DtGroundAutoControllerComponent is a base controller that holds capabilitites common to all automotive controllers.

Uses Descriptor Type: DtComponentDescriptor

Examples

Inheritance diagram for DtGroundAutoControllerComponent:

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

virtual	~DtGroundAutoControllerComponent ()

virtual bool	init ()

virtual const char *	type () const

virtual void	clearTask ()

virtual double	computeSpeedForFastestTurn ()

virtual double	approximateThrottle (double desiredSpeed, double headingError=0.0)

virtual double	headingErrorRequiringMinTurnRadius ()

virtual double	calculateSteering (double currentHeading, double desiredHeading) const

virtual double	calculateCurrentBrakingDistance () const

virtual bool	createAutomotiveControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createSteeringPort ()

virtual bool	createBrakePort ()

virtual bool	createGearPort ()

virtual bool	createParkingBrakePort ()

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedAnalogOutputPort *	steeringPort ()

virtual DtConstrainedAnalogOutputPort *	brakePort ()

virtual DtConstrainedIntegerOutputPort *	gearPort ()

virtual DtBooleanOutputPort *	parkingBrakePort ()

virtual double	decelerationSoilFactor () const

virtual double	calcSteeringForTurnInPlace ()

virtual double	calcThrottleForTurnInPlace ()

virtual double	calcBrakeForTurnInPlace ()

virtual int	calcGearForTurnInPlace ()

virtual double	calcSteeringForPivot ()

virtual double	calcThrottleForPivot ()

virtual double	calcSteeringForKTurn ()

virtual double	calcThrottleForKTurn ()

virtual double	calcBrakeForKTurn ()

virtual double	findSpeedForKTurn ()

virtual double	findHeadingForKTurn ()

virtual void	setHeadingToTurnTo (double headingToTurnTo)

virtual double	headingToTurnTo () const

virtual double	calculateHeadingToTurnTo ()

virtual void	setTurnToMode (int headingToTurnTo)

virtual int	turnToMode () const

virtual void	setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)

virtual double	kTurnReverseGoalHeading () const

virtual void	setKTurnReverseComplete (bool kTurnReverseComplete)

virtual bool	kTurnReverseComplete () const

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

virtual	~DtSingleTaskControllerComponent ()

virtual void	postTick () override

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

virtual void	taskNotify (const DtSimTask &task) override

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 DtSubtaskStatusEntry *	subtaskStatus (int subtaskId)

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual DtSimTaskStatePtr	currentTaskState () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const override

virtual bool	clearTopLevelTasks () override

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) override

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType) override

virtual void	clearTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId) override

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

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const override

virtual void	disable () override

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

virtual	~DtTaskControllerComponent ()

virtual AcceptLevel	acceptTask (const DtTaskMessage &task)

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio) override

virtual void	registerTaskMsgCallbacks ()

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

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

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

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

virtual void	enable () override

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const override

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	enableScriptedTask (const DtString &scriptId)

virtual void	disableTaskTypes ()

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

virtual	~DtSimComponent ()

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	tick ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod, double minTickPeriodVariance)

virtual void	setupFirstTickTime ()

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 void	isClutterChanged ()

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) const

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	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 Member Functions
virtual bool	createPorts ()

virtual bool	createPortGroups ()

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit ()

virtual const DtSoilFactors *	currentSoilFactors () const

virtual bool	decideToGiveUpTask () const

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

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

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

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore ()

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

Protected Member Functions inherited from DtSimComponent
virtual void	setupTimedTickLogic (double minTickPeriod, double minTickPeriodVariance)

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

DtPropertyInterface *	cachedNextFrameStateProperty (DtPropertyInterface **prop, const DtString &propName)

template<typename ValType >
void	setCachedNextFrameStatePropertyValue (DtPropertyInterface **prop, const DtString &propName, ValType value)

const DtPropertyInterface *	cachedCurrentFrameStateProperty (const DtPropertyInterface **prop, const DtString &propName) const

template<typename ValType >
bool	getCachedCurrentFrameStatePropertyValue (const DtPropertyInterface **prop, const DtString &propName, ValType &value) 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
DtGroundVehicleStateRepository *	myGroundVehicleState

DtAutomotivePSR *	myProcessState

double	mySpeedLastTick

double	myAccumulatedSpeedError

double	mySpeedForFastestTurn

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

Ports and Port Groups
DtConstrainedAnalogOutputPort *	myThrottlePort

DtConstrainedAnalogOutputPort *	mySteeringPort

DtConstrainedAnalogOutputPort *	myBrakePort

DtConstrainedIntegerOutputPort *	myGearPort

DtBooleanOutputPort *	myParkingBrakePort

DtOutputPortGroup *	myAutomotiveControlPortGroup

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	myLastTickSimTime

std::unique_ptr< DtTimedTickLogic >	myTimedTickLogic

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager *	myPredicateCallbackManager

boost::signals2::scoped_connection	myIsClutterChangedConnection

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
	DtGroundAutoControllerComponent ()

	DtGroundAutoControllerComponent (const DtGroundAutoControllerComponent &orig)

const DtGroundAutoControllerComponent &	operator= (const DtGroundAutoControllerComponent &orig)

virtual void	processSetSpeed (DtSimMessage *msg)

static void	setSpeedCallback (DtSimMessage msg, void usrData)

Additional Inherited Members
Public Types inherited from DtTaskControllerComponent
enum	AcceptLevel { AcceptLevel_Accept = 0, AcceptLevel_Partial = 1, AcceptLevel_Error = 2, AcceptLevel_NoAccept = 99 }

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 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 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

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent	(	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 DtGroundAutoControllerComponent::~DtGroundAutoControllerComponent ( )

virtual

destructor

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent ( )

private

default constructor; not implemented

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent ( const DtGroundAutoControllerComponent & orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtGroundAutoControllerComponent::init ( )

virtual

Initializes myGroundVehicleState.

Reimplemented from DtControllerComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundCollisionAvoidanceController, and DtGroundMoveAlongControllerComponent.

virtual const char* DtGroundAutoControllerComponent::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: DtGroundAutoMovementControllerType

Implements DtTaskControllerComponent.

virtual void DtGroundAutoControllerComponent::clearTask ( )

virtual

Overridden to deactivate the port group when this controller completes a task.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundMoveToDestinationControllerComponent, DtGroundFollowInFormationControllerComponent, DtGroundTurnToControllerComponent, and DtGroundLeadFormationControllerComponent.

virtual double DtGroundAutoControllerComponent::computeSpeedForFastestTurn ( )

virtual

In general, the fastest turn–i.e. rotation rate–given a maximum lateral acceleration limit, is achieved at minimum turn radius. Lateral acceleration also limits the turn radius, so a slower speed increases the turn rate:
rotation rate = lateral acceleration / speed
This function provides this speed for the entity, given the lateral acceleration limit and the minimum turn radius.
However, if the entity can pivot, and/or the minimum turn radius is less than the half-width of the entity, then this controller will assume that the entity pivots, i.e. skid-steers, and use the max pivot rate as the turn rate. If the max pivot rate is less than the turn rate when r = halfWidth, then the speed computed here is for r = halfWidth.
This function is used in init() to set mySpeedForFastestTurn. This value is used in approximateThrottle() when the heading error is >= headingErrorRequiringMinTurnRadius().

virtual double DtGroundAutoControllerComponent::approximateThrottle	(	double	desiredSpeed,
		double	headingError = `0.0`
	)

virtual

ApproximateThrottle computes a value between -1 and 1 that represents the desired, normalized acceleration. The calling function should treat negative values as (positive) brake output.
This control function gets the current forward speed, current throttle setting, the speed last tick, and dT as further input. It considers several cases:

Desired speed 0 or in the opposite direction from the current drive direction: full brake (-1)
Otherwise, use proportional-derivative control using speed error and delta speed error/dt as inputs.
headingError limits the desiredSpeed such that if fabs(headingError) > E, desiredSpeed is no bigger than sqrt(max lateral acceleration * min turn radius). This constraint is applied gradually as headingError increases from 0 to E.
E is given by the function headingErrorRequiringMinTurnRadius.
The throttle value (positive) is constrained by an acceleration limit that is determined by

Reimplemented in DtGroundMoveToDestinationControllerComponent.

virtual double DtGroundAutoControllerComponent::headingErrorRequiringMinTurnRadius ( )

inlinevirtual

virtual double DtGroundAutoControllerComponent::calculateSteering	(	double	currentHeading,
		double	desiredHeading
	)		const

virtual

Computes a steering output [-1, 1] to steer from the current heading to the desired heading. The steering output is maximum (1 or -1) when the desired turning radius is the minimum turning radius for the vehicle.
The vehicle will attempt to use the minimum turning radius unless that would exceed the maxLateralAcceleration for the vehicle at its current speed. In that case, the vehicle steers the smallest radius it can at maxLateralAcceleration.

virtual double DtGroundAutoControllerComponent::calculateCurrentBrakingDistance ( ) const

virtual

virtual bool DtGroundAutoControllerComponent::createAutomotiveControlPortGroup ( )

virtual

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

virtual bool DtGroundAutoControllerComponent::createThrottlePort ( )

virtual

virtual bool DtGroundAutoControllerComponent::createSteeringPort ( )

virtual

virtual bool DtGroundAutoControllerComponent::createBrakePort ( )

virtual

virtual bool DtGroundAutoControllerComponent::createGearPort ( )

virtual

virtual bool DtGroundAutoControllerComponent::createParkingBrakePort ( )

virtual

virtual DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::throttlePort ( )

virtual

virtual DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::steeringPort ( )

virtual

virtual DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::brakePort ( )

virtual

virtual DtConstrainedIntegerOutputPort* DtGroundAutoControllerComponent::gearPort ( )

virtual

virtual DtBooleanOutputPort* DtGroundAutoControllerComponent::parkingBrakePort ( )

virtual

virtual double DtGroundAutoControllerComponent::decelerationSoilFactor ( ) const

virtual

virtual double DtGroundAutoControllerComponent::calcSteeringForTurnInPlace ( )

virtual

calcSteering() calculates steering values for executing either a pivot or a (reverse) k turn. An outside automotive controller could use this function in conjunction with calcThrottle() and calcGear() to effect turns as part of some other maneuver. An outside caller can ignore the last 2 arguments if it knows the entity is pivot-capable.

virtual double DtGroundAutoControllerComponent::calcThrottleForTurnInPlace ( )

virtual

calcThrottle() calculates throttle values for executing either a pivot or a (reverse) k turn. An outside caller can ignore the last argument if it knows the entity is pivot-capable.

virtual double DtGroundAutoControllerComponent::calcBrakeForTurnInPlace ( )

virtual

If the vehicle can pivot, 0.0 is returned and otherwise a call to calcBrakeForKTurn() is returned.

virtual int DtGroundAutoControllerComponent::calcGearForTurnInPlace ( )

virtual

calcGear() determines the correct gear setting for executing either a pivot or (reverse) k turn. So that it may be used from outside the controller, a writable flag is passed to indicate whether, in the case of a k turn being executed, the first part of the maneuver has been completed. The tick() method calls this routine using the myProcessState->myKTurnReverseComplete member, but outside callers should maintain this value across simulation frames.

virtual double DtGroundAutoControllerComponent::calcSteeringForPivot ( )

virtual

calcSteeringForPivot() determines an appropriate steering value for executing a pivot turn. This is called by calcSteering() for pivot-capable entities

virtual double DtGroundAutoControllerComponent::calcThrottleForPivot ( )

virtual

calcThrottleForPivot() determines an appropriate throttle value for executing a pivot turn. This is called by calcThrottle() for pivot-capable entities

virtual double DtGroundAutoControllerComponent::calcSteeringForKTurn ( )

virtual

If the entity can not pivot, then this method can be used to calculate a steering value for a (reverse) k turn. It is called by calcSteering() for non-pivot capable entities.

virtual double DtGroundAutoControllerComponent::calcThrottleForKTurn ( )

virtual

If the entity can not pivot, then this method can be used to calculate a throttle value for a (reverse) k turn. It is called by calcThrottle() for non-pivot capable entities.

virtual double DtGroundAutoControllerComponent::calcBrakeForKTurn ( )

virtual

If kTurnReverseComplete() returns true but the entity is still moving backwards, this function sets the brakes to 1.0 until the entity comes to a complete stop.

virtual double DtGroundAutoControllerComponent::findSpeedForKTurn ( )

virtual

If the entity is in the reverse phase of the k turn, the maximum reverse speed of the vehicle is returned. If the entity has turned far enough in reverse and needs to begin braking, 0.0 is returned. Otherwise if the entity has completed the reverse phase, the ordered speed of the entity is returned.

virtual double DtGroundAutoControllerComponent::findHeadingForKTurn ( )

virtual

If the entity is in the reverse phase of the k turn, kTurnReverseGoalHeading() is returned, otherwise headingToTurnTo() is returned.

virtual void DtGroundAutoControllerComponent::setHeadingToTurnTo ( double headingToTurnTo )

virtual

Get/Set the heading we the entity has been tasked to turn to.

virtual double DtGroundAutoControllerComponent::headingToTurnTo ( ) const

virtual

virtual double DtGroundAutoControllerComponent::calculateHeadingToTurnTo ( )

virtual

The heading to turn to given the current turn mode and heaading to turn to.

virtual void DtGroundAutoControllerComponent::setTurnToMode ( int headingToTurnTo )

virtual

Get/Set the heading turn to mode (see setHeadingRequest.h for modes)

virtual int DtGroundAutoControllerComponent::turnToMode ( ) const

virtual

virtual void DtGroundAutoControllerComponent::setKTurnReverseGoalHeading ( double kTurnReverseGoalHeading )

virtual

Get/Set the heading that is halfway between the original heading and the heading to turn to. This is only used fore entities that are not pivot capable.

virtual double DtGroundAutoControllerComponent::kTurnReverseGoalHeading ( ) const

virtual

virtual void DtGroundAutoControllerComponent::setKTurnReverseComplete ( bool kTurnReverseComplete )

virtual

Get/set the flag that indicates whether or not the entity has completed first half of the turn maneuver (backing up until at kTurnReverseGoalHeading())

virtual bool DtGroundAutoControllerComponent::kTurnReverseComplete ( ) const

virtual

static void DtGroundAutoControllerComponent::setSpeedCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

If set ordered speed is received by this vehicle, revert the PSR to setUseTaskSpeed(false)

virtual void DtGroundAutoControllerComponent::processSetSpeed ( DtSimMessage * msg )

virtual

If set ordered speed is received by this vehicle, revert the PSR to setUseTaskSpeed(false)

virtual bool DtGroundAutoControllerComponent::createPorts ( )

protectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundCollisionAvoidanceController, DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual bool DtGroundAutoControllerComponent::createPortGroups ( )

protectedvirtual

Overridden to create myAutomotiveControlPortGroup.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, and DtGroundCollisionAvoidanceController.

virtual void DtGroundAutoControllerComponent::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 DtGroundAutoControllerComponent::postAddComponentsInit ( )

protectedvirtual

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

Reimplemented from DtControllerComponent.

virtual const DtSoilFactors* DtGroundAutoControllerComponent::currentSoilFactors ( ) const

protectedvirtual

virtual bool DtGroundAutoControllerComponent::decideToGiveUpTask ( ) const

protectedvirtual

If the entity is attached and the target of the current task is not, give up on the task.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundMoveAlongControllerComponent, and DerivedMoveToController.

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

private

assignment operator; not implemented

Member Data Documentation

DtGroundVehicleStateRepository* DtGroundAutoControllerComponent::myGroundVehicleState

protected

DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::myThrottlePort

protected

Output Port Name: throttle
Output Port Description:
Output Port Range: 0. to 1.
Output Port Default Value:
Output Group Parent: automotive-control.

DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::mySteeringPort

protected

Output Port Name: steering
Output Port Description:
Output Port Range: -1.0 to 1.0
Output Port Default Value:
Output Group Parent: automotive-control.

DtConstrainedAnalogOutputPort* DtGroundAutoControllerComponent::myBrakePort

protected

Output Port Name: brake
Output Port Description:
Output Port Range: 0. to 1.
Output Port Default Value:
Output Group Parent: automotive-control.

DtConstrainedIntegerOutputPort* DtGroundAutoControllerComponent::myGearPort

protected

Output Port Name: gear
Output Port Description:
Output Port Range:
Output Port Default Value:
Output Group Parent: automotive-control.

DtBooleanOutputPort* DtGroundAutoControllerComponent::myParkingBrakePort

protected

Output Port Name: parking-brake
Output Port Description:
Output Port Default Value: True
Output Group Parent: automotive-control.

DtOutputPortGroup* DtGroundAutoControllerComponent::myAutomotiveControlPortGroup

protected

Output Port Group Name: automotive-control
Output Port Group Description: Collection of control output for automotive entity movement controllers.

DtAutomotivePSR* DtGroundAutoControllerComponent::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).

Referenced by DtGroundMoveAlongControllerComponent::getPSR().

double DtGroundAutoControllerComponent::mySpeedLastTick

protected

For derivative control in approximateThrottle. Note–not added to process state; on scenario reload, it will be initialized to 0, which may cause a tiny blip in the control output.

double DtGroundAutoControllerComponent::myAccumulatedSpeedError

protected

For integral speed control.

double DtGroundAutoControllerComponent::mySpeedForFastestTurn

protected

Caches the value computed in init() with computeSpeedForFastestTurn.

DtPlatformLocalObjectFacade DtGroundAutoControllerComponent::myPlatformLocalObjectFacade

protected

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrfmodel/groundAutoControllerComponent.h

Public Member Functions

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Protected Attributes

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