DtSurfaceEntityFollowEntityController is a controller that models station keeping behavior for surface entities.

Inheritance diagram for DtSurfaceEntityFollowEntityController:

Public Member Functions
	DtSurfaceEntityFollowEntityController (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSurfaceEntityFollowEntityController ()

virtual const char *	type () const

virtual bool	init ()

virtual void	processFollowEntityTask (DtSimMessage *msg)

virtual void	registerTaskMsgCallbacks ()

virtual void	tick ()

virtual void	clearTask ()

virtual bool	createSurfaceControlPortGroup ()

Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick ()

virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)

virtual void	taskNotify (const DtSimTask &task)

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

virtual std::vector< int >	currentPendingSubstaskIds () const

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual DtSimTaskStatePtr	currentTaskState () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const

virtual bool	clearTopLevelTasks ()

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)

virtual void	clearTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId)

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId)

virtual std::list < DtTaskMessage * >	currentTaskMessages () const

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const

virtual void	disable ()

Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtTaskControllerComponent ()

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio)

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	enable ()

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const

virtual void	setTasked (bool tasked)

virtual bool	tasked () const

Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtControllerComponent ()

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	disableTaskTypes ()

Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSimComponent ()

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod)

virtual double	minTickPeriod () const

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)

virtual double	minTickPeriodVariance () const

virtual void	setNextTickTime (double nextTickTime)

virtual double	nextTickTime () const

virtual double	calculateNextTickTime () const

virtual double	calculateFirstTickTime () const

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

virtual void	putData (std::string &fp, int indentLevel=0)

virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)

virtual void	addInputPort (DtInputPort *port)

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)

virtual DtList	inputPortList () const

virtual void	addOutputPort (DtOutputPort *port)

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)

virtual DtList	outputPortList () const

virtual void	addInputPortGroup (DtInputPortGroup *group)

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)

virtual DtList	inputPortGroupList () const

virtual void	addOutputPortGroup (DtOutputPortGroup *group)

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)

virtual DtList	outputPortGroupList () const

virtual int	priority () const

virtual void	setPriority (int priority)

double	dT () const

virtual void	setDT (double deltaT)

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual const DtComponentDescriptor *	componentDescriptor () const

virtual bool	tickWhileDestroyed () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()

const DtPhysicalWorld *	physicalWorld () const

const DtAttachedTerrain *	terrainAttachedTo () const

DtLocalObject *	entity ()

const DtLocalObject *	entity () const

DtSimulationServices *	simulationServices ()

const DtSimulationServices *	simulationServices () const

const Coordinate_System *	coordinateSystem () const

virtual bool	taskVisualizationsEnabled () const

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

virtual bool	isEnabled ()

virtual void	setIsEnabled (bool yesNo)

virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const

virtual int	notifyLevel () const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

VRF4API_METHOD const DtSimulationServices *	simManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()

	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)

const DtReaderWriter &	operator= (const DtReaderWriter &orig)

bool	operator== (const DtReaderWriter &) const

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()

virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual void	postPutSelf ()

virtual void	prePutSelf ()

virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

virtual void	postGetSelf ()

virtual void	preGetSelf ()

virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual DtSymbolString	name () const

virtual void	addAlias (const DtSymbolString &alias)

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)

bool	isReadonly () const

virtual void	reset ()

virtual int	alignment () const

virtual bool	variableIsBound () const

virtual void	unbindVariable ()

virtual void	setName (const DtString &)

virtual const char *	readerWriterType () const

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)

virtual std::list < DtVariableNameType >	unboundVariables () const

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const

virtual bool	hasVariableReference () const

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)

virtual void	recordUpdateTime () const

virtual bool	wasUpdatedSince (DtTime t) const

virtual bool	changedSinceLastChecked ()

virtual bool	peekChangedSinceLastChecked () const

virtual void	setValueSpecified (bool specified, bool recurse=false)

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()

virtual DtSymbolString	variableName () const

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)

virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

const DtReaderWriterRegistry &	registry () const

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const

virtual bool	toXml (const DtFilename &) const

virtual bool	fromXml (const DtString &)

virtual bool	fromXmlFile (const DtFilename &)

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static void	followEntityCallback (DtSimMessage msg, void usrData)

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

Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage msg, void usr, DtSimTaskStatePtr taskState)

Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()

static void	setFactory (DtSimComponentFactory *factory)

static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject owner, DtSimulationServices simManager, DtComponentSystem parentSystem, DtComponentDescriptor desc=0, DtReaderWriterRegistry *parentRegistry=0)

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)

static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()

static const DtFilename &	appPath ()

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual bool	setupControlPoint ()

virtual void	controlMovement ()

virtual void	moveTowardProjectedStationPosition (double distanceToStation, double approachDistance)

virtual void	moveBackToApproachPoint (bool onLeftSide, double approachDistance, double turnRadius)

virtual void	turnToProjectedStationLine (bool isOnLeft, double radius, double distanceToSegment)

virtual void	accelToCatchUp (double stationSpeed, double entitySpeed, double distanceBehindStation)

virtual void	accelToDropBack (double stationSpeed, double entitySpeed, double distanceAheadOfStation, double distanceFromLine)

virtual void	turnAtSpeed (double desiredHeading, double desiredSpeed)

virtual bool	willOverrunPoint (double distanceAhead, double distanceFromLine, double entitySpeed, double turnRadius, double pointSpeed, double maxWaitTime)

virtual double	calculateAcceleration (double desiredSpeed)

virtual double	limitAcceleration (double desiredAcceleration, double desiredSpeed)

virtual bool	createPortGroups ()

virtual bool	createPorts ()

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual bool	decideToGiveUpTask () const

virtual void	preFirstTickInit () override

	DtSurfaceEntityFollowEntityController ()

	DtSurfaceEntityFollowEntityController (const DtSurfaceEntityFollowEntityController &orig)

const DtSurfaceEntityFollowEntityController &	operator= (const DtSurfaceEntityFollowEntityController &orig)

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)

virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore ()

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()

bool	testInvariant () const

DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)

virtual void	updateTaskVisualizations ()

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)

virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)

virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)

virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)

void	removeSimObjectPredicateCallback (const DtSimObject , DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void userData=0)

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
DtVrfMovingObjectStateRepository *	myEntityState

DtSurfaceEntityPilotControllerDescriptor *	myDescriptor

const DtSurfaceEntityParameters *	myParameters

DtSurfaceMovementPSR *	myProcessState

DtReal	myApproachSpeed

bool	myIgnoreApproach

DtSurfFollowState	myFollowState

DtMovementSimObjectFacade	myLeaderPointerSimObjectFacade

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

Ports and Port Groups
Acceleration can be positive or negative.
DtAnalogOutputPort *	myAccelerationPort

DtAnalogOutputPort *	myClampSpeedPort

DtAnalogOutputPort *	myTurnRatePort

DtAnalogOutputPort *	myFinalHeadingPort

DtOutputPortGroup *	mySurfaceControlPortGroup


DtSimObjectReference	myLeaderPointer

DtLocation3D	myGeodCurrentPosition

DtVector2D	myNEStationToEntity

DtLocation3D	myGeodStationPosition

DtVector2D	myUnitNEStationDirection

double	myStationSpeed

Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap

std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList

bool	myTaskIsRunning

Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio

bool	myTaskTypesEnabled

bool	myInitialized

Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity

DtComponentSystem *	mySystem

DtListItem *	myListItem

DtInputPortMap	myInputPortList

DtOutputPortMap	myOutputPortList

DtInputPortGroupMap	myInputPortGroupList

DtOutputPortGroupMap	myOutputPortGroupList

int	myPriority

double	myMinTickPeriod

double	myMinTickPeriodVariance

double	myNextTickTime

double	myLastTickSimTime

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

bool	myTickEveryFrame

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager	myPredicateCallbackManager

Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName

DtReaderWriterRegistry	myRegistry

DtReaderWriterRegistry *	myParentRegistry

bool	myValueSpecified

bool	myReadOnlyFlag

bool	myIsVariableReference

DtSymbolString	myVariableName

bool	myVariableIsBound

DtReaderWriter *	myDefaultValue

aliasContainer	myAliases

bool	myInvalid

bool	myChangedFlag

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer

typedef std::vector < DtSymbolString >::iterator	aliasIter

typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter

typedef std::vector< DtFilename >	SearchPaths

typedef std::pair < DtSymbolString, DtString >	DtVariableNameType

typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()

Protected Types inherited from DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair

typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap

Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap

typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap

typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap

typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap

Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Constructor & Destructor Documentation

DtSurfaceEntityFollowEntityController::DtSurfaceEntityFollowEntityController	(	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 DtSurfaceEntityFollowEntityController::~DtSurfaceEntityFollowEntityController ( )

virtual

Destructor.

Deletes myControlPoint

DtSurfaceEntityFollowEntityController::DtSurfaceEntityFollowEntityController ( )

protected

Default constructor; not implemented.

DtSurfaceEntityFollowEntityController::DtSurfaceEntityFollowEntityController ( const DtSurfaceEntityFollowEntityController & orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual const char* DtSurfaceEntityFollowEntityController::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: DtSurfaceEntityFollowEntityType

Implements DtTaskControllerComponent.

virtual bool DtSurfaceEntityFollowEntityController::init ( )

virtual

Calls down to the base class and then caches a pointer to the state repository in mySurfaceEntityState.

Reimplemented from DtControllerComponent.

static void DtSurfaceEntityFollowEntityController::followEntityCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Called when a follow entity message is received.

Instances of this component will register this callback in registerTaskMsgCallbacks (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of follow entity tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processFollowEntityTask is called with the follow task message.

virtual void DtSurfaceEntityFollowEntityController::processFollowEntityTask ( DtSimMessage * msg )

virtual

Retrieves the entity to follow and offset from the task message.

Called by followEntityCallback to take the name of the entity to follow and the follow offset and store them in the process state repository. The name of the entity is also stored in the PSR as the control object name for debugging purposes.

virtual void DtSurfaceEntityFollowEntityController::registerTaskMsgCallbacks ( )

virtual

Registers interest in follow entity tasks by calling addTaskProcessorCallback with followEntityCallback as the function pointer, and the 'this' pointer as the user data.

Reimplemented from DtTaskControllerComponent.

virtual void DtSurfaceEntityFollowEntityController::tick ( )

virtual

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

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityFollowEntityController::clearTask ( )

virtual

Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtSurfaceEntityFollowEntityController::createSurfaceControlPortGroup ( )

virtual

Creates the surface control output port group.

virtual bool DtSurfaceEntityFollowEntityController::setupControlPoint ( )

protectedvirtual

Sets myControlPoint to the follow location.

Checks to make sure the leader is still valid. Updates the station location and velocity based on the leader. Velocity includes rotation of the offset position around the leader when the leader is rotating.

virtual void DtSurfaceEntityFollowEntityController::controlMovement ( )

protectedvirtual

Computes the acceleration and turn needed to follow the station.

Assesses the configuration of the entity relative to the station– station position and direction, station speed, entity speed, distance of entity from station and distance ahead (or behind) of entity's position projected onto the station's direction line; then

if far away, moves toward a projected station position;
if generally aligned with the station move direction, moves toward the direction line and adjusts speed to intercept the station going the same speed as the station;
if oriented opposite to the station direction, moves to an approach point behind and to the side of the station so it has room to turn around and approach the station from the rear;
if it is aligned with station direction but out in front, more than a threshold distance, and the station will not "catch up" to it in a threshold time, then the entity will circle back to an approach point.

The follow task is only allowed with forward movement. If the entity is moving backwards, it is first stopped.

Ordered speed is ignored, as the entity's task is to match the speed of the station. When it has to catch up, the entity moves at up to max speed.

virtual void DtSurfaceEntityFollowEntityController::moveTowardProjectedStationPosition	(	double	distanceToStation,
		double	approachDistance
	)

protectedvirtual

For the case when the entity starts far away from the station. Estimate the movement of the station, and move the entity toward a point approachDistance behind the projected position. Calls turnAtSpeed to set port outputs for heading to target position, at max speed.

Parameters

approachDistance DtVector& stationDirection, double approachDistance);

virtual void DtSurfaceEntityFollowEntityController::moveBackToApproachPoint	(	bool	onLeftSide,
		double	approachDistance,
		double	turnRadius
	)

protectedvirtual

If the entity is too far in front of the station, or oriented in the opposite direction as the station is moving, then this function is called to move the entity back toward a point approachDistance behind the station and one turnRadius to the side. The acceleration output maintains speed through this point. Calls turnAtSpeed to set port outputs for heading to target position, at max speed * normalAccelerationFraction.

Parameters

turnRadius double turnRadius, DtVector &stationDirection);

virtual void DtSurfaceEntityFollowEntityController::turnToProjectedStationLine	(	bool	isOnLeft,
		double	radius,
		double	distanceToSegment
	)

protectedvirtual

Set the turn rate port (via turnAtspeed()) to move toward and

then align with the line extending from the station in the given direction. Calls turnAtSpeed to set port outputs for heading toward line, at max speed * normalAccelerationFraction. virtual void turnToProjectedStationLine(DtVector &stationDirection,

virtual void DtSurfaceEntityFollowEntityController::accelToCatchUp	(	double	stationSpeed,
		double	entitySpeed,
		double	distanceBehindStation
	)

protectedvirtual

Set the acceleration port to make the entity catch up to the (moving) station, decelerating to the station's speed just as it it reaches the station. Output is implicit: acceleration & clamp speed output ports are set.

virtual void DtSurfaceEntityFollowEntityController::accelToDropBack	(	double	stationSpeed,
		double	entitySpeed,
		double	distanceAheadOfStation,
		double	distanceFromLine
	)

protectedvirtual

Set the acceleration port to make the entity decelerate to a speed below the station's speed–possibly stopping for a time– before accelerating again to meet the (moving) station just as the station catches the entity. DistanceAheadOfStation is based on the entity's location projected onto a line in front of the station its direction of movement. DistanceFromLine is the distance of the entity from this line; this is used to ensure a minimal speed if the entity has not yet merged into the line. Output is implicit: acceleration & clamp speed output ports are set.

virtual void DtSurfaceEntityFollowEntityController::turnAtSpeed	(	double	desiredHeading,
		double	desiredSpeed
	)

protectedvirtual

Turn and go at the given speed. Turns in the closest direction to the desired heading. Assumes forward speed >= 0. Sets the turn rate and acceleration ports appropriately. Output is implicit: output ports are set.

virtual bool DtSurfaceEntityFollowEntityController::willOverrunPoint	(	double	distanceAhead,
		double	distanceFromLine,
		double	entitySpeed,
		double	turnRadius,
		double	pointSpeed,
		double	maxWaitTime
	)

protectedvirtual

Test to see if the entity moving at entitySpeed, after decelerating at its max rate to a stop, will still be > maxWaitTime in front of a point that is distanceAhead behind the entity, traveling at pointSpeed. In addition to the wait-time test, the function checks distance; if the entity would stop within a distance threshold (proportional to entity size) of the station, this function will return false.

virtual double DtSurfaceEntityFollowEntityController::calculateAcceleration ( double desiredSpeed )

protectedvirtual

Computes the acceleration needed to reach the given speed, based on the difference between current and desired speeds. Calls limitAcceleration to constrain it.

virtual double DtSurfaceEntityFollowEntityController::limitAcceleration	(	double	desiredAcceleration,
		double	desiredSpeed
	)

protectedvirtual

Constrains the acceleration to maxes defined in the parameters and avoids more acceleration than is needed to get to the desired speed in dT.

virtual bool DtSurfaceEntityFollowEntityController::createPortGroups ( )

protectedvirtual

Overridden to call createSurfaceControlPortGroup().

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntityFollowEntityController::createPorts ( )

protectedvirtual

Overridden to call createThrottlePort() and createRudderPort().

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityFollowEntityController::lookupAndCacheProcessSR ( )

protectedvirtual

This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState. The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.

virtual bool DtSurfaceEntityFollowEntityController::postAddComponentsInit ( )

protectedvirtual

Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.

Returns: true if myProcessState is not null

Reimplemented from DtControllerComponent.

virtual bool DtSurfaceEntityFollowEntityController::decideToGiveUpTask ( ) const

protectedvirtual

If the entity is embarked and the target of the current movement task is not embarked on the same object return true, and otherwise return a call to the base class.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtSurfaceEntityFollowEntityController::preFirstTickInit ( )

overrideprotectedvirtual

This function can be overridden to initialize a component before it is ticked for the first time. The implementation for this function is empty. It is called by timedTick if myFirstTick is true.

Reimplemented from DtSimComponent.

static DtSimComponent* DtSurfaceEntityFollowEntityController::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.

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

protected

assignment operator; not implemented

Member Data Documentation

DtVrfMovingObjectStateRepository* DtSurfaceEntityFollowEntityController::myEntityState

protected

DtSurfaceEntityPilotControllerDescriptor* DtSurfaceEntityFollowEntityController::myDescriptor

protected

const DtSurfaceEntityParameters* DtSurfaceEntityFollowEntityController::myParameters

protected

Cache a pointer to the entity parameters.

DtSurfaceMovementPSR* DtSurfaceEntityFollowEntityController::myProcessState

protected

Pointer to a process state repository used to store state data associated with this component. This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myAccelerationPort

protected

The goal speed; used by the actuator to prevent accelerating past the desired speed if dT is much longer than expected.

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myClampSpeedPort

protected

The goal speed; used by the actuator to prevent accelerating past the desired speed if dT is much longer than expected.

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myTurnRatePort

protected

Rotation rate in radians/sec. Positive is to the right.

DtAnalogOutputPort* DtSurfaceEntityFollowEntityController::myFinalHeadingPort

protected

A clamp heading, similar to clamp speed.

DtOutputPortGroup* DtSurfaceEntityFollowEntityController::mySurfaceControlPortGroup

protected

Output Port Group Name: surface-control
Output Port Group Description: acceleration, clamp speed, turn rate, and final heading ports.

DtSimObjectReference DtSurfaceEntityFollowEntityController::myLeaderPointer

protected