DtObjectSensor Class Reference

DtObjectSensor is a base level sensor component.

End User Description: Manages a filtered list of detectable targets, as specified in the descriptor, and sets up infrastructure for specific sensor types to run their algorithms on the list. Manages sending of sensor data to the GUI though messages. Manages sensor geometry. Configuring a DtObjectSensor on an entity will cause it to detect all entities of types specified in the descriptor within the geometric region specified by the sensor geometry. No tests for terrain obstruction or sensor signatures will be done. For this functionality, use a DtSignatureObjectSensor.

Uses Descriptor Type: DtObjectSensorDescriptor.

Inheritance diagram for DtObjectSensor:

Classes
struct	DtProcessObjectsState

Public Types
enum	ContinueDetectingResult { DetectionLost = 0, DetectionContinued = 1, DetectionMissed = 2 }
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 )()

Public Member Functions
	DtObjectSensor (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtObjectSensor ()
virtual bool	init ()
virtual bool	postAddComponentsInit ()
virtual void	preFirstTickInit ()
virtual const char *	type () const
virtual void	tick ()
virtual bool	tickWhileDestroyed () const
virtual int	sensorType () const
virtual void	enable ()
virtual void	disable ()
virtual void	setIsEnabled (bool yesNo)
virtual void	setTypesToDetectForTask (const DtRwObjectTypeList &objectTypes)
virtual void	clearTypesToDetectForTask ()
virtual const DtRwObjectTypeList &	typesToDetectForTask () 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	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 bool	isEnabled ()
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)

Protected Attributes
DtManagedObjectListConstPtr	myDetectableObjectList
const DtObjectSensorDescriptor *	myObjectSensorDescriptor
DtObjectSensorPSR *	myProcessState
DtObjectSensorMonitor *	myMonitor
DtSpatialFilterEvaluator *	mySensorGeometryEvaluator
DtForceType	myForceType
const DtSimObject *	myMutableObjectCached
bool	myMutableObjectRangeCalculated
double	myMutableObjectRangeCache
bool	myMutableObjectRangeSquaredCalculated
double	myMutableObjectRangeSquaredCache
bool	myGeometrySetup
bool	myPrep_invokeNewContactCallbacks
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
DtBoost::shared_ptr < DtProcessObjectsState >	myProcessObjectsState
Ports and Port Groups
DtSensorContactListOutputPort *	myDetectedObjectListPort
DtObjectTypesListMultiInputPort *	myObjectsToDetectInputPort
DtInputPortGroup *	mySensorOffsetInputPortGroup
DtOrientationInputPort *	myOrientationInputPort
DtVectorInputPort *	myPositionInputPort
DtStringInputPort *	myTargetObjectInputPort
DtVectorInputPort *	myTargetLocationInputPort
DtIntegerInputPort *	myTrackingModeInputPort
DtBooleanInputPort *	myTargetAcquiredInputPort
Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity
DtComponentSystem *	mySystem
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
bool	myFirstTick
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
bool	myTickEveryFrame
makVrf::DtTaskVisualizationMap	myTaskVisualizations
double	myNextTaskVisTickTime
DtSymbolString	myFullComponentName
DtSimulationServices *	mySimServices
DtPredicateCallbackManager	myPredicateCallbackManager
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
bool	myInvalid
bool	myChangedFlag

Private Member Functions
	DtObjectSensor ()
	DtObjectSensor (const DtObjectSensor &orig)
const DtObjectSensor &	operator= (const DtObjectSensor &orig)
virtual bool	setTypesToDetectAttribute (DtReaderWriter *val)
static bool	setTypesToDetectAttribute (void *ctrlr, DtReaderWriter *val)
virtual bool	clearTypesToDetect (DtReaderWriter *val)
static bool	clearTypesToDetect (void *ctrlr, DtReaderWriter *val)
virtual DtReaderWriter *	getSensorPositionAttribute ()
virtual void	setSensorEnabled (bool enabled)
virtual bool	sensorEnabled () const
static DtReaderWriter *	getSensorPositionAttribute (void *ctrlr)
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual bool	createPortGroups ()
virtual bool	createPorts ()
virtual DtObjectSensorPSR *	createPSR ()
virtual const char *	defaultPSRType () const
virtual void	initSensorRangeRing ()
virtual void	updateDetectableObjectsList ()
virtual bool	initSensorGeometry ()
virtual void	setupGeometryForDetection ()
virtual DtVector	localSensorPosition () const
virtual DtVector	bodySensorPosition () const
virtual DtTaitBryan	localSensorOrientation () const
virtual DtTaitBryan	bodySensorOrientation () const
virtual DtUUID	targetObject () const
virtual DtVector	targetLocation () const
virtual DtSensorTrackingMode	trackingMode () const
virtual void	processObjects ()
virtual void	processObjectsSlice (const DtInterruptFlag &timer)
virtual bool	detectObject (DtSimObjectReference object, DtRwSensorContactInfo *contactInfo)
virtual ContinueDetectingResult	continueDetectingObject (DtSimObjectReference object, DtRwSensorContactInfo *contactInfo, bool &contactInfoModified)
virtual bool	objectWithinSensorGeometry (const DtSimObject *object) const
virtual bool	sensorGeometryExtent (DtExtent &extent) const
virtual double	rangeSquaredToObject (const DtSimObject *object) const
virtual double	rangeToObject (const DtSimObject *object) const
virtual void	clearObjectRangeCache () const
virtual void	printTargets () const
virtual void	updateDetectedObjectListPort ()
virtual bool	createAndInitSensorMonitor ()
virtual bool	objectInDetectableList (const DtSimObject *) const
virtual void	processHostilitiesChanged (DtU8 force)
virtual DtTaitBryan	worldOrientationOfObject (const DtSimObject *object) const
virtual bool	canDetectForceOfObject (const DtSimObject *)
virtual void	processSetSensorEnabledRequestMessage (DtSimMessage *msg)
virtual void	notifyContactsChanged ()
static void	hostilitiesChangedCallback (DtU8 force, void *usr)
static void	setSensorEnabledRequestCallback (DtSimMessage *msg, void *usrData)

Additional Inherited Members
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 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 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)
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 DtObjectSensor::ContinueDetectingResult

Enumerator
DetectionLost
DetectionContinued
DetectionMissed

Constructor & Destructor Documentation

DtObjectSensor::DtObjectSensor ( )

private

default constructor; not implemented

DtObjectSensor::DtObjectSensor ( const DtObjectSensor &  orig )

private

copy constructor; not implemented

DtObjectSensor::DtObjectSensor	(	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 DtObjectSensor::~DtObjectSensor ( )

virtual

destructor

Member Function Documentation

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

private

assignment operator; not implemented

virtual bool DtObjectSensor::init ( )

virtual

Calls createPSR(), createDetectableObjectList(), createAndInitSensorMonitor() and initSensorGeometry(). This must be called after construction and before the sensor is used on an entity.

Reimplemented from DtSimComponent.

Reimplemented in DtRadarObjectSensor, DtSignatureObjectSensor, DtPassiveSonarSensor, DtSearchRescueSensor, DtActiveSonarSensor, DtNbcSensor, and DtEngineeringObjectSensor.

virtual bool DtObjectSensor::postAddComponentsInit ( )

virtual

Called after all components have been created, initialized and added to the component manager. Ensures output ports have been activated and pre-populated before any other components looks for the data on their input ports.

Reimplemented from DtSimComponent.

virtual void DtObjectSensor::preFirstTickInit ( )

virtual

Initializes the component before it is ticked for the first time. It is called by timedTick if myFirstTick is true.

Reimplemented from DtSimComponent.

Reimplemented in DtActiveSonarSensor, DtRadarObjectSensor, and DtSearchRescueSensor.

virtual const char* DtObjectSensor::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

DtObjectSensorType

Implements DtSimComponent.

Reimplemented in DtRadarObjectSensor, DtSignatureObjectSensor, DtSearchRescueSensor, DtPassiveSonarSensor, DtActiveSonarSensor, DtNbcSensor, DtEngineeringObjectSensor, and DtBeaconRadarObjectSensor.

virtual void DtObjectSensor::tick ( )

virtual

Processes only if the simulation is not paused. Calls attemptToActivate() on myDetectedObjectListPort. Calls clearObjectRangeCache(). Calls setupGeometryForDetection() Calls processObjects(). When processObjects() returns true, calls notifyTargetsChanged() on the DtObjectSensorModitor. Calls updateDetectedObjectListPort().

Reimplemented from DtSimComponent.

Reimplemented in DtRadarObjectSensor, DtSignatureObjectSensor, DtSearchRescueSensor, DtActiveSonarSensor, DtNbcSensor, and DtEngineeringObjectSensor.

virtual bool DtObjectSensor::tickWhileDestroyed ( ) const

virtual

Returns

true. This sensor ticks when the entity is destroyed so that it can notify any subscribed GUIs that it is no longer detecting objects.

Reimplemented from DtSimComponent.

virtual int DtObjectSensor::sensorType ( ) const

virtual

Returns

an enumeration indicating what type of sensor this is. (Visual, radar, etc) Types specified in ifSensorData.h

Reimplemented in DtSignatureObjectSensor, DtRadarObjectSensor, DtSearchRescueSensor, DtPassiveSonarSensor, DtActiveSonarSensor, DtNbcSensor, DtEngineeringObjectSensor, and DtBeaconRadarObjectSensor.

virtual void DtObjectSensor::enable ( )

virtual

Overridden to clear out the target list and update the monitor so that the sensor contact list will be cleared out in the front-end when the sensor is disabled.

Reimplemented from DtSimComponent.

virtual void DtObjectSensor::disable ( )

virtual

Overridden to clear out the target list and update the monitor so that the sensor contact list will be cleared out in the front-end when the sensor is disabled.

Reimplemented from DtSimComponent.

virtual void DtObjectSensor::setIsEnabled ( bool  yesNo )

virtual

Overridden to clear out the target list and update the monitor so that the sensor contact list will be cleared out in the front-end when the sensor is disabled.

Reimplemented from DtSimComponent.

virtual void DtObjectSensor::setTypesToDetectForTask ( const DtRwObjectTypeList &  objectTypes )

virtual

Set or clear the dynamic list of object types to detect. This is useful for a task that wants to look for a type of object; the task should clear this when it is done.Set types. The types are saved in the PSR. Calls updateDetectbaleObjectsList.

virtual void DtObjectSensor::clearTypesToDetectForTask ( )

virtual

Clear all types. Should be called when the task is done.

virtual const DtRwObjectTypeList& DtObjectSensor::typesToDetectForTask ( ) const

virtual

Gets the type list.

static bool DtObjectSensor::setTypesToDetectAttribute ( void *  ctrlr, DtReaderWriter *  val  )

static

Attribute set functions to accept types to detect or clear the list of task-specific types. The static functions are registered as callbacks, and the virtual functions perform the set.This function accepts a value that is a single string representing a list of types. Each type is a colon-separated set of 8 integers (object types), and types are separated by commas.

virtual bool DtObjectSensor::setTypesToDetectAttribute ( DtReaderWriter *  val )

virtual

Attribute set functions to accept types to detect or clear the list of task-specific types. The static functions are registered as callbacks, and the virtual functions perform the set.This function accepts a value that is a single string representing a list of types. Each type is a colon-separated set of 8 integers (object types), and types are separated by commas.

static bool DtObjectSensor::clearTypesToDetect ( void *  ctrlr, DtReaderWriter *  val  )

static

This function ignores the value passed in. It clears the list of types.

virtual bool DtObjectSensor::clearTypesToDetect ( DtReaderWriter *  val )

virtual

This function ignores the value passed in. It clears the list of types.

static DtReaderWriter* DtObjectSensor::getSensorPositionAttribute ( void *  ctrlr )

static

Attribute get function to retrieve the sensor position. The static function is registered as a callback, and the virtual function performs the get.This function retrieves the sensor offset position, as a vector, and returns it as an offset vector.

virtual DtReaderWriter* DtObjectSensor::getSensorPositionAttribute ( )

virtual

Enables or disables this sensor.

virtual void DtObjectSensor::setSensorEnabled ( bool  enabled )

virtual

Enables or disables this sensor.

Reimplemented in DtSignatureObjectSensor, DtRadarObjectSensor, and DtActiveSonarSensor.

virtual bool DtObjectSensor::sensorEnabled ( ) const

virtual

Whether this sensor is enabled or disabled.

static DtSimComponent* DtObjectSensor::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 DtObjectSensor::createPortGroups ( )

protectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

Reimplemented in DtSignatureObjectSensor.

virtual bool DtObjectSensor::createPorts ( )

protectedvirtual

Creates the target list port.

Reimplemented from DtSimComponent.

Reimplemented in DtSignatureObjectSensor.

virtual DtObjectSensorPSR* DtObjectSensor::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.

virtual const char* DtObjectSensor::defaultPSRType ( ) const

protectedvirtual

Returns

DtVrfObjectSensorProcessStateRepositoryType. Derived classes may override this to return their own default PSR type, if a different PSR type is desired.

Reimplemented in DtRadarObjectSensor, DtPassiveSonarSensor, DtActiveSonarSensor, and DtSignatureObjectSensor.

virtual void DtObjectSensor::initSensorRangeRing ( )

protectedvirtual

Adds a sensor range ring to the range rings published for this object with the system-name.sensor-name as the title. If there is no range evaluator for this sensor in the sensor geometry (max range) then a ring for this sensor will not be added.

virtual void DtObjectSensor::updateDetectableObjectsList ( )

protectedvirtual

Sets up myDetectableObjectList as a list that contains all entity types/forces specified in both the descriptor and the myObjectsToDetectInputPort input port. DtTargetSelectionController and DtSpotReportGeneratorController are examples of controllers that provide lists of types of objects to detect. Uses objectTypeForcePredicate() to create the predicate for each type/force specified.

virtual bool DtObjectSensor::initSensorGeometry ( )

protectedvirtual

Creates the geometry evaluator based on the sensor-geometry entry in the descriptor, and the sensor geometry evaluator factory.

virtual void DtObjectSensor::setupGeometryForDetection ( )

protectedvirtual

Sets up the current sensor geometry evaluator with the current position and orientation of the sensor. Called once per detection cycle.

Reimplemented in DtSignatureObjectSensor.

virtual DtVector DtObjectSensor::localSensorPosition ( ) const

protectedvirtual

Returns

The position of the sensor in local coordinates. If myPositionInputPort is active, this offset it used, otherwise it returns the entity's origin position.

virtual DtVector DtObjectSensor::bodySensorPosition ( ) const

protectedvirtual

Returns

The position of the sensor in body coordinates. If myPositionInputPort is active, this offset it used, otherwise it returns the entity's origin position (i.e. 0,0,0).

virtual DtTaitBryan DtObjectSensor::localSensorOrientation ( ) const

protectedvirtual

Returns

The orientation of the sensor in local coordinates. If myOrientationInputPort is active, this orientation is used, otherwise it is just the entity's orientation.

virtual DtTaitBryan DtObjectSensor::bodySensorOrientation ( ) const

protectedvirtual

Returns

The orientation of the sensor in body coordinates. If myOrientationInputPort is active, this orientation is used, otherwise it is just the entity's orientation (i.e. 0,0,0).

virtual DtUUID DtObjectSensor::targetObject ( ) const

protectedvirtual

Returns

The name of the target object of the sensor. If myTargetObjectInputPort is not active, no target is assumed.

virtual DtVector DtObjectSensor::targetLocation ( ) const

protectedvirtual

Returns

The target location of the sensor. If myTargetLocationInputPort is not active, no target is assumed.

virtual DtSensorTrackingMode DtObjectSensor::trackingMode ( ) const

protectedvirtual

Returns

The tracking mode of the sensor. If #myTrackingModePort is not active, assume FixedAngle.

virtual void DtObjectSensor::processObjects ( )

protectedvirtual

Checks detectability of each of the detectable objects. This is done by calling continueDetectingObject() for all objects previously detected. For any that return false, they are removed from the list. For all objects that weren't previously detected, detectObject() is called. For any where the return value is true, they are added to the detected objects list in the PSR.

Reimplemented in DtRadarObjectSensor.

virtual void DtObjectSensor::processObjectsSlice ( const DtInterruptFlag &  timer )

protectedvirtual

Enables or disables this sensor.

virtual bool DtObjectSensor::detectObject ( DtSimObjectReference  object, DtRwSensorContactInfo *  contactInfo  )

protectedvirtual

Returns

true if the specified object should be detected by the sensor, when it has not been detected on the previous detection cycle. Deriving classes should override this to implement their own detection constraints. A blank DtRwSensorContactInfo structure is provided, and may be filled in by deriving class code. This implementation returns true if objectWithinSensorGeometry() returns true, and the entity meets the detectDestroyedObjects criteria.

Reimplemented in DtRadarObjectSensor, DtSignatureObjectSensor, DtPassiveSonarSensor, DtSearchRescueSensor, DtActiveSonarSensor, DtNbcSensor, DtEngineeringObjectSensor, and DtBeaconRadarObjectSensor.

virtual ContinueDetectingResult DtObjectSensor::continueDetectingObject ( DtSimObjectReference  object, DtRwSensorContactInfo *  contactInfo, bool &  contactInfoModified  )

protectedvirtual

Returns

true if the specified object should continue to be detected by the sensor, when it was detected on the previous detection cycle. Deriving classes should override this to implement their own detection constraints. The current DtRwSensorContactInfo structure is provided for this contact, and may be modified in deriving class code. If any modifications are made, contactInfoModified should be set to true for notification of the ObjectSensorMonitor. This implementation returns true if objectWithinSensorGeometry() returns true, and the entity meets the detectDestroyedObjects criteria.

Reimplemented in DtRadarObjectSensor, DtSignatureObjectSensor, DtSearchRescueSensor, DtPassiveSonarSensor, DtActiveSonarSensor, DtNbcSensor, DtEngineeringObjectSensor, and DtBeaconRadarObjectSensor.

virtual bool DtObjectSensor::objectWithinSensorGeometry ( const DtSimObject *  object ) const

protectedvirtual

Returns

true only if the specified object is within the defined geometry of the sensor. Uses the sensor geometry evaluator. Also checks whether or not this item is invisible. If it is it is not within the geometry

virtual bool DtObjectSensor::sensorGeometryExtent ( DtExtent &  extent ) const

protectedvirtual

Calculates an extent encompassing the entire sensor geometry and returns it in extent. The extent will be set in local coordinates.

Returns

True if a valid extent is calculated, or false if the extent cannot be calculated.

virtual double DtObjectSensor::rangeSquaredToObject ( const DtSimObject *  object ) const

protectedvirtual

Returns

the square of the range from the host object to the specified object. Uses the objectRangeCache to avoid recalculation when possible.

virtual double DtObjectSensor::rangeToObject ( const DtSimObject *  object ) const

protectedvirtual

Returns

the range from the host object to the specified object. Uses the objectRangeCache to avoid recalculation when possible.

virtual void DtObjectSensor::clearObjectRangeCache ( ) const

protectedvirtual

Invalidates the current object range cache.

virtual void DtObjectSensor::printTargets ( ) const

protectedvirtual

Prints the current target list to the console.

virtual void DtObjectSensor::updateDetectedObjectListPort ( )

protectedvirtual

Clears the list port, then adds all target infos from the previous target list in the PSR, and sends the data.

virtual bool DtObjectSensor::createAndInitSensorMonitor ( )

protectedvirtual

Creates a DtObjectSensorMonitor, and calls init() on it.

virtual bool DtObjectSensor::objectInDetectableList ( const DtSimObject *  ) const

protectedvirtual

Returns true if the object is in the myDetectableObjectList.

static void DtObjectSensor::hostilitiesChangedCallback ( DtU8  force, void *  usr  )

staticprotected

If who were hostile towards has changed we will need to update our myDetectableObjectList.

virtual void DtObjectSensor::processHostilitiesChanged ( DtU8  force )

protectedvirtual

Enables or disables this sensor.

virtual DtTaitBryan DtObjectSensor::worldOrientationOfObject ( const DtSimObject *  object ) const

protectedvirtual

Given the object, if this is a single point object return the orientation in the state data else return orientation as calculated for multi-point objects (closed figure is origin to first point, non-closed is origin to last point). The resultant orientation is a geocentric orientation.

virtual bool DtObjectSensor::canDetectForceOfObject ( const DtSimObject *  )

protectedvirtual

Return false if the force of the object supplied cannot be detected by this force. Currently will only return false if an intelligence object that cannot be detected by this force.

static void DtObjectSensor::setSensorEnabledRequestCallback ( DtSimMessage *  msg, void *  usrData  )

staticprotected

Static callback method for setSensorEnabled messages. Calls processSetSensorEnabledRequestMessage().

virtual void DtObjectSensor::processSetSensorEnabledRequestMessage ( DtSimMessage *  msg )

protectedvirtual

Calls setSensorEnabled() with the value specified in the message if the message matches our sensor name.

virtual void DtObjectSensor::notifyContactsChanged ( )

protectedvirtual

Provides various notifications (sensor monitor, output port) of changes to sensor contacts.

Member Data Documentation

DtSensorContactListOutputPort* DtObjectSensor::myDetectedObjectListPort

protected

Outputs:

Output Port Name: detected-objects
Output Port Description: The list of contacts detected by this sensor.
Output Port Range:
Output Port Default Value:
Output Group Parent:

DtObjectTypesListMultiInputPort* DtObjectSensor::myObjectsToDetectInputPort

protected

Inputs: 
 DtObjectTypesListMultiInputPort : object-types-to-detect

Input Port Name: object-types-to-detect
Input Port Description: List of contacts to be considered for target selection. As many contact lists as desired can be connected and work simultaneously.
Input Port Range:
Input Port Default Value:
Input Group Parent: object-types-to-detect

DtInputPortGroup* DtObjectSensor::mySensorOffsetInputPortGroup

protected

Input Port Group Name: sensor-offset
Input Port Group Description: Allows an external controller to provide position and orientation of the sensor relative to the entity's position.

DtOrientationInputPort* DtObjectSensor::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* DtObjectSensor::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. If this port is not connected localSensorPosition() simply returns the local position of the entity.
Input Port Range:
Input Port Default Value: 0,0,0
Input Group Parent: sensor-offset.

DtStringInputPort* DtObjectSensor::myTargetObjectInputPort

protected

Input Port Name: target-object
Input Port Description: Specifies the name of the object be targeted by this sensor. Can give context to sensor orientation.
Input Port Range:
Input Port Default Value: ""
Input Group Parent:

DtVectorInputPort* DtObjectSensor::myTargetLocationInputPort

protected

Input Port Name: target-location
Input Port Description: Specifies the location to be targeted by this sensor. Can give context to sensor orientation.
Input Port Range:
Input Port Default Value: ""
Input Group Parent:

DtIntegerInputPort* DtObjectSensor::myTrackingModeInputPort

protected

Input Port Name: tracking-mode
Input Port Description: Specifies the tracking mode of the sensor.
Input Port Range: Values specified by DtSensorTrackingMode enum
Input Port Default Value: ""
Input Group Parent:

DtBooleanInputPort* DtObjectSensor::myTargetAcquiredInputPort

protected

Input Port Name: target-acquired
Input Port Description: Specifies whether the sensor was able to acquire the target.
Input Port Range:
Input Port Default Value: ""
Input Group Parent:

DtManagedObjectListConstPtr DtObjectSensor::myDetectableObjectList

protected

const DtObjectSensorDescriptor* DtObjectSensor::myObjectSensorDescriptor

protected

DtObjectSensorPSR* DtObjectSensor::myProcessState

protected

Container for state data associated with this component. This state is saved and restored as part of a scenario (or checkpoint).

DtObjectSensorMonitor* DtObjectSensor::myMonitor

protected

Sends out sensor contact information to the GUI if the GUI or other application has requested the information.

DtSpatialFilterEvaluator* DtObjectSensor::mySensorGeometryEvaluator

protected

DtForceType DtObjectSensor::myForceType

protected

The force type the last time the detectable object list was updated.

const DtSimObject* DtObjectSensor::myMutableObjectCached

mutableprotected

The VrfObject whose range is currently cached.

bool DtObjectSensor::myMutableObjectRangeCalculated

mutableprotected

Keeps track of whether the range has been calculated for the current cached object.

double DtObjectSensor::myMutableObjectRangeCache

mutableprotected

The current range to the cached object, if calculated.

bool DtObjectSensor::myMutableObjectRangeSquaredCalculated

mutableprotected

Keeps track of whether the range squared has been calculated for the current cached object.

double DtObjectSensor::myMutableObjectRangeSquaredCache

mutableprotected

The current range squared to the cached object, if calculated.

bool DtObjectSensor::myGeometrySetup

protected

Whether setupGeometryForDetection() has been called yet.

bool DtObjectSensor::myPrep_invokeNewContactCallbacks

protected

DtPlatformLocalObjectFacade DtObjectSensor::myPlatformLocalObjectFacade

protected

DtBoost::shared_ptr<DtProcessObjectsState> DtObjectSensor::myProcessObjectsState

protected

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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/objectSensor.h