DtGimbalDriver Class Reference

DtGimbalDriver looks for the plane element created by DtExampleDriver (or DtDriverExamplePlugin) and implements a gimbal attached to that plane at a specified offset. It shows how to use the DtGeoReference class to position and orient the gimbal using the plane's position and orientation; and how to find azimuth and elevation angles to a target in the gimbal's local coordinate system. It attaches the observer named "Observer 1" to the gimbal, and uses the azimuth and elevation angles determined to lock the observer onto the target location.

Inheritance diagram for DtGimbalDriver:

Public Member Functions
	DtGimbalDriver (makVrv::DtAgentManager &am)
virtual	~DtGimbalDriver ()
Public Member Functions inherited from makVrv::DtDriver
	DtDriver (DtAgentManager &agentManager, const std::string &instanceName)
virtual	~DtDriver ()
virtual void	realizeConfiguration (const DtConfiguration &configuration)
virtual DtConfiguration	createConfiguration () const
DtAgentManager &	agentManager ()
virtual DtAgentManagerInterface &	sceneInterface ()
bool	started () const
virtual const std::string &	instanceName () const
virtual bool	autoStart () const
virtual void	setAutoStart (bool autoStart)
virtual bool	isWindowDependent () const
virtual void	setIsWindowDependent (bool dep)
virtual void	setIsUserControllable (bool)
virtual bool	isUserControllable () const
virtual void	setIsPersistent (bool per)
virtual bool	isPersistent () const
virtual bool	isOnDriverSelectionList () const
virtual void	setOnDriverSelectionList (bool)
bool	objectFromAgentManager (const DtUniqueID &id) const

Protected Member Functions
virtual bool	initialize ()
virtual void	slot_coordinateSystemChanged ()
Protected Member Functions inherited from makVrv::DtDriver
void	applyChangesAndDelete (DtElementChanges *changes)
void	reportElementCreated (DtElementID id, DtElementID parentId, DtElementEntry::ElementType type)
void	reportElementAttribute (DtElementID id, DtElementAttribute *attribute)
void	reportElementDestroyed (DtElementID id)
void	start ()
void	stop ()
bool	tick ()
virtual void	setInstanceName (const std::string &name)
virtual void	installAccessories ()
virtual void	uninstallAccessories ()

Protected Attributes
makVrv::DtGeoReference *	myPlaneGeoRef
makVrv::DtGeoReference *	myGimbalGeoRef
makVrv::DtSceneObjectAgent *	myGimbalSceneObjectAgent
makVrv::DtSceneObject *	myPlaneSceneObject
makVrv::DtElementID	myGimbalId
makVrv::DtSignalConnectionManager	mySignalConnections
DtGeodeticCoord *	myTargetLocation
Protected Attributes inherited from makVrv::DtDriver
DtAgentManager &	myAgentManager
bool	myStartedFlag
std::string	myName
DtConfiguration	myConfiguration
bool	myPersistentFlag
bool	myUserControllableFlag
bool	myRequestStateDiffPendingFlag
DtElementChanges	myChanges

Private Member Functions
	DtGimbalDriver ()

Methods Inherited from makVrv::DtDriver
virtual const std::string &	className () const
virtual bool	onStart ()
virtual bool	onStop ()
virtual bool	onTick ()
virtual void	attachObserverToEntity (const std::string &entityName)
virtual void	slot_displayEngineAdded (const makVrv::DtDeRecord &igRecord)

Constructor & Destructor Documentation

DtGimbalDriver::DtGimbalDriver

(

makVrv::DtAgentManager &

am

)

CTOR.

virtual DtGimbalDriver::~DtGimbalDriver ( )

virtual

Virtual DTOR.

DtGimbalDriver::DtGimbalDriver ( )

private

Unimplemented CTOR to prevent auto-creation.

Member Function Documentation

virtual const std::string& DtGimbalDriver::className ( ) const

virtual

Returns the driver's class name.

See Also

makVrv::DtDriver::className() const

Implements makVrv::DtDriver.

virtual bool DtGimbalDriver::onStart ( )

protectedvirtual

Performs startup logic for the driver. In this case, this method is a no-op (but must be implemented since it's pure virtual). Initialization is delayed until onTick() so that the plane we need to attach exists.

See Also

makVrv::DtDriver::start().

Implements makVrv::DtDriver.

virtual bool DtGimbalDriver::onStop ( )

protectedvirtual

Performs shutdown logic for the driver. Deletes the Gimbal Element and GeoReference objects.

See Also

makVrv::DtDriver::stop()

Implements makVrv::DtDriver.

virtual bool DtGimbalDriver::onTick ( )

protectedvirtual

Performs update logic for the driver. If myGimbalSceneObjectAgent hasn't been initialized yet, onTick() calls initialize(). Once initialized, each tick this method:

• Updates the DtGeoReference for the plane with the plane's current position and orientation.
• Finds the position and orientation of the gimbal in the plane's coordinate system and updates the gimbal's DtGeoReference
• Finds the position of the target in the gimbal's coordinate system.
• Calculates azimuth and elevation angles from the gimbal to the target
• Sets the observer's attached rotation with the azimuth and elevation angles

  See Also

  makVrv::DtDriver::tick()

Implements makVrv::DtDriver.

virtual void DtGimbalDriver::attachObserverToEntity ( const std::string &  entityName )

protectedvirtual

Tells the current observer to attach to the named entity. This method uses an observer state record, and calls DtObserver::setFromRecord. When setFromRecord is used, the observer will listen for the existence of the named entity and actually do the attachment when the entity is created.

virtual void DtGimbalDriver::slot_displayEngineAdded ( const makVrv::DtDeRecord &  igRecord )

protectedvirtual

Ensures the driver is properly restarted when a de is connected (such as a remote display engine).

See Also

makVrv::DtDriver::slot_displayEngineAdded( const makVrv::DtDeRecord& )

Reimplemented from makVrv::DtDriver.

virtual bool DtGimbalDriver::initialize ( )

protectedvirtual

initialize() looks for the plane created by DtExampleDriver (or DtExampleDriverPlugin). When found, it creates a Gimbal element that can be (logically) attached to the plane. It also creates the DtGeoReferences to use for topocentric operations to correctly place the Gimbal element and put the target into Gimbal coordinates.

virtual void DtGimbalDriver::slot_coordinateSystemChanged ( )

protectedvirtual

We use this to set up our target location. This is mostly for future use when we support alternate datums, since the target location (being geodetic) needs to be reset if the datum changes.

Member Data Documentation

makVrv::DtGeoReference* DtGimbalDriver::myPlaneGeoRef

protected

makVrv::DtGeoReference* DtGimbalDriver::myGimbalGeoRef

protected

makVrv::DtSceneObjectAgent* DtGimbalDriver::myGimbalSceneObjectAgent

protected

makVrv::DtSceneObject* DtGimbalDriver::myPlaneSceneObject

protected

makVrv::DtElementID DtGimbalDriver::myGimbalId

protected

makVrv::DtSignalConnectionManager DtGimbalDriver::mySignalConnections

protected

DtGeodeticCoord* DtGimbalDriver::myTargetLocation

protected

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/examples/exampleGimbalPlugin/DtGimbalDriver.h