DtGroundFollowInFormationControllerComponent is a controller that models movement of a ground entity along a route. Travel along a route while following a leader.

End User Description: Models movement of a ground entity along a route. The entity's position along the route is determined by it's leader.

Inheritance diagram for DtGroundFollowInFormationControllerComponent:

[legend]

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

virtual	~DtGroundFollowInFormationControllerComponent ()

virtual const char *	type () const

virtual void	tick ()

virtual void	registerTaskMsgCallbacks ()

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

virtual	~DtGroundAutoControllerComponent ()

virtual bool	init ()

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

virtual void	processSetSpeed (DtSimMessage *msg)

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	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	enableScritedTask (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	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)

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)

Static Public Member Functions
static void	followInFormationCallback (DtSimMessage msg, void usr)

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

Static Public Member Functions inherited from DtGroundAutoControllerComponent
static void	setSpeedCallback (DtSimMessage msg, void usrData)

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
void	cleanFollowInFormation ()

virtual void	endFollowInFormation (bool taskSuccess=true)

virtual void	clearTask ()

virtual int	adjustStartPoint (const std::vector< DtVector > &routeVertices, const DtVector &entityLocation)

virtual void	doMoving ()

virtual bool	checkTaskEndCondition ()

virtual bool	isLeaderCapable () const

virtual int	findClosestSegmentIndex (DtVector testPoint, std::vector< DtVector > testRoute, DtPoint &closestSegmentLoc, double &distanceToSegment, int indexSegmentFloor=0)

virtual double	findDesiredAcceleration (double targetSpeed, double targetHeading, double currentHeading, double disToTarget)

virtual bool	createFollowerOffsetRoute (const std::vector< DtVector > &localPoints, float rightOffset, float forwardOffset, DtUUID &routeUUID)

virtual void	processFollowInFormation (const DtTaskMessage &msg)

virtual void	updateTaskVisualizations ()

virtual bool	publishFormationRoutes () const

virtual double	distanceBehind (const DtVector topoRefPos, const DtVector leaderDir, const DtVector topoCurrentPosition)

virtual bool	isPastDestination (const int currentIndex)


virtual double	horizDistBetweenPoints (DtVector, DtVector)

virtual double	horizDistBetweenPoints (DtPoint loc1, DtPoint loc2)

Protected Member Functions inherited from DtGroundAutoControllerComponent
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	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
DtSimObjectReference	myRoute

std::vector< DtVector >	myTopoOffsetRoute

DtCoordTransform	myLocalToTopoTransform

bool	myIsOnRoute

bool	myHasProcessed

double	myDisToTarget

double	myBackwardsOffset

double	myNearDistance

double	myAtDistance

double	myApproachSpeed

int	myIndexDriven

DtSimObjectReference	myLeader

DtMovementSimObjectFacade	myLeaderMovementSimObjectFacade

DtSimObjectReference	myLeadersRoute

DtVector	myLocalDestination

DtVector	myLeaderLongitudinalOffsetPoint

DtMovementLocalObjectFacade	myMovementLocalObjectFacade


DtVector	myClosestSegmentPt1

DtVector	myClosestSegmentPt2

Protected Attributes inherited from DtGroundAutoControllerComponent
DtGroundVehicleStateRepository *	myGroundVehicleState

DtAutomotivePSR *	myProcessState

double	mySpeedLastTick

double	myAccumulatedSpeedError

double	mySpeedForFastestTurn

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

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
	DtGroundFollowInFormationControllerComponent ()

	DtGroundFollowInFormationControllerComponent (const DtGroundFollowInFormationControllerComponent &orig)

DtGroundFollowInFormationControllerComponent &	operator= (const DtGroundFollowInFormationControllerComponent &orig)

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 )()

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

DtGroundFollowInFormationControllerComponent::DtGroundFollowInFormationControllerComponent	(	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 DtGroundFollowInFormationControllerComponent::~DtGroundFollowInFormationControllerComponent ( )

virtual

destructor

DtGroundFollowInFormationControllerComponent::DtGroundFollowInFormationControllerComponent ( )

private

default constructor - should not be called

DtGroundFollowInFormationControllerComponent::DtGroundFollowInFormationControllerComponent ( const DtGroundFollowInFormationControllerComponent & orig )

private

copy constructor

Member Function Documentation

virtual const char* DtGroundFollowInFormationControllerComponent::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: DtGroundAutoMoveAlongType

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual void DtGroundFollowInFormationControllerComponent::tick ( )

virtual

Checks the task end condition and activates the automotive ports. Calls doMoving if isLeaderCapable; if not, then does nothing (the unit must retask it).

Reimplemented from DtSimComponent.

virtual void DtGroundFollowInFormationControllerComponent::registerTaskMsgCallbacks ( )

virtual

Overrides this so it can register it's interest in DtFollowInFormationTaskType.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtGroundLeadFormationControllerComponent.

static void DtGroundFollowInFormationControllerComponent::followInFormationCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Calls processFollowInFormation.

static DtSimComponent* DtGroundFollowInFormationControllerComponent::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.

void DtGroundFollowInFormationControllerComponent::cleanFollowInFormation ( )

protected

Cleans task data and stops vehicle.

virtual void DtGroundFollowInFormationControllerComponent::endFollowInFormation ( bool taskSuccess = true )

protectedvirtual

Calls endFollowInFormation and taskComplete.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual void DtGroundFollowInFormationControllerComponent::clearTask ( )

protectedvirtual

Calls endFollowInFormation and parent clearTask.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual int DtGroundFollowInFormationControllerComponent::adjustStartPoint	(	const std::vector< DtVector > &	routeVertices,
		const DtVector &	entityLocation
	)

protectedvirtual

Adjust the start point (of a route) to make sure that it is in front of the entity. This applicable when the unit is starting at the closes point along the route. The function uses the entity's current location to see if the direction to the first route vertex is in the same general direction as the route segment starting at that vertex. If not, the next is checked, etc.
Note that the routeVertices and entityLocation should be in the same coordinate system. This function is used in processFollowInFormation with the parameters in topo coordinates.

Parameters

routeVertices	The route point locations.
entityLocation	The location of the entity.

Returns: The index of the route vertex that should be used as the starting movement target.

virtual void DtGroundFollowInFormationControllerComponent::doMoving ( )

protectedvirtual

Main movement logic. Moves forward along the route never backwards. If the target position is back along the route, entity will wait for the target to catch up. If the entity is not on the route the entity will first drive to the route. If the entity is on the route the entity will: accelerate towards target position, steer towards a point 20 meters ahead on the route.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual bool DtGroundFollowInFormationControllerComponent::checkTaskEndCondition ( )

protectedvirtual

End the task and releases the throttle when at end of route.

Returns: bool: true when task compete.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual bool DtGroundFollowInFormationControllerComponent::isLeaderCapable ( ) const

protectedvirtual

True if the leader is still present and not destroyed or immobilized.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual double DtGroundFollowInFormationControllerComponent::horizDistBetweenPoints	(	DtVector	,
		DtVector
	)

protectedvirtual

Bundle for calculateLengthOfLine.

Parameters

Two	geoc DtVector or Two geoc DtPoint

Returns: Distance between the location as a double.

virtual double DtGroundFollowInFormationControllerComponent::horizDistBetweenPoints	(	DtPoint	loc1,
		DtPoint	loc2
	)

protectedvirtual

Bundle for calculateLengthOfLine.

Parameters

Two	geoc DtVector or Two geoc DtPoint

Returns: Distance between the location as a double.

virtual int DtGroundFollowInFormationControllerComponent::findClosestSegmentIndex	(	DtVector	testPoint,
		std::vector< DtVector >	testRoute,
		DtPoint &	closestSegmentLoc,
		double &	distanceToSegment,
		int	indexSegmentFloor = `0`
	)

protectedvirtual

Parameters

A	testPoint and a testRoute, finds the segment of testRoute that is closest to testPoint. The point along the segment closest to testPoint is given back as closestSegmentLoc.

Returns: The second/larger of two testRoute indexes that form the line segment. I.e., for a route with N vertices, the segment index will be in [1, N-1]. Calls closestPointAlongChord2D

virtual double DtGroundFollowInFormationControllerComponent::findDesiredAcceleration	(	double	targetSpeed,
		double	targetHeading,
		double	currentHeading,
		double	disToTarget
	)

protectedvirtual

Uses maxAccelerationFromConstraint to find acceleration to reach a targetSpeed after traveling a distance. If targetheading and currentHeading differ, speed is clamped for the turn.

virtual bool DtGroundFollowInFormationControllerComponent::createFollowerOffsetRoute	(	const std::vector< DtVector > &	localPoints,
		float	rightOffset,
		float	forwardOffset,
		DtUUID &	routeUUID
	)

protectedvirtual

Builds route at body offset relative to given route. Generates a route parallel to the original route, at the given body offset. Calls generateOffsetRoute UUID of the created route is placed in routeUUID.

Returns: Returns true when the route is created.

virtual void DtGroundFollowInFormationControllerComponent::processFollowInFormation ( const DtTaskMessage & msg )

protectedvirtual

Processes task msg. Stores task parameters.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual void DtGroundFollowInFormationControllerComponent::updateTaskVisualizations ( )

protectedvirtual

Visualizes myTargetLocation.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundLeadFormationControllerComponent.

virtual bool DtGroundFollowInFormationControllerComponent::publishFormationRoutes ( ) const

protectedvirtual

Returns: Look up whether or not we should publish formation following routes in DtVrfSettingsManager. Returns true if setting cannot be found.

virtual double DtGroundFollowInFormationControllerComponent::distanceBehind	(	const DtVector	topoRefPos,
		const DtVector	leaderDir,
		const DtVector	topoCurrentPosition
	)

protectedvirtual

How far behind the desired station the current position is.

Parameters

topoRefPos	is a position in topographic coordinates. (Intended to be directly behind (or ahead) of the leader by the desired longitudinal (x offset) amount.)
leaderDir	is a unit vector in topographic coordinates pointing in the direction of the leader's heading.
topoCurrentPosition	is the current position of the follower in topographic coordinates.

Returns: The distance behind the topoRefPos of the current position given the direction to the leader. I.e., (refPos - currentPos) dot leaderDir.

All parameters are given in the same topo coordinate system.

virtual bool DtGroundFollowInFormationControllerComponent::isPastDestination ( const int currentIndex )

protectedvirtual

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

private

assignment operator

Member Data Documentation

DtSimObjectReference DtGroundFollowInFormationControllerComponent::myRoute

protected

Working route follower travels along.

std::vector<DtVector> DtGroundFollowInFormationControllerComponent::myTopoOffsetRoute

protected

After the offset route myRoute is computed, this holds the topo coordinates of the route, with the first point in the route as the coordinate system origin.

DtCoordTransform DtGroundFollowInFormationControllerComponent::myLocalToTopoTransform

protected

bool DtGroundFollowInFormationControllerComponent::myIsOnRoute

protected

Flag that signals when we should return to the route.

bool DtGroundFollowInFormationControllerComponent::myHasProcessed

protected

Flag that signals when the task msg has been processed.

double DtGroundFollowInFormationControllerComponent::myDisToTarget

protected

Distance to myLocalDestination.

double DtGroundFollowInFormationControllerComponent::myBackwardsOffset

protected

Task parameter, follow offset from leader.

double DtGroundFollowInFormationControllerComponent::myNearDistance

protected

Descriptor parameter, used to keep on route.

double DtGroundFollowInFormationControllerComponent::myAtDistance

protected

Descriptor parameter, used to end task.

double DtGroundFollowInFormationControllerComponent::myApproachSpeed

protected

Descriptor parameter, used to limit turning speed.

int DtGroundFollowInFormationControllerComponent::myIndexDriven

protected

Current route vertex index. Ratchet used to avoid repeating a looping segment.

DtSimObjectReference DtGroundFollowInFormationControllerComponent::myLeader

protected

Task parameter, leader to follow.

DtMovementSimObjectFacade DtGroundFollowInFormationControllerComponent::myLeaderMovementSimObjectFacade

protected

DtSimObjectReference DtGroundFollowInFormationControllerComponent::myLeadersRoute

protected

Task parameter, unit route to base the working route on.

DtVector DtGroundFollowInFormationControllerComponent::myLocalDestination

protected

Location on route follower tries to reach. Based on leaders location and myBackwardsOffset.

DtVector DtGroundFollowInFormationControllerComponent::myClosestSegmentPt1

protected

Segment of route the follower is currently in. Used for task visualization.

DtVector DtGroundFollowInFormationControllerComponent::myClosestSegmentPt2

protected

Segment of route the follower is currently in. Used for task visualization.

DtVector DtGroundFollowInFormationControllerComponent::myLeaderLongitudinalOffsetPoint

protected

For task visualization.

DtMovementLocalObjectFacade DtGroundFollowInFormationControllerComponent::myMovementLocalObjectFacade

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation