DtExtendablePartActuator Class Reference

DtExtendablePartActuator is a simple actuator which controls the movement of an articulated part as it extends out. It takes boolean input on a port to determine the requested position, and then swings the articulated part between the specified extended and unextended positions based on the specified rate. The part cannot be stopped at intermediate positions with this actuator. This actuator also provides feedback on an output port about the current position of the articulated part, whether it is extended, unextended or in transition.

Uses Descriptor Type: DtExtendablePartActuatorDescriptor

Inheritance diagram for DtExtendablePartActuator:

Public Member Functions
	DtExtendablePartActuator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtExtendablePartActuator ()
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	extend ()
virtual void	extendWithRate (double rate)
virtual void	reset ()
virtual void	retract ()
virtual void	retractWithRate (double rate)
virtual bool	isExtended () const
virtual bool	isRetracted () 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 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
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 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< DtExtendablePartActuator >
	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 Types
enum	DtPartState { State_Retracted = 0, State_In_Transision = 1, State_Extended = 2 }
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

Protected Member Functions
virtual bool	createPorts ()
virtual DtExtendablePartActuatorPSR *	createPSR ()
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
virtual bool	createPortGroups ()
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 *	myArtPartStateRep
const DtExtendablePartActuatorDescriptor *	myDescriptor
DtExtendablePartActuatorPSR *	myProcessState
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
Ports and Port Groups
DtIntegerOutputPort *	myCurrentStateOutputPort
DtBooleanInputPort *	myRequestedStateInputPort
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

Private Member Functions
	DtExtendablePartActuator ()
	DtExtendablePartActuator (const DtExtendablePartActuator &orig)
const DtExtendablePartActuator &	operator= (const DtExtendablePartActuator &orig)

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

Member Enumeration Documentation

enum DtExtendablePartActuator::DtPartState

protected

Enumerator
State_Retracted
State_In_Transision
State_Extended

Constructor & Destructor Documentation

DtExtendablePartActuator::DtExtendablePartActuator	(	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 DtExtendablePartActuator::~DtExtendablePartActuator ( )

virtual

destructor

DtExtendablePartActuator::DtExtendablePartActuator ( )

private

default constructor; not implemented

DtExtendablePartActuator::DtExtendablePartActuator ( const DtExtendablePartActuator &  orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtExtendablePartActuator::init ( )

virtual

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

Reimplemented from DtActuatorComponent.

virtual bool DtExtendablePartActuator::postAddComponentsInit ( )

virtual

Overridden to set the values on myAzimuthInfoPortGroup.

Reimplemented from DtSimComponent.

virtual const char* DtExtendablePartActuator::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

DtExtendablePartActuatorType

Implements DtSimComponent.

virtual void DtExtendablePartActuator::tick ( )

virtual

Calculate new kinematic state.

Reimplemented from DtSimComponent.

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

static

Parameters

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

Returns

New instance of this class.

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

virtual

Override to bind lua globals.

Implements DtBindableLuaComponentInterface.

virtual void DtExtendablePartActuator::extend ( )

virtual

Methods accessible via Lua extensions Schedules to open the extendable part Optionally specify a rate to extend.

virtual void DtExtendablePartActuator::extendWithRate ( double  rate )

virtual

Methods accessible via Lua extensions Schedules to open the extendable part Optionally specify a rate to extend.

virtual void DtExtendablePartActuator::reset ( )

virtual

Resets art part such that controllers can take control of art part after open/close.

Reimplemented from DtReaderWriter.

virtual void DtExtendablePartActuator::retract ( )

virtual

Schedules to retraction the extendable part Optionally specify a rate to close.

virtual void DtExtendablePartActuator::retractWithRate ( double  rate )

virtual

Methods accessible via Lua extensions Schedules to open the extendable part Optionally specify a rate to extend.

virtual bool DtExtendablePartActuator::isExtended ( ) const

virtual

Returns true if part is extended.

virtual bool DtExtendablePartActuator::isRetracted ( ) const

virtual

Returns true if part is retracted.

virtual bool DtExtendablePartActuator::createPorts ( )

protectedvirtual

Overridden to create azimuth ports.

Reimplemented from DtSimComponent.

virtual DtExtendablePartActuatorPSR* DtExtendablePartActuator::createPSR ( )

protectedvirtual

Creates myProcessState data member, and adds it to our process state repository manager. Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

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

private

assignment operator; not implemented

Member Data Documentation

DtIntegerOutputPort* DtExtendablePartActuator::myCurrentStateOutputPort

protected

Output Port Name: current-state
Output Port Description: Current extension state.
Output Port Range: 0: UNEXTENDED, 1: IN_TRANSITION, 2: EXTENDED
.

DtBooleanInputPort* DtExtendablePartActuator::myRequestedStateInputPort

protected

Output Port Name: requested-state
Output Port Description: The requested state for this extendable part. True is extended, false is unextended.
Output Port Range:
Output Port Default Value:
.

makVrf::DtArticulatedPartStateRepository* DtExtendablePartActuator::myArtPartStateRep

protected

The state repository that represents the extendable articulated part.

const DtExtendablePartActuatorDescriptor* DtExtendablePartActuator::myDescriptor

protected

DtExtendablePartActuatorPSR* DtExtendablePartActuator::myProcessState

protected

Container for state data associated with this component such as whether it is in the closed or opened position. This state is saved and restored as part of a scenario (or checkpoint).

DtPlatformLocalObjectFacade DtExtendablePartActuator::myPlatformLocalObjectFacade

protected

---

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

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