DtSurfaceEntityMoveAlongController Class Reference

DtSurfaceEntityMoveAlongController is a controller that models movement of a ship along a route.

End User Description: DtSurfaceEntityMoveAlongController (surfEntMvAlgCtl.h) is derived from DtSurfaceEntityMoveToLocationController.
It overrides DtTaskControllerComponent::registerTaskMsgCallbacks() and registers the callback function moveAlongCallback() for DtMoveAlongType. When a message is received, the callback invokes processMoveAlongTask(), which looks up the route in the object manager and stores a pointer to it in myRoute.
Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor

Inheritance diagram for DtSurfaceEntityMoveAlongController:

Public Member Functions
	DtSurfaceEntityMoveAlongController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSurfaceEntityMoveAlongController ()
virtual const char *	type () const
virtual bool	init ()
virtual void	preFirstTickInit ()
virtual void	clearTask ()
virtual void	processMoveAlongTask (DtSimMessage *msg)
virtual void	processRouteChanged ()
virtual bool	atGoal ()
virtual bool	passedGoal ()
virtual bool	targetNextVertex ()
virtual void	tick ()
virtual void	taskComplete (bool success=true)
Public Member Functions inherited from DtSurfaceEntityMoveToLocationController
	DtSurfaceEntityMoveToLocationController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSurfaceEntityMoveToLocationController ()
virtual void	processMoveToLocationTask (DtSimMessage *msg)
virtual void	initializeLocals (const DtVector &globalTarget)
virtual double	getAtDistance ()
Public Member Functions inherited from DtSurfaceEntityPilotController
	DtSurfaceEntityPilotController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSurfaceEntityPilotController ()
virtual bool	createSurfaceControlPortGroup ()
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	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	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	moveAlongCallback (DtSimMessage *msg, void *usr)
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static DtReaderWriter *	provideCurrentMinTurnRadius (void *controller)
static DtReaderWriter *	provideTurnRadiusForOrderedSpeed (void *controller)
static DtReaderWriter *	provideNextRoutePointIndex (void *controller)
Static Public Member Functions inherited from DtSurfaceEntityMoveToLocationController
static void	moveToLocationCallback (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 DtSurfaceEntityPilotController
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static DtReaderWriter *	provideOrderedSpeed (void *controller)
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
	DtSurfaceEntityMoveAlongController ()
	DtSurfaceEntityMoveAlongController (const DtSurfaceEntityMoveAlongController &orig)
const DtSurfaceEntityMoveAlongController &	operator= (const DtSurfaceEntityMoveAlongController &orig)
virtual bool	getNextRoutePoint (int &index, DtVector *&point)
virtual DtVector	previousRoutePoint ()
virtual void	setStateForCurrentPoint ()
virtual bool	setupControlPoint ()
virtual void	controlMovement ()
virtual void	moveToMiddleOrFinalPoint ()
virtual bool	shouldMoveToRouteSegment (double &distanceToSegment)
virtual void	controlMovementToRouteSegment (double distanceToSegment)
virtual DtReal	computeStartTurnDistance2 ()
virtual DtReal	minTurnRadiusForSpeed (double speed) const
virtual DtVrfMovingObjectStateRepository *	getSR ()
virtual DtSurfaceMovementPSR *	getPSR ()
virtual const DtSurfaceEntityParameters *	getParams ()
virtual void	registerTaskMsgCallbacks ()
virtual void	emptyVertexList ()
virtual void	processEstimatedTotCalculation ()
virtual bool	createPorts ()
virtual void	processMoveAlongTask (DtMoveAlongTask *moveAlong)
virtual double	integralControl () const
virtual double	integratedErrorDecayRate () const
virtual double	integralControlGain () const
Protected Member Functions inherited from DtSurfaceEntityMoveToLocationController
virtual void	updateTaskVisualizations ()
Protected Member Functions inherited from DtSurfaceEntityPilotController
virtual void	moveToWithFinalSpeed (const DtVector &localDestination, const double cruiseSpeed, const double finalSpeed)
virtual void	moveToWithFinalSpeed (const double goalHeading, const double cruiseSpeed, const double finalSpeed)
virtual void	turn (double desiredRate)
virtual void	turn (double desiredRate, double desiredHeading)
virtual void	immediateNormalStop ()
virtual double	calculateControlForTurn (double yawAngle, double desiredRate)
virtual double	calculateNormalAcceleration (double cruiseSpeed, double distance, double turnAngle, double finalSpeed)
virtual double	calculateNormalAcceleration (double desiredSpeed)
virtual double	limitedAcceleration (double desiredAcceleration, double desiredSpeed)
virtual double	followerAcceleration (double dT, double distance, double maxDeceleration, double followerSpeed, double leaderSpeed)
virtual bool	createPortGroups ()
virtual void	lookupAndCacheProcessSR ()
virtual bool	postAddComponentsInit ()
virtual bool	decideToGiveUpTask () const
DtPlatformLocalObjectFacade &	platformLocalObjectFacade ()
	DtSurfaceEntityPilotController ()
	DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig)
const DtSurfaceEntityPilotController &	operator= (const DtSurfaceEntityPilotController &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 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
double	myMinManeuverDistance2
double	myIntegratedAlignmentError
DtVectorOutputPort *	myCurrentVertexLocationOutputPort
DtSimObjectReference	myRoute
bool	myReprocessTask
Protected Attributes inherited from DtSurfaceEntityMoveToLocationController
DtLocation3D	myEntityPoint
DtBoolean	myPassedGoal
DtBoolean	myAtGoal
DtVector2D	myCurrentGoalToEntity2DVector
DtVector2D	myCurrentEntityToGoal2DVector
DtLocation3D	myAimingPoint
double	myAtDistance
const double	DtEstimatedTotCalcInterval = 5.0
bool	myEstimatedTotCalcEnabled
double	myEstimatedTotValue
double	myEstimatedTotLastCalcTime
DtVector	myEstimatedTotTextPos
Protected Attributes inherited from DtSurfaceEntityPilotController
DtVrfMovingObjectStateRepository *	myEntityState
DtSurfaceEntityPilotControllerDescriptor *	myDescriptor
const DtSurfaceEntityParameters *	myParameters
DtSurfaceMovementPSR *	myProcessState
double	myDistanceSquared
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
DtAnalogOutputPort *	myAccelerationPort
DtAnalogOutputPort *	myClampSpeedPort
DtAnalogOutputPort *	myTurnRatePort
DtAnalogOutputPort *	myFinalHeadingPort
DtOutputPortGroup *	mySurfaceControlPortGroup
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

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

DtSurfaceEntityMoveAlongController::DtSurfaceEntityMoveAlongController	(	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 DtSurfaceEntityMoveAlongController::~DtSurfaceEntityMoveAlongController ( )

virtual

Destructor.

Removes any remaining vertices changed callback added by processMoveAlongTask. Deletes myControlPoint. Calls emptyVertexList().

DtSurfaceEntityMoveAlongController::DtSurfaceEntityMoveAlongController ( )

protected

default constructor; not implemented

DtSurfaceEntityMoveAlongController::DtSurfaceEntityMoveAlongController ( const DtSurfaceEntityMoveAlongController &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual const char* DtSurfaceEntityMoveAlongController::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

DtSurfaceEntityMoveAlongType

Reimplemented from DtSurfaceEntityMoveToLocationController.

Reimplemented in DtSurfaceEntityPatrolRouteController.

virtual bool DtSurfaceEntityMoveAlongController::init ( )

virtual

Calls the parent init, then registers the attribute provider functions.

Reimplemented from DtSurfaceEntityPilotController.

virtual void DtSurfaceEntityMoveAlongController::preFirstTickInit ( )

virtual

Checks to see if there is a route, and if so registers for verticesChangedCallback for the route. This make sures that the callback is registered if the task was loaded from a scenario.

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityMoveAlongController::clearTask ( )

virtual

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

Reimplemented from DtSurfaceEntityPilotController.

static void DtSurfaceEntityMoveAlongController::moveAlongCallback ( DtSimMessage *  msg, void *  usr  )

static

Called when a move along message is received.

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

virtual void DtSurfaceEntityMoveAlongController::processMoveAlongTask ( DtSimMessage *  msg )

virtual

Retrieves the route name from the task message.

Called by moveAlongCallback to lookup the route stored in the move to message and store a pointer to it in myRoute. The name of the route and the reverse flag are saved in the process state repository. A verticies changed callback is registered on the route with routeChangedCallback as the function pointer. The myRouteHasChanged flag is then set to false. Start at closest point is checked, and setCurrentVertexToClosestInDirectionOfTraversal() is used to set the current route point. Finally, setupControlPoint() is called.

static DtReaderWriter* DtSurfaceEntityMoveAlongController::provideCurrentMinTurnRadius ( void *  controller )

static

Attribute access functions. These functions are registered with the parent system in init().Provides the current-min-turn-radius attribute for the surface entity movement system. This is computed from current speed and maximum lateral acceleration. It also considers the entity's minimum turn radius parameter.

static DtReaderWriter* DtSurfaceEntityMoveAlongController::provideTurnRadiusForOrderedSpeed ( void *  controller )

static

Provides the turn-radius-for-ordered-speed attribute for the surface entity movement system. Depends on maximum lateral acceleration; it also considers the entity's minimum turn radius and maximum speed parameters. This attribute is useful when planning a route that will be followed at the ordered speed, regardless of what the current entity speed is now.

static DtReaderWriter* DtSurfaceEntityMoveAlongController::provideNextRoutePointIndex ( void *  controller )

static

Provides the index of the route point the entity is moving towards.

virtual void DtSurfaceEntityMoveAlongController::processRouteChanged ( )

virtual

Handles changes to the verticies in the route.

Checks to make sure that the route is not null, that it's name matches the name stored in the process state repository, and that the controller is tasked. Iterates over the vertices in the route and compares them to the route vertices stored in the process state repository. If one of the verticies differs, myRouteHasChanged is set to true.

virtual bool DtSurfaceEntityMoveAlongController::atGoal ( )

virtual

Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached.

Calls down to DtSurfaceEntityMoveToController::atGoal() to determine if the current vertex has been reached. If not, false is returned. If the base class returns true, targetNextVertex is called to advance the target waypoint. If this call returns false, it indicates that the last vertex in the route has been reached and atGoal will return true.

Reimplemented from DtSurfaceEntityMoveToLocationController.

virtual bool DtSurfaceEntityMoveAlongController::passedGoal ( )

virtual

Overridden to head to the next vertex in the route every time a vertex is reached until the end of the route is reached.

Calls down to DtSurfaceEntityMoveToController::passedGoal() to determine if the current vertex has been passed. If not, false is returned. If the base class returns true, targetNextVertex is called to advance the target waypoint. If this call returns false, it indicates that the last vertex in the route has been passed and passedGoal will return true.

Reimplemented from DtSurfaceEntityMoveToLocationController.

virtual bool DtSurfaceEntityMoveAlongController::targetNextVertex ( )

virtual

virtual void doMoving(double desiredSpeed);

Advance to the next vertex in the route state.

Checks to see if the current vertex stored in the route state of the process state repository is the last vertex in the route. If so, false is returned. If not, the route state is advanced and setupControlPoint() is called. If successful, doMoving is called with findDesiredSpeed. If not, false is returned.

Reimplemented in DtSurfaceEntityPatrolRouteController.

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

static

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

Returns

New instance of this class.

virtual void DtSurfaceEntityMoveAlongController::tick ( )

virtual

Overridden to check for valid myProcessState pointer. If it is null a warning is printed to the object console.

Reimplemented from DtSurfaceEntityMoveToLocationController.

virtual void DtSurfaceEntityMoveAlongController::taskComplete ( bool  success = true )

virtual

If we are currently tasked, this will cause us to notify the entity that we're done and delete the task. To indicate that the task has failed (and is being abandoned) call this method with success set to false.

Reimplemented from DtSingleTaskControllerComponent.

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

protected

assignment operator; not implemented

virtual bool DtSurfaceEntityMoveAlongController::getNextRoutePoint ( int &  index, DtVector *&  point  )

protectedvirtual

Determines the next point along the route to use. Starting from the current route point, the function walks down the route points until a threshold distance is reached. The last point before this threshold is taken as the next point. This procedure is necessary to let the entity look ahead some when the route points are very close together. Ideally the move-along controller would plan a fine-motion path between closely spaced downstream points so as to best stay on the route; skipping ahead some distance is a rough substitute for such planning. The gotcha is the waypoint just beyond this threshold where the path may make a sharp turn.
Uses the current turn radius as a threshold.
Provides the index of the next point, and the next point that are more than the threshold beyond the current point, and returns true in the normal case. If the current point is the last point in the route, then the index and point will be the same as the current point, and the function returns false. If there are more points in the route beyond the current point, but the route ends before the threshold distance, then the index and point for the last point in the route are provided, and the function returns false.

virtual DtVector DtSurfaceEntityMoveAlongController::previousRoutePoint ( )

protectedvirtual

Gets the previous route point, before the current aim point; used for computing the route direction to the aim point. Uses the PSR prevRouteIndex.

virtual void DtSurfaceEntityMoveAlongController::setStateForCurrentPoint ( )

protectedvirtual

Set up Process State for current route point.

Sets the localAimPoint, startTurnDistance2, and goalVector in the process state repository for the current point in the routeState. This is called when a new route task is processed, when the route is changed, and when the entity arrives at a point and sets up the next point.

virtual bool DtSurfaceEntityMoveAlongController::setupControlPoint ( )

protectedvirtual

Makes sure the route state is valid (in case this is the first tick since a scenario load).

Reimplemented from DtSurfaceEntityMoveToLocationController.

virtual void DtSurfaceEntityMoveAlongController::controlMovement ( )

protectedvirtual

Executes the control function for the task, to produce control port outputs.

Executes the control function for the task for normal movement along a route; i.e. it moves directly toward the next route point. For the move-along-route controller, this function calls shouldMoveToRouteSegment() and possibly controlMovementToRouteSegment(); otherwise calls moveToMiddleOrFinalPoint().

Reimplemented from DtSurfaceEntityMoveToLocationController.

virtual void DtSurfaceEntityMoveAlongController::moveToMiddleOrFinalPoint ( )

protectedvirtual

Checks the PSR routeState to see if the current target point is the last in the route or not, and then calls MoveToWithFinalSpeed either with the orderedSpeed or 0.0 as the final speed.

Reimplemented in DtSurfaceEntityPatrolRouteController.

virtual bool DtSurfaceEntityMoveAlongController::shouldMoveToRouteSegment ( double &  distanceToSegment )

protectedvirtual

Tests the current position and orientation of the entity with respect to the current route segment (i.e., the direct line between the last route point and the current target route point) to determine if the entity should make some special maneuvers to move onto the route segment rather than just heading toward the target route point.

Returns

True if the entity is in a condition in which it should move toward the route segment line; false if the entity should just move toward the next route point.

Parameters

distanceToSegment

is the distance from the entity to the current segment of the route that the entity is following; it is computed in this function, and passed back for use by the calling code. This output parameter is undefined if the function returns false.

virtual void DtSurfaceEntityMoveAlongController::controlMovementToRouteSegment ( double  distanceToSegment )

protectedvirtual

Controls the entity to move it toward the current route segment.

Parameters

distanceToSegment

is the distance of the entity from the route segment it is currently following.

virtual DtReal DtSurfaceEntityMoveAlongController::computeStartTurnDistance2 ( )

protectedvirtual

Computes how far before the next control point the ship has to start turning toward the following route point to keep the ship close to the route without overshooting the control point. Returns the square of this distance. Looks at the heading change required to the following point, estimates the turning radius the ship will take based on its speed and lateral acceleration limit, and determines where the circular turn path will start.

virtual DtReal DtSurfaceEntityMoveAlongController::minTurnRadiusForSpeed ( double  speed ) const

protectedvirtual

Compute the minimum turn radius based on given speed, normal lateral acceleration, and minimum turn radius parameter.

virtual DtVrfMovingObjectStateRepository* DtSurfaceEntityMoveAlongController::getSR ( )

inlineprotectedvirtual

Gets the entity state repository for purposes of providing attributes.

Reimplemented from DtSurfaceEntityPilotController.

References DtSurfaceEntityPilotController::myEntityState.

virtual DtSurfaceMovementPSR* DtSurfaceEntityMoveAlongController::getPSR ( )

inlineprotectedvirtual

Gets the process state repository for purposes of providing attributes.

References DtSurfaceEntityPilotController::myProcessState.

virtual const DtSurfaceEntityParameters* DtSurfaceEntityMoveAlongController::getParams ( )

inlineprotectedvirtual

Gets the entity parameters for the purposes of providing attributes.

References DtSurfaceEntityPilotController::myParameters.

virtual void DtSurfaceEntityMoveAlongController::registerTaskMsgCallbacks ( )

protectedvirtual

Registers interest in move along tasks by calling addTaskProcessorCallback with moveAlongCallback as the function pointer and the 'this' pointer as the user data.

Reimplemented from DtSurfaceEntityMoveToLocationController.

Reimplemented in DtSurfaceEntityPatrolRouteController.

virtual void DtSurfaceEntityMoveAlongController::emptyVertexList ( )

protectedvirtual

Removes and deletes vertices from the vertex list in process state repository (calls process state repository's emptyRouteVertices()).

virtual double DtSurfaceEntityMoveAlongController::integralControl ( ) const

protectedvirtual

A correction term based on Integral control (i.e., accumulated error) that is used when the entity is within the threshold distance of the route line and steering directly to the next waypoint. Over long distances, the steering control and actuator will sometimes cause the entity to drift outside this threshold distance, due to subtle (and unsolved) problems with computing long distance and short distance headings on an ellipsoidal earth. The error each tick is normalized (to the threshold for this entity) and added to myIntegratedAlignmentError. The accumulated value is reduced by integratedErrorDecayRate() each second. The accumulated error is multiplied by integralControlGain() and added to the computed heading to the next route point.

virtual double DtSurfaceEntityMoveAlongController::integratedErrorDecayRate ( ) const

inlineprotectedvirtual

The reduction factor in the accumulated error, per second. Must be < 1.0.

virtual double DtSurfaceEntityMoveAlongController::integralControlGain ( ) const

inlineprotectedvirtual

Returns radian offset per accumulated normalized error. Positive because positive error is to left, requiring positive angle adjustment.

virtual void DtSurfaceEntityMoveAlongController::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented from DtSurfaceEntityMoveToLocationController.

virtual bool DtSurfaceEntityMoveAlongController::createPorts ( )

protectedvirtual

Overridden to call createThrottlePort() and createRudderPort().

Reimplemented from DtSurfaceEntityPilotController.

virtual void DtSurfaceEntityMoveAlongController::processMoveAlongTask ( DtMoveAlongTask *  moveAlong )

protectedvirtual

Member Data Documentation

double DtSurfaceEntityMoveAlongController::myMinManeuverDistance2

protected

Caches a threshold distance inside of which the entity will not consider moving to the route line, vs. heading directly to the route point.

double DtSurfaceEntityMoveAlongController::myIntegratedAlignmentError

protected

This is the accumulated error of normalized distance from the route segment line. This value is used for Integral control while the entity is within the threshold distance to the line and trying to steer directly to the next waypoint.

DtVectorOutputPort* DtSurfaceEntityMoveAlongController::myCurrentVertexLocationOutputPort

protected

Output Port Name: current-vertex-location
Output Port Description: Specifies the current vertex location of the entity's route in local coordinates. Output Port Range:
Output Group Parent:
.

DtSimObjectReference DtSurfaceEntityMoveAlongController::myRoute

protected

bool DtSurfaceEntityMoveAlongController::myReprocessTask

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/include/vrfmodel/surfaceEntityMoveAlongController.h