DtBaseMountingController Class Reference

DtBaseMountingController is a controller that generates the azimuth and elevation controls needed to manipulate a weapon mount to the a desired azimuth and elevation.

It expects to control an azimuth and/or elevation mount actuator(s).

Uses Descriptor Type: DtComponentDescriptor

Inheritance diagram for DtBaseMountingController:

Public Member Functions
	DtBaseMountingController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtBaseMountingController ()
virtual bool	postAddComponentsInit ()
virtual const char *	type () const
virtual DtOutputPortGroup *	mountingControlPortGroup ()
virtual DtInputPortGroup *	azimuthInfoPortGroup ()
virtual DtInputPortGroup *	elevationInfoPortGroup ()
virtual void	tick ()
virtual void	reorientMounting ()
virtual void	findDesiredAzimuthAndElevation ()
virtual bool	desiredOrientationIsInRange (double &azimuthOutOfRangeBy, double &elevationOutOfRangeBy, double additionalAzimuthMargin=0.0, double additionalElevationMargin=0.0)
virtual bool	azimuthIsInRange (double azimuth, double &outofRangeBy, double additionalMargin=0.0)
virtual bool	elevationIsInRange (double elevation, double &outofRangeBy, double additionalMargin=0.0)
virtual bool	createAzimuthPort ()
virtual DtConstrainedAnalogOutputPort *	azimuthPort () const
virtual bool	createElevationPort ()
virtual DtConstrainedAnalogOutputPort *	elevationPort () const
virtual bool	createAzimuthInfoPorts ()
virtual bool	createElevationInfoPorts ()
virtual double	approximateMountSwing (double angleChange, double maxRate)
virtual void	setDesiredAzimuth (DtReal desiredAzimuth)
virtual DtReal	desiredAzimuth ()
virtual void	setDesiredElevation (DtReal desiredElevation)
virtual DtReal	desiredElevation ()
Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtControllerComponent ()
virtual bool	init ()
virtual DtSimRadio *	radio ()
virtual void	taskNotify (const DtSimTask &task)
virtual void	clearTask ()
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	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
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	taskVisualizationsActive () const
virtual bool	taskVisualizationsEnabled () const
makVrf::DtTaskVisualizationMap &	taskVisualizations ()
virtual void	enable ()
virtual void	disable ()
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const
virtual int	notifyLevel () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
VRF4API_METHOD const DtSimulationServices *	simManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
bool	operator== (const DtReaderWriter &) const
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual void	postPutSelf ()
virtual void	prePutSelf ()
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
virtual void	postGetSelf ()
virtual void	preGetSelf ()
virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual DtSymbolString	name () const
virtual void	addAlias (const DtSymbolString &alias)
virtual void	addAlias (const DtString &alias)
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
bool	isReadonly () const
virtual void	reset ()
virtual int	alignment () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
virtual void	setName (const DtString &)
virtual const char *	readerWriterType () const
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
virtual bool	hasVariableReference () const
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
virtual void	recordUpdateTime () const
virtual bool	wasUpdatedSince (DtTime t) const
virtual bool	changedSinceLastChecked ()
virtual bool	peekChangedSinceLastChecked () const
virtual void	setValueSpecified (bool specified, bool recurse=false)
virtual bool	valueSpecified () const
virtual bool	isVariableReference () const
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
virtual DtSymbolString	variableName () const
virtual void	setVariableName (const DtSymbolString variableName)
virtual const DtReaderWriter *	defaultRWValue () const
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
const DtReaderWriterRegistry &	registry () const
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual DtRwVariableBindings *	generateVariableBindings () const
virtual bool	toXml (const DtFilename &) const
virtual bool	fromXml (const DtString &)
virtual bool	fromXmlFile (const DtFilename &)
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()
static void	setFactory (DtSimComponentFactory *factory)
static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static void	setPutIndent (bool)
static bool	putIndent ()
static const char *	theXmlType ()
static const DtFilename &	appPath ()
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static void	setOutputStream (DtOutputStream *stream)
static DtOutputStream &	outputStream ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual double	angleErrorGivenRotationLimits (double currentAngle, double desiredAngle, double allowedRotationCenter, double allowedRotationRange)
virtual bool	createPortGroups ()
virtual bool	createPorts ()
	DtBaseMountingController ()
	DtBaseMountingController (const DtBaseMountingController &orig)
const DtBaseMountingController &	operator= (const DtBaseMountingController &orig)
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	setRadio (DtSimRadio *radio)
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 Attributes
makVrf::DtArticulatedPartStateRepository *	myAzimuthMountPart
makVrf::DtArticulatedPartStateRepository *	myElevationMountPart
makVrf::DtArticulatedPartStateRepository *	myChildSimBody
DtReal	myDesiredAzimuth
DtReal	myDesiredElevation
DtReal	myAngleApproxMargin
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
Ports and Port Groups
DtInputPortGroup *	myAzimuthInfoPortGroup
DtAnalogInputPort *	myNominalAzimuthPort
DtAnalogInputPort *	myAzimuthRangePort
DtAnalogInputPort *	myMaxAzimuthRatePort
DtIntegerInputPort *	myAzimuthPartTypePort
DtInputPortGroup *	myElevationInfoPortGroup
DtAnalogInputPort *	myNominalElevationPort
DtAnalogInputPort *	myElevationRangePort
DtAnalogInputPort *	myMaxElevationRatePort
DtIntegerInputPort *	myElevationPartTypePort
DtOutputPortGroup *	myMountingControlPortGroup
DtConstrainedAnalogOutputPort *	myAzimuthPort
DtConstrainedAnalogOutputPort *	myElevationPort
Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
bool	myTaskTypesEnabled
bool	myInitialized
Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity
DtComponentSystem *	mySystem
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
bool	myFirstTick
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
bool	myTickEveryFrame
makVrf::DtTaskVisualizationMap	myTaskVisualizations
double	myNextTaskVisTickTime
DtSymbolString	myFullComponentName
DtSimulationServices *	mySimServices
DtPredicateCallbackManager	myPredicateCallbackManager
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
bool	myInvalid
bool	myChangedFlag

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()
Protected Types inherited from 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

DtBaseMountingController::DtBaseMountingController	(	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 DtBaseMountingController::~DtBaseMountingController ( )

virtual

destructor

DtBaseMountingController::DtBaseMountingController ( )

protected

default constructor; not implemented

DtBaseMountingController::DtBaseMountingController ( const DtBaseMountingController &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtBaseMountingController::postAddComponentsInit ( )

virtual

Overridden to activate myMountingControlPortGroup.

Reimplemented from DtControllerComponent.

virtual const char* DtBaseMountingController::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

DtBaseMountingControllerType

Implements DtControllerComponent.

Reimplemented in DtMountingController.

virtual DtOutputPortGroup* DtBaseMountingController::mountingControlPortGroup ( )

virtual

Returns myMountingControlPortGroup.

virtual DtInputPortGroup* DtBaseMountingController::azimuthInfoPortGroup ( )

virtual

Returns myAzimuthInfoPortGroup.

virtual DtInputPortGroup* DtBaseMountingController::elevationInfoPortGroup ( )

virtual

Returns myAzimuthInfoPortGroup.

virtual void DtBaseMountingController::tick ( )

virtual

Calculate new control values.

Reimplemented from DtSimComponent.

virtual void DtBaseMountingController::reorientMounting ( )

virtual

Spin the mounting to point toward the desired targetPoint or desiredAzimuth/desiredElevation. Takes the current orientation of myChildSimBody (the DtSimBody part that has the combined azimuth and elevation orientation of the mounting), and generates the azimuth and elevation steering input needed to maneuver the mounting toward the desired azimuth and elevation. It obtains the orientation of the mount point in body coordinates of the entity, from myChildSimBody. These Euler angles give the current azimuth and elevation settings of the mount point. It then calls the static functions DtMountingAzimuthActuator::computeDeltaOutsideAzimuthRange(), and DtMountingElevationActuator::computeDeltaOutsideElevationRange(), to determine the extent to which the current orientation is off-target. If the azimuth or elevation angular extent returned is zero, the corresponding port value is set to zero. If not, the function is called to generate a control input, given the amount the angle is off approximateMountSwing() by, and the maximum angular rate at which it can swing. It sets the control input for the port with the value returned by approximateMountSwing().

virtual void DtBaseMountingController::setDesiredAzimuth ( DtReal  desiredAzimuth )

virtual

Set an azimuth you want this mounting to point towards. This azimuth is relative to the body.

virtual DtReal DtBaseMountingController::desiredAzimuth ( )

virtual

Set an azimuth you want this mounting to point towards. This azimuth is relative to the body.

virtual void DtBaseMountingController::setDesiredElevation ( DtReal  desiredElevation )

virtual

Set an elevation you want this mounting to point towards. This elevation is relative to the body.

virtual DtReal DtBaseMountingController::desiredElevation ( )

virtual

Set an elevation you want this mounting to point towards. This elevation is relative to the body.

virtual void DtBaseMountingController::findDesiredAzimuthAndElevation ( )

virtual

Base fn (should be overridden): set desired az and el from parameter inputs.

Reimplemented in DtMountingController.

virtual bool DtBaseMountingController::desiredOrientationIsInRange ( double &  azimuthOutOfRangeBy, double &  elevationOutOfRangeBy, double  additionalAzimuthMargin = 0.0, double  additionalElevationMargin = 0.0  )

virtual

Returns true if the desired azimuth and elevation are within the range that this mounting can do. If it's out of range, the method returns false and puts the outOfRangeBy amounts into the appropriate "out" params. The params for additionalMargin allows the caller to broaden the acceptable azimuth and elevation range by the passed in values.

virtual bool DtBaseMountingController::azimuthIsInRange ( double  azimuth, double &  outofRangeBy, double  additionalMargin = 0.0  )

virtual

Returns true if the specified azimuth angle is within the range that this mounting can do. If it's out of range, the method returns false and populates the outOfRangeBy amount. The param for additionalMargin allows the caller to broaden the acceptable azimuth range by the passed in value.

virtual bool DtBaseMountingController::elevationIsInRange ( double  elevation, double &  outofRangeBy, double  additionalMargin = 0.0  )

virtual

Returns true if the specified elevation angle is within the range that this mounting can do. If it's out of range, the method returns false and populates the outOfRangeBy amount. The param for additionalMargin allows the caller to broaden the acceptable elevation range by the passed in value.

virtual bool DtBaseMountingController::createAzimuthPort ( )

virtual

These are called in init to create the ports used to communicate with the actuator.

virtual DtConstrainedAnalogOutputPort* DtBaseMountingController::azimuthPort ( ) const

virtual

virtual bool DtBaseMountingController::createElevationPort ( )

virtual

virtual DtConstrainedAnalogOutputPort* DtBaseMountingController::elevationPort ( ) const

virtual

virtual bool DtBaseMountingController::createAzimuthInfoPorts ( )

virtual

creates the ports used by myAzimuthInfoPortGroup

virtual bool DtBaseMountingController::createElevationInfoPorts ( )

virtual

creates the ports used by myElevationInfoPortGroup

virtual double DtBaseMountingController::approximateMountSwing ( double  angleChange, double  maxRate  )

virtual

Determine how fast a mounting should swing given the angle it must travel through (angleChange) and the maxRate of its transit. Takes as input the amount of angle to be changed and the maximum angular rate of change, and returns a value between -1.0 and 1.0, representing the scaled rate at which the angle should change. It computes this value to be the amount of angular change desired, divided by the maximum angular rate times the current frame duration, dT, for example:

Returns

angleChange / (maxRate * dT());

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

static

Parameters

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

Returns

New instance of this class.

virtual double DtBaseMountingController::angleErrorGivenRotationLimits ( double  currentAngle, double  desiredAngle, double  allowedRotationCenter, double  allowedRotationRange  )

protectedvirtual

Compute the angle error from the current angle to the desired, and then adjust the difference to go the right way around to get to the desired angle–either the shortest way, or if there is a range limit in that direction, then the other way. The allowed rotation range is specified by a center angle and a range. If the desired angle is not in the region of allowed rotation, return the angle of the nearest stop. A rotation range of 2 pi is taken to mean free, continuous rotation.

virtual bool DtBaseMountingController::createPortGroups ( )

protectedvirtual

Overridden to create mounting port groups.

Reimplemented from DtSimComponent.

virtual bool DtBaseMountingController::createPorts ( )

protectedvirtual

Overridden to create mounting ports.

Reimplemented from DtSimComponent.

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

protected

assignment operator; not implemented

Member Data Documentation

DtInputPortGroup* DtBaseMountingController::myAzimuthInfoPortGroup

protected

Input Port Group Name: azimuth-info
Input Port Group Description: Used to get azimuth information from the actuator.

DtAnalogInputPort* DtBaseMountingController::myNominalAzimuthPort

protected

Input Port Name: nominal-azimuth
Input Port Description: Nominal azimuth value.
Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info.

DtAnalogInputPort* DtBaseMountingController::myAzimuthRangePort

protected

Input Port Name: azimuth-range
Input Port Description: Azimuth sweep range.
Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info.

DtAnalogInputPort* DtBaseMountingController::myMaxAzimuthRatePort

protected

Input Port Name: azimuth-rate
Input Port Description: Max azimuth rate.
Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info.

DtIntegerInputPort* DtBaseMountingController::myAzimuthPartTypePort

protected

Input Port Name: azimuth-part-type
Input Port Description: Type of articulated part.
Input Port Range:
Input Port Default Value:
Input Group Parent: azimuth-info.

DtInputPortGroup* DtBaseMountingController::myElevationInfoPortGroup

protected

Input Port Group Name: elevation-info
Input Port Group Description: Used to get elevation information from the actuator.

DtAnalogInputPort* DtBaseMountingController::myNominalElevationPort

protected

Input Port Name: nominal-elevation Input Port Description: Nominal elevation value.
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtAnalogInputPort* DtBaseMountingController::myElevationRangePort

protected

Input Port Name: elevation-range Input Port Description: Elevation sweep range
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtAnalogInputPort* DtBaseMountingController::myMaxElevationRatePort

protected

Input Port Name: elevation-rate Input Port Description: Max elevation rate
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtIntegerInputPort* DtBaseMountingController::myElevationPartTypePort

protected

Input Port Name: elevation-part-type Input Port Description: Type of articulated part
Input Port Range:
Input Port Default Value:
Input Group Parent: elevation-info.

DtOutputPortGroup* DtBaseMountingController::myMountingControlPortGroup

protected

Output Port Group Name: mounting-control
Output Port Group Description: Accepts output from the missile launcher controller and indirect fire controller.

DtConstrainedAnalogOutputPort* DtBaseMountingController::myAzimuthPort

protected

Output Port Name: azimuth Output Port Description: A fraction of the actuator's maximum slew rate at which the actuator should turn.
Output Port Range: -1. to 1.
Output Port Default Value:
Output Group Parent: mounting-control.

DtConstrainedAnalogOutputPort* DtBaseMountingController::myElevationPort

protected

Output Port Name: elevation Output Port Description: A fraction of the actuator's maximum slew rate at which the actuator should turn.
Output Port Range: -1. to 1.
Output Port Default Value:
Output Group Parent: mounting-control.

makVrf::DtArticulatedPartStateRepository* DtBaseMountingController::myAzimuthMountPart

protected

makVrf::DtArticulatedPartStateRepository* DtBaseMountingController::myElevationMountPart

protected

makVrf::DtArticulatedPartStateRepository* DtBaseMountingController::myChildSimBody

protected

DtReal DtBaseMountingController::myDesiredAzimuth

protected

Desired azimuth angle relative to the body.

DtReal DtBaseMountingController::myDesiredElevation

protected

Desired elevation angle relative to the body.

DtReal DtBaseMountingController::myAngleApproxMargin

protected

To prevent endless fine adjustments to the azimuth and elevation we'll use a constant margin to determine when the azimuth and elevation are close enough.

DtPlatformLocalObjectFacade DtBaseMountingController::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/baseMountingController.h