAimingPoint

protected

World location and orientation for determining the aiming point when data was not initially available.

bool DtSensorGimbalController::myJoystickConnected

protected

DtInputPortGroup* DtSensorGimbalController::mySensorOffsetInputPortGroup

protected

Input Port Group Name: sensor-offset
Input Port Group Description: Allows the actuator to communicate the orientation offset of the sensor relative to the entity.

DtOrientationInputPort* DtSensorGimbalController::myOrientationInputPort

protected

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

DtVectorInputPort* DtSensorGimbalController::myPositionInputPort

protected

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

DtInputPortGroup* DtSensorGimbalController::myGimbalLimitsPortGroup

protected

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

DtAnalogInputPort* DtSensorGimbalController::myMinAzimuthPort

protected

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

DtAnalogInputPort* DtSensorGimbalController::myMaxAzimuthPort

protected

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

DtAnalogInputPort* DtSensorGimbalController::myMinElevationPort

protected

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

DtAnalogInputPort* DtSensorGimbalController::myMaxElevationPort

protected

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

DtAnalogOutputPort* DtSensorGimbalController::myOrderedElevationPort

protected

Output Port Name: ordered-elevation
Output Port Description: Elevation at which to attempt to aim the gimbal, in radians.
Output Port Range:
Output Group Parent:
.

DtAnalogOutputPort* DtSensorGimbalController::myOrderedAzimuthPort

protected

Output Port Name: ordered-azimuth
Output Port Description: Azimuth at which to attempt to aim the gimbal, in radians.
Output Port Range:
Output Group Parent:
.

DtIntegerOutputPort* DtSensorGimbalController::myElevationRotationRatePercentagePort

protected

Output Port Name: elevation-rotation-rate-percentage
Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the elevation.
Output Port Range:0-100
Output Group Parent:
.

DtIntegerOutputPort* DtSensorGimbalController::myAzimuthRotationRatePercentagePort

protected

Output Port Name: azimuth-rotation-rate-percentage
Output Port Description: Percentage of maximum rotation rate the actuator should use when rotating the azimuth.
Output Port Range:0-100
Output Group Parent:
.

DtStringOutputPort* DtSensorGimbalController::myTargetObjectPort

protected

Output Port Name: target-object
Output Port Description: Name of the object the sensor is targeting.
Output Port Range:
Output Group Parent:
.

DtVectorOutputPort* DtSensorGimbalController::myTargetLocationPort

protected

Output Port Name: target-location
Output Port Description: Location the sensor is targeting.
Output Port Range:
Output Group Parent:
.

DtIntegerOutputPort* DtSensorGimbalController::myTrackingModePort

protected

Output Port Name: tracking-mode
Output Port Description: Tracking mode of the sensor.
Output Port Range: Values specified by DtSensorTrackingMode enum
Output Group Parent:
.

DtAnalogOutputPort* DtSensorGimbalController::myZoomLevelPort

protected

Output Port Name: zoom-level
Output Port Description: Current zoom level.
Output Port Range: 1.0 to maximum zoom level
Output Group Parent:
.

DtIntegerOutputPort* DtSensorGimbalController::myFieldOfViewColorPort

protected

Output Port Name: field-of-view-color
Output Port Description: Color of the sensor's field of view.
Output Port Range: RGBA value
Output Group Parent:
.

DtBooleanOutputPort* DtSensorGimbalController::myLaserOnPort

protected

Output Port Name: laser-on
Output Port Description: Indicates whether the laser attached to this gimbaled sensor is on or off.
Output Port Range:
Output Port Default Value: false
Output Group Parent:
.

DtEntityListInputPort* DtSensorGimbalController::myTargetListPort

protected

Input Port Name: target-list
Input Port Description: Specifies the targets for the integrated laser.
Input Port Range:
Input Port Default Value:
.

DtPlatformLocalObjectFacade DtSensorGimbalController::myPlatformLocalObjectFacade

protected

Member to allow for access to platform specific data.

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

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