Provides a simple, kinematics-based model for surface vessels.

End User Description: A simple surface ship actuator that provides for ships to move according to acceleration, speed and turn commands. In effect, low level actions such as setting the engine commands (forward/back, amount) and rudder commands (degrees) are abstracted away. The inputs are simply desired acceleration, desired turn radius, and final speed/heading. This makes this actuator something of a low-level controller. The DtSurfaceEntitySimpleActuator converts acceleration and turn radius inputs into orientation (heading), acceleration, velocity, and position.

Uses Descriptor Type: DtSurfaceEntitySimpleActuatorDescriptor

Inheritance diagram for DtSurfaceEntitySimpleActuator:

[legend]

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

virtual	~DtSurfaceEntitySimpleActuator ()

virtual bool	init ()

virtual const char *	type () const

virtual bool	postAddComponentsInit ()

virtual void	initProcessSR ()

virtual void	tick ()

virtual void	decrementFuelResource (double fuelUsed)

Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent ()

virtual DtSimRadio *	radio ()

virtual bool	tickWhileDestroyed () const

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	postTick ()

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

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	taskVisualizationsActive () const

virtual bool	taskVisualizationsEnabled () const

virtual void	onRestore ()

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

virtual void	enable ()

virtual void	disable ()

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 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 bool	createPortGroups ()

virtual bool	createPorts ()

virtual void	updateHeading (const double dT, double &newHeading)

virtual void	updateVelocity (const double dT, const double newHeading, const double newVerticalSpeed, double &acceleratingDT, double &newSpeed, DtVector &newVelocity, bool &maxSpeedAchieved)

virtual double	updateVerticalSpeed (const double dT)

virtual void	updateOrientationAndPosition (const double dT, const double acceleratingDT, const double newHeading, DtVector &newVelocity, const double newSpeed, DtDcm &newBodyToLocalMatrix, DtVector &newPosition)

virtual void	adjustAttitude (const double newSpeed, const DtVector &position, const double yawRate, double &roll, double &pitch, double &altitudeAdj)

virtual void	setAltitude (DtVector &localPosition, const Coordinate_System *cs, const double altitudeAdjustment)

virtual bool	getTerrainSurfaces (const DtVector &databaseLocation, double &groundHeight, DtSurface &groundSurface, DtVector &groundNormal, double &waterHeight, DtSurface::DtMedium &topSurfaceMedium, bool *dataAvailable=0, bool overrideBlockingAssert=false)

virtual bool	isShipAground (const DtVector &localPosition, const DtDcm &bodyToLocalMatrix, DtSurface::DtMedium topMedium=DtSurface::WaterSurface)

virtual void	sinkingAttitude (const DtVector &newPosition, DtDcm &newBodyToLocalMatrix)

virtual void	setOrientationToBottom (const DtVector &newPosition, const double newHeading, const DtVector &groundNormal, DtDcm &newBodyToLocalMatrix)

virtual void	computeNewRates (const double turnRate, const double newSpeed, const double newHeading, const double acceleration, const DtDcm &bodyToLocalMatrix, DtVector &bodyRotationRates, DtVector &relativeAcceleration, double &limitedAcceleration)

virtual void	sinkingRates (DtVector &newPosition, DtVector &newVelocity, DtVector &newRelativeAcceleration, DtVector &newBodyRotationRates)

virtual void	unpoweredDriftRates (const double newSpeed, const double newHeading, DtVector &newBodyRotationRates, DtVector &newRelativeAcceleration)

double	driftDecelerationMagnitude () const

virtual void	updateRepository (const DtVector &newPosition, const DtVector &newVelocity, const DtVector &newAcceleration, const DtTaitBryan &newOrientation, const DtVector &newBodyRotationRates)

virtual double	computeFuelUsed (const double dT)

DtSurfaceEntityStateRepository *	surfaceEntityState (void) const

virtual bool	createPSR ()

	DtSurfaceEntitySimpleActuator ()

	DtSurfaceEntitySimpleActuator (const DtSurfaceEntitySimpleActuator &orig)

const DtSurfaceEntitySimpleActuator &	operator= (const DtSurfaceEntitySimpleActuator &orig)

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

virtual void	setRadio (DtSimRadio *radio)

	DtActuatorComponent ()

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
DtSurfaceEntityStateRepository *	mySurfaceEntityState

const DtSurfaceEntityParameters *	myParameters

DtSurfaceEntityActuatorDescriptor *	myDescriptor

DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup

DtSurfaceMovementPSR *	myProcessState

bool	myOutOfFuelWarningPrinted

double	myMaxRollRate

bool	myAgroundAndDestroyed

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

Ports and Port Groups
DtInputPortGroup *	mySurfaceControlPortGroup

DtAnalogInputPort *	myAccelerationPort

DtAnalogInputPort *	myClampSpeedPort

DtAnalogInputPort *	myTurnRatePort

DtAnalogInputPort *	myFinalHeadingPort


double	mySeaFloorHeight

double	myWaterHeight

bool	myIsAground


double	mySinkingPitchRate

double	mySinkingRollRate

double	mySinkingStartRate

Protected Attributes inherited from DtActuatorComponent
DtSimRadio *	myRadio

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 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 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

DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator	(	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). Constructor

virtual DtSurfaceEntitySimpleActuator::~DtSurfaceEntitySimpleActuator ( )

virtual

Destructor.
Removes myProcessState from the process state repository manager. Deletes all ports and port groups.

DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator ( )

protected

default constructor; not implemented

DtSurfaceEntitySimpleActuator::DtSurfaceEntitySimpleActuator ( const DtSurfaceEntitySimpleActuator & orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtSurfaceEntitySimpleActuator::init ( )

virtual

Calls down to the base class, null checks entity(), calls createPSR(), and then caches the entity's state repository in mySurfaceEntityState.

Reimplemented from DtActuatorComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual const char* DtSurfaceEntitySimpleActuator::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: DtSurfaceEntitySimpleActuatorType

Implements DtSimComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual bool DtSurfaceEntitySimpleActuator::postAddComponentsInit ( )

virtual

to initialize the PSR after the components have been created and initialized

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntitySimpleActuator::initProcessSR ( )

virtual

the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntitySimpleActuatorDescriptor

virtual void DtSurfaceEntitySimpleActuator::tick ( )

virtual

Calculates new kinematic state.

The tick method carries out the following steps:

The tick() function checks whether dT (the time elapsed since the last tick call) is 0.0. If it is, tick() returns.
The soil type at the current location is checked. If it is not not a water surface, all movement is zeroed out, updateRepository() is called and the tick returns. If there isn't a terrain intersection at the current location (water or otherwise), the ship is allowed to sail on at altitude 0.
In order to store the values that have been calculated during the tick in the entity's state repository, updateRepository() is called.
The actuator calls dataReceived(). This is done as a convenience for future subclasses – this actuator does not examine the newData flag.

Reimplemented from DtSimComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::decrementFuelResource ( double fuelUsed )

virtual

Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount. If the resource is not found, this function just returns. If the resource is found, the amount of fuel passed as the argument to the function is deducted from the resource. When the resource reaches 0, a warning is printed to the object console.
Uses PSR.setHasFuel() to set a flag in the PSR so that the actuator and controllers don't all have to look up fuel resources available.

static DtSimComponent* DtSurfaceEntitySimpleActuator::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 DtSurfaceEntitySimpleActuator::createPortGroups ( )

protectedvirtual

Creates the mySurfaceControlPortGroup input port group and adds it to the component.

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntitySimpleActuator::createPorts ( )

protectedvirtual

Creates myAccelerationPort, myClampSpeedPort, myTurnRadiusPort, and myFinalHeadingPort and adds them to mySurfaceControlPortGroup.

Reimplemented from DtSimComponent.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::updateHeading	(	const double	dT,
		double &	newHeading
	)

protectedvirtual

virtual void DtSurfaceEntitySimpleActuator::updateVelocity	(	const double	dT,
		const double	newHeading,
		const double	newVerticalSpeed,
		double &	acceleratingDT,
		double &	newSpeed,
		DtVector &	newVelocity,
		bool &	maxSpeedAchieved
	)

protectedvirtual

Update the state of velocity. Use the values for [forward] acceleration and clamp [forward] speed that have been in effect over the last tick and are saved in the PSR. For speed in the vertical direction, uses the input newVerticalSpeed. Computes new forward speed and the new velocity, using the input heading to rotate the forward speed to the correct [topo] direction. Returns a value for acceleratingDT, which can be a time, shorter than dT, during which the entity accelerates to the clamp speed; the remainder of dT, the entity is assumed to be moving at a constant newSpeed.

Note that for sinking ships, velocity is re-set in the update-rates section of the tick function.

virtual double DtSurfaceEntitySimpleActuator::updateVerticalSpeed ( const double dT )

protectedvirtual

Update the vertical speed. This is primarily for derived subsurface entities; for the surface entities, vertical speed is always 0 unless it is sinking. Called in updateVelocity.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::updateOrientationAndPosition	(	const double	dT,
		const double	acceleratingDT,
		const double	newHeading,
		DtVector &	newVelocity,
		const double	newSpeed,
		DtDcm &	newBodyToLocalMatrix,
		DtVector &	newPosition
	)

protectedvirtual

Update the state of position from the velocity and acceleration in effect over the last tick (i.e., in the current vrfKinematicState). Uses the acceleration for a time acceleratingDt, and if that is less than dT, uses a constant speed for the remainder of the dT. This process moves the position correctly when the speed gets clamped part way through the tick. Also updates the orientation. If the entity is sinking, this is done by calling sinkingAttitude. Otherwise, the attitude is adjusted with adjustAttitude, and then in setAltitude the altitude of the position is clamped to the water surface altitude, plus any modification from adjustAttitude.

Returns, in the last 2 arguments, the new values of orientation in terms of a Directed Cosine Matrix for the transformation from body to local coordinates and the new position. The vectors are all in "local" coordinates, e.g. those used in the vrfKinematicState for localPosition and relativeVelocity.

virtual void DtSurfaceEntitySimpleActuator::adjustAttitude	(	const double	newSpeed,
		const DtVector &	position,
		const double	yawRate,
		double &	roll,
		double &	pitch,
		double &	altitudeAdj
	)

protectedvirtual

Adjusts the attitude of the entity for improved appearance. Makes the entity roll in turns, according to the turnRollRate parameter. Makes the entity pitch up at speed, according to the speedPitchRate parameter. Also provides an altitude adjustment parameter so the pitch-up raises the entity up instead of allowing the stern to sink.

Reimplemented in DtSubSurfaceEntitySimpleActuator.

virtual void DtSurfaceEntitySimpleActuator::setAltitude	(	DtVector &	localPosition,
		const Coordinate_System *	cs,
		const double	altitudeAdjustment
	)

protectedvirtual

Sets the altitude of the entity. The position input/output parameter is in local database coordinates. The altitudeAdjustment is the difference from local water surface altitude. This function converts the position to geodetic coordinates, looks up the altitude of the water surface at the position lat-lon, adds the altitudeAdjustment, then converts back to local coordinates. Note that altitude can be negative to set the position below the surface.

virtual bool DtSurfaceEntitySimpleActuator::getTerrainSurfaces	(	const DtVector &	databaseLocation,
		double &	groundHeight,
		DtSurface &	groundSurface,
		DtVector &	groundNormal,
		double &	waterHeight,
		DtSurface::DtMedium &	topSurfaceMedium,
		bool *	dataAvailable = `0`,
		bool	overrideBlockingAssert = `false`
	)

protectedvirtual

Gets the characteristics of the terrain surface and sea floor. By default this just calls physicalWorld()-> terrainHeightUnderWater, but special vehicle types or terrain conditions could necessitate making different calls.
See the documentation for the terrain function for an explanation of the arguments.

virtual bool DtSurfaceEntitySimpleActuator::isShipAground	(	const DtVector &	localPosition,
		const DtDcm &	bodyToLocalMatrix,
		DtSurface::DtMedium	topMedium = `DtSurface::WaterSurface`
	)

protectedvirtual

This function determines if the ship is aground at the given location and the given orientation. It checks first to see if the top surface medium is not water. Then it checks to see if the altitude of the ship puts the bottom of the bounding box at the altitude of the sea floor (mySeaFloorHeight). Orientation is provided for future enhancement to look at different parts of the bounding box.

virtual void DtSurfaceEntitySimpleActuator::sinkingAttitude	(	const DtVector &	newPosition,
		DtDcm &	newBodyToLocalMatrix
	)

protectedvirtual

This function sets the attitude for sinking ships. It is used in place of adjustAttitude when the ship is destroyed.

virtual void DtSurfaceEntitySimpleActuator::setOrientationToBottom	(	const DtVector &	newPosition,
		const double	newHeading,
		const DtVector &	groundNormal,
		DtDcm &	newBodyToLocalMatrix
	)

protectedvirtual

This function sets the orientation of the entity to that of the underwater polygon underneath newPosition, and given the newHeading. The function is used when the ship is destroyed and aground (i.e., it has sunk to the bottom).

virtual void DtSurfaceEntitySimpleActuator::computeNewRates	(	const double	turnRate,
		const double	newSpeed,
		const double	newHeading,
		const double	acceleration,
		const DtDcm &	bodyToLocalMatrix,
		DtVector &	bodyRotationRates,
		DtVector &	relativeAcceleration,
		double &	limitedAcceleration
	)

protectedvirtual

Computes the new values for acceleration (relative to the database) and rotation rate (body) based on the control port inputs. The values on these ports are checked and clamped to reasonable values; for example turn rate is limited to values that produce reasonable lateral accelerations–0.1 to 0.4 for warship-sized vessels. Input arguments also include the updated speed, and the updated body-to-local orientation transformation matrix. Speed is signed, so is negative if the vessel is going backwards. Returns the rotation rates, the acceleration vector, and the limited acceleration (a scalar, in direction of body X) in the last 3 arguments.

virtual void DtSurfaceEntitySimpleActuator::sinkingRates	(	DtVector &	newPosition,
		DtVector &	newVelocity,
		DtVector &	newRelativeAcceleration,
		DtVector &	newBodyRotationRates
	)

protectedvirtual

The function that is used to compute body rotation rates and acceleration for the next tick, when the entity is sinking. Also sets clamp speed, clamp heading, and forward acceleration in the PSR.

virtual void DtSurfaceEntitySimpleActuator::unpoweredDriftRates	(	const double	newSpeed,
		const double	newHeading,
		DtVector &	newBodyRotationRates,
		DtVector &	newRelativeAcceleration
	)

protectedvirtual

Computes body rotation rates and new acceleration vector for an entity that is drifting. It will use a lower deceleration in general than a ship that is powered and can reverse thrust. Also sets clamp speed, clamp heading, and forward acceleration in the PSR.

double DtSurfaceEntitySimpleActuator::driftDecelerationMagnitude ( ) const

protected

Computes the magnitude of the deceleration of a drifting ship. This quantity is estimated from the forward speed and the mass of the ship, and limited to a maximum value.

virtual void DtSurfaceEntitySimpleActuator::updateRepository	(	const DtVector &	newPosition,
		const DtVector &	newVelocity,
		const DtVector &	newAcceleration,
		const DtTaitBryan &	newOrientation,
		const DtVector &	newBodyRotationRates
	)

protectedvirtual

Copy newly calculated state data in the arguments into the object's state repository (LocalPosition, RelativeVelocity, RelativeAcceleration, LocalOrientationWrtDatabase, and RotationalVelocity. The Orientation is computed from the DCM matrix using DtBodyToRef_to_Euler()).

virtual double DtSurfaceEntitySimpleActuator::computeFuelUsed ( const double dT )

protectedvirtual

Computes the amount of fuel used based on the speed, dT, and the fuel efficiency given in the surface entity state repository.

DtSurfaceEntityStateRepository* DtSurfaceEntitySimpleActuator::surfaceEntityState ( void ) const

protected

virtual bool DtSurfaceEntitySimpleActuator::createPSR ( )

protectedvirtual

Creates myProcessState data member, and adds it to our process state repository manager. Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

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

protected

assignment operator; not implemented

Member Data Documentation

DtSurfaceEntityStateRepository* DtSurfaceEntitySimpleActuator::mySurfaceEntityState

protected

Cache some pointers.

const DtSurfaceEntityParameters* DtSurfaceEntitySimpleActuator::myParameters

protected

DtSurfaceEntityActuatorDescriptor* DtSurfaceEntitySimpleActuator::myDescriptor

protected

DtInputPortGroup* DtSurfaceEntitySimpleActuator::mySurfaceControlPortGroup

protected

Input Port Group Name: surface-control
Input Port Group Description:

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myAccelerationPort

protected

Acceleration can be positive or negative. Acceleration in either direction is assumed to be effected by the propellers, i.e. active thrust vs. friction braking. This simple actuator assumes that acceleration can be changed to any value in one tick.

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myClampSpeedPort

protected

Clamp speed is the speed that the controller is trying to accelerate (or decelerate) to; if dT is unexpectedly large, the actuator will accelerate only to this speed, then keep speed constant for the rest of the tick.

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myTurnRatePort

protected

Turn rate in radians/sec, with positive meaning a turn to the right. Note that if speed < 0, a positive turn rate swings the stern to the left. This simple actuator assumes that turn rate can be changed to any value in one tick.

DtAnalogInputPort* DtSurfaceEntitySimpleActuator::myFinalHeadingPort

protected

Final heading that the entity is clamped to, if dT is too large.

DtUpdateRepositoryOutputPortGroup* DtSurfaceEntitySimpleActuator::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository. All values are in local coordinates.

DtSurfaceMovementPSR* DtSurfaceEntitySimpleActuator::myProcessState

protected

Container for state data associated with this component. This state is saved and restored as part of a scenario (or checkpoint).

bool DtSurfaceEntitySimpleActuator::myOutOfFuelWarningPrinted

protected

Remembers if the warning has been printed, so it's only printed once.

double DtSurfaceEntitySimpleActuator::myMaxRollRate

protected

Remember a reasonable value for maximum roll rate for this entity, based on mass. Computed at init time.

double DtSurfaceEntitySimpleActuator::mySeaFloorHeight

protected

Computed at the beginning of every tick; remembered for use in the tick:

double DtSurfaceEntitySimpleActuator::myWaterHeight

protected

Computed at the beginning of every tick; remembered for use in the tick:

bool DtSurfaceEntitySimpleActuator::myIsAground

protected

Computed at the beginning of every tick; remembered for use in the tick:

bool DtSurfaceEntitySimpleActuator::myAgroundAndDestroyed

protected

Remembered after this state is first entered, to avoid recomputation in future ticks. The entity never leaves this state.

double DtSurfaceEntitySimpleActuator::mySinkingPitchRate

protected

Parameters that define how this ship will sink. Determined randomly at init time.

double DtSurfaceEntitySimpleActuator::mySinkingRollRate

protected

Parameters that define how this ship will sink. Determined randomly at init time.

double DtSurfaceEntitySimpleActuator::mySinkingStartRate

protected

Parameters that define how this ship will sink. Determined randomly at init time.

DtPlatformLocalObjectFacade DtSurfaceEntitySimpleActuator::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/surfaceEntitySimpleActuator.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