The DtSurfaceEntityPilotController provides basic movement capabilities for surface entities and creates the ports needed to control surface entity actuators.

End User Description: DtSurfaceEntityPilotController (surfEntPltCtl.h) provides elements that are common to all controllers which perform movement tasks for surface entities.

DtSurfaceEntityPilotController creates the throttle and rudder output ports used by all the surface entity movement controllers and provides accessors for them.

The most important control functions offered by the DtSurfaceEntityPilotController are sailTo() and driftTo(), both of which provide actuator inputs to move a ship to a given location at a given speed. The difference between the two is that driftTo() attempts to judge when to cut the throttle in order to drift to a stop at the given location, whereas sailTo() will accelerate to and maintain the given speed at all times.

DtSurfaceEntityPilotController also offers a function called emergencyStop() which will use reverse thrust in an attempt to stop the ship as quickly as possible. Some of the movement controllers will call this function when they overshoot a target.

The control functions listed in the previous paragraphs use three functions to determine the port input values they need to use. For rudder control, calculateControlForTurn() determines how much rudder to apply to turn to a given angle based on the current speed. For throttle control, there are two versions of calculateControlForThrottle(). Both use a speed parameter to determine how much throttle to apply, however one also takes a distance parameter which prevents the controller from using too much throttle when trying to drift to a stop at the given distance.

Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor

Inheritance diagram for DtSurfaceEntityPilotController:

[legend]

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

virtual	~DtSurfaceEntityPilotController ()

virtual const char *	type () const

virtual bool	init ()

virtual void	tick ()

virtual void	clearTask ()

virtual bool	createSurfaceControlPortGroup ()

virtual DtVrfMovingObjectStateRepository *	getSR ()

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	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 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
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 bool	createPorts ()

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	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
DtVrfMovingObjectStateRepository *	myEntityState

DtSurfaceEntityPilotControllerDescriptor *	myDescriptor

const DtSurfaceEntityParameters *	myParameters

DtSurfaceMovementPSR *	myProcessState

double	myDistanceSquared

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

Ports and Port Groups
Acceleration can be positive or negative.
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

DtSurfaceEntityPilotController::DtSurfaceEntityPilotController	(	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). Attempts to cast the given DtComponentDescriptor to a DtSurfaceEntityPilotControllerDescriptor and cache it in myDescriptor. If this fails a warning is printed to the object console.

virtual DtSurfaceEntityPilotController::~DtSurfaceEntityPilotController ( )

virtual

Destructor.

Deletes all ports and port groups

DtSurfaceEntityPilotController::DtSurfaceEntityPilotController ( )

protected

default constructor; not implemented

DtSurfaceEntityPilotController::DtSurfaceEntityPilotController ( const DtSurfaceEntityPilotController & orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual const char* DtSurfaceEntityPilotController::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: DtSurfaceEntityPilotControllerType

Implements DtTaskControllerComponent.

Reimplemented in DtSurfaceEntityPatrolRouteController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityMoveAlongController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityStopController, DtSurfaceEntityTurnMoveController, and DtSurfaceEntityMoveToController.

virtual bool DtSurfaceEntityPilotController::init ( )

virtual

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

Reimplemented from DtControllerComponent.

Reimplemented in DtSurfaceEntityStopController, and DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityPilotController::tick ( )

virtual

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

Reimplemented from DtSimComponent.

Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityMoveToLocationController, DtSurfaceEntityPatrolBetweenController, DtSurfaceEntityStopController, DtSurfaceEntityMoveToController, and DtSurfaceEntityTurnMoveController.

virtual void DtSurfaceEntityPilotController::clearTask ( )

virtual

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

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityMoveToController.

virtual bool DtSurfaceEntityPilotController::createSurfaceControlPortGroup ( )

virtual

Creates the surface control output port group.

virtual DtVrfMovingObjectStateRepository* DtSurfaceEntityPilotController::getSR ( )

inlinevirtual

Gets the entity state repository for purposes of providing attributes.

Reimplemented in DtSurfaceEntityMoveAlongController.

static DtReaderWriter* DtSurfaceEntityPilotController::provideOrderedSpeed ( 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.

virtual void DtSurfaceEntityPilotController::moveToWithFinalSpeed	(	const DtVector &	localDestination,
		const double	cruiseSpeed,
		const double	finalSpeed
	)

protectedvirtual

Sets the controls needed to sail towards the given destination at the given cruiseSpeed for as long as possible until the entity decelerates to finalSpeed at the destination. Destination is given in local coordinates.

virtual void DtSurfaceEntityPilotController::moveToWithFinalSpeed	(	const double	goalHeading,
		const double	cruiseSpeed,
		const double	finalSpeed
	)

protectedvirtual

This version is the same but takes a heading and uses it directly, instead of computing it from the destination.

virtual void DtSurfaceEntityPilotController::turn ( double desiredRate )

protectedvirtual

Sets the controls to turn at the given rate.

Set control outputs to make a continuous turn at the desired rate. DesiredRate can be negative or positive. It is in radians/sec.

virtual void DtSurfaceEntityPilotController::turn	(	double	desiredRate,
		double	desiredHeading
	)

protectedvirtual

Set control outputs to make a turn to the given heading. The desiredRate will be used (although limited by lateral acceleration and thus min turn radius and current speed). DesiredRate can be negative or positive. It can force the vessel to turn the long way to the desired heading.

virtual void DtSurfaceEntityPilotController::immediateNormalStop ( )

protectedvirtual

Decelerates the entity to a stop immediately.

virtual double DtSurfaceEntityPilotController::calculateControlForTurn	(	double	yawAngle,
		double	desiredRate
	)

protectedvirtual

Calculates the turn rate control for a given turn angle.

Calculates the turn rate to zero out the given yaw angle. YawAngle should be between -pi and pi; positive to the right. Uses proportional control, and limits the rate to keep a reasonable lateral acceleration. The turn rate is limited to the desiredRate (positive or negative). The turn rate is limited by the maximum lateral acceleration for the entity, and also by the entity's given minimum turn radius and speed (i.e. rate-max = current-speed/radius-min).

virtual double DtSurfaceEntityPilotController::calculateNormalAcceleration	(	double	cruiseSpeed,
		double	distance,
		double	turnAngle,
		double	finalSpeed
	)

protectedvirtual

Calculates the acceleration needed to reach the desired speed, but constrained to be able to decelerate to the finalSpeed when the distance reaches zero.

Calculates the acceleration needed to servo to the cruiseSpeed, but constrained such that with the deceleration capability of the entity, it can decelerate to the finalSpeed when the distance reaches zero. Turn angle is the angle from the entity's heading (direction of motion) to the goal point. The entity's current speed is reduced by cos(turnAngle) so that if distance is small but the entity is turned away from the goal, it will have a less constrained acceleration. CruiseSpeed can be negative, in which case entity max acceleration (vs. max deceleration) is used in the computation. The value returned for acceleration will be positive to slow down an entity moving in reverse. FinalSpeed should be the same sign as cruiseSpeed, and smaller in magnitude. The acceleration is limited by the max acceleration and stopping deceleration for the entity, and also the normal-acceleration fraction.

virtual double DtSurfaceEntityPilotController::calculateNormalAcceleration ( double desiredSpeed )

protectedvirtual

Calculates the acceleration needed to reach the desired speed.

Calculates the acceleration needed to servo the entity's speed to the given set speed.

virtual double DtSurfaceEntityPilotController::limitedAcceleration	(	double	desiredAcceleration,
		double	desiredSpeed
	)

protectedvirtual

Returns the desired acceleration modified as necessary by the constraints of maximum vehicle acceleration (positive and negative, or braking) and normal desired fraction of max to employ. This implementation reduces the vehicle's max acceleration when speed is > 1/2 max speed, just to add some realism because the simple actuator doesn't model that. Finally, acceleration is limited to (goal speed - current speed)/dT.

virtual double DtSurfaceEntityPilotController::followerAcceleration	(	double	dT,
		double	distance,
		double	maxDeceleration,
		double	followerSpeed,
		double	leaderSpeed
	)

protectedvirtual

Compute the acceleration limit of an entity following another entity so as to permit the follower to safely stop if the leader decelerates to a stop starting next tick (a "car-following" control). The entity (traveling at followerSpeed) can use the computed acceleration for one tick (dT), then decelerate at maxDeceleration, and come to rest behind a leader who is distance ahead traveling at leaderSpeed.

static DtSimComponent* DtSurfaceEntityPilotController::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 bool DtSurfaceEntityPilotController::createPortGroups ( )

protectedvirtual

Overridden to call createSurfaceControlPortGroup().

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntityPilotController::createPorts ( )

protectedvirtual

Overridden to call createThrottlePort() and createRudderPort().

Reimplemented from DtSimComponent.

Reimplemented in DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityPilotController::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 DtSurfaceEntityPilotController::postAddComponentsInit ( )

protectedvirtual

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

Returns: true if myProcessState is not null

Reimplemented from DtControllerComponent.

virtual bool DtSurfaceEntityPilotController::decideToGiveUpTask ( ) const

protectedvirtual

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

Reimplemented from DtSingleTaskControllerComponent.

DtPlatformLocalObjectFacade& DtSurfaceEntityPilotController::platformLocalObjectFacade ( )

inlineprotected

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

protected

assignment operator; not implemented

Member Data Documentation

DtVrfMovingObjectStateRepository* DtSurfaceEntityPilotController::myEntityState

protected

Referenced by DtSurfaceEntityMoveAlongController::getSR().

DtSurfaceEntityPilotControllerDescriptor* DtSurfaceEntityPilotController::myDescriptor

protected

const DtSurfaceEntityParameters* DtSurfaceEntityPilotController::myParameters

protected

Cache a pointer to the entity parameters.

Referenced by DtSurfaceEntityMoveAlongController::getParams().

DtSurfaceMovementPSR* DtSurfaceEntityPilotController::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 DtSurfaceEntityMoveAlongController::getPSR().

DtAnalogOutputPort* DtSurfaceEntityPilotController::myAccelerationPort

protected

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

DtAnalogOutputPort* DtSurfaceEntityPilotController::myClampSpeedPort

protected

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

DtAnalogOutputPort* DtSurfaceEntityPilotController::myTurnRatePort

protected

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

DtAnalogOutputPort* DtSurfaceEntityPilotController::myFinalHeadingPort

protected

A clamp heading, similar to clamp speed.

DtOutputPortGroup* DtSurfaceEntityPilotController::mySurfaceControlPortGroup

protected

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

double DtSurfaceEntityPilotController::myDistanceSquared

protected

A controller-global value that several functions test. Not needed between ticks.

DtPlatformLocalObjectFacade DtSurfaceEntityPilotController::myPlatformLocalObjectFacade

protected

Member to allow for access to platform specific data.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation