DtFixedWingMoveToController Class Reference

DtFixedWingMoveToController is a controller used to model the movement of a fixed wing entity to a specific waypoint.

Uses Descriptor Type: DtFixedWingPilotControllerDescriptor

Inheritance diagram for DtFixedWingMoveToController:

Public Member Functions
	DtFixedWingMoveToController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtFixedWingMoveToController () override
virtual void	tick () override
virtual const char *	type () const override
bool	setMovementStatusFromControlPoint ()
virtual void	doFinishing ()
virtual void	doFinishingForFlying ()
virtual void	doFinishingForTaxiing ()
virtual void	doMoving ()
virtual void	doFlying ()
virtual void	doTaxiing ()
virtual void	doTakeOff ()
virtual void	updateTakeOffDirection ()
virtual double	findDesiredSpeed ()
virtual bool	nearGoal ()
virtual bool	atGoal ()
virtual bool	passedGoal ()
virtual void	taskComplete (bool success=true) override
virtual void	processMoveToTask (DtSimMessage *msg)
virtual void	processMoveToAltitudeTask (DtSimMessage *msg)
virtual void	processSetAltitude (DtSimMessage *msg)
virtual void	processSetLocation (DtSimMessage *msg)
virtual void	processSetRestore (DtSimMessage *msg)
virtual void	processWaypointChanged (const DtSimObject *msg)
virtual void	processModifyVrfObject (DtSimMessage *msg)
virtual void	registerTaskMsgCallbacks () override
Public Member Functions inherited from DtFixedWingPilotController
	DtFixedWingPilotController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtFixedWingPilotController () override
virtual bool	init () override
virtual double	maxTurningGs () const
virtual bool	terrainAvoidanceEnabled () const
virtual double	terrainAvoidanceLookaheadTime ()
virtual void	registerAttributeFunctions () override
virtual void	taxiTo (const DtVector &destination, double speed)
virtual void	taxi (double speed, double turnRate)
virtual double	calculateSteering (double turnAngle) const
virtual double	approximateThrottle (double speed)
virtual double	calculateCurrentBrakingDistance () const
virtual void	flyTo (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1)
virtual void	flyToDirect (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1)
virtual void	fly (double speed, double turnRate, double climbRate, double maxTerrainAvoidanceLookaheadDist=-1)
virtual void	flyFixedPitch (double speed, double turnRate, double desiredPitch, double maxTerrainAvoidanceLookaheadDist=-1)
virtual double	terrainAvoidancePitch (double speed, double desiredPitch, double maxTerrainAvoidanceLookaheadDist)
virtual bool	clearPathTo (const DtVector &localPosition, bool &dataAvailable, double minAltitude)
virtual void	circle (const DtVector &center, double radius, double speed, double altitude, bool clockwise=true)
virtual double	calcControlForRoll (double rollRate)
virtual double	calcControlForThrottle (double speed, bool &deployFlaps)
virtual double	decelerationLimitedClimbRate (double altitudeError, double desiredSpeed, double finalClimbRate=0.0)
virtual void	calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal)
virtual void	calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal, double rollRate=0.0)
virtual double	calculateClimbRate (double altitude, double climbTime) const
virtual double	calculateTurnRate (double turnAngle, double additionalTurnRate=0) const
virtual double	calculateRollAngle (double turnRate, double speed) const
virtual double	calculateRollRate (double rollAngle, double turnRate)
virtual void	calculateNormalizedBodyVelocity ()
virtual void	calculateLocalAngularVelocity ()
virtual void	calculateSpeedRatioSquared ()
virtual void	initializeControllerForTick ()
virtual bool	createFixedWingControlPortGroup ()
virtual bool	createThrottlePort ()
virtual bool	createStickPort ()
virtual bool	createPedalPort ()
virtual bool	createBrakePort ()
virtual bool	createFlapsDeployedPort ()
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedDualAxisAnalogOutputPort *	stickPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual DtConstrainedAnalogOutputPort *	brakePort ()
virtual DtBooleanOutputPort *	flapsDeployedPort ()
virtual void	setMaxThrustAcceleration (double maxThrustAcceleration)
virtual void	setTakeOffDir (const DtVector &takeOffDir)
virtual const DtVector &	takeOffDir () const
virtual DtReal	maxTurningGsForTask () const
virtual DtReal	maxTurnRateCutoffAngle () const
virtual DtReal	maxTaxiingTurnSpeed () const
virtual DtReal	taxiingNearDistance () const
virtual DtReal	taxiingAtDistance () const
virtual DtReal	taxiingApproachSpeed () const
virtual DtReal	maxPitchAngle () const
virtual DtReal	timeToTargetAltitude () const
Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *compDesc=nullptr, DtReaderWriterRegistry *parentRegistry=nullptr)
virtual	~DtSingleTaskControllerComponent () override
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 override
virtual DtTaskWithTaskStateListPtr	topLevelTasks () const override
virtual void	disable () override
virtual void	updateImgui () override
virtual void	initializeTaskInformationStateProperty (const DtSimTaskMessageType &taskType)
virtual void	updateCurrentTaskInformationStatusProperty (const DtString &status)
virtual DtString	taskInformationStatusPropertyValue (const DtSimTaskMessageType &taskType) const
virtual DtString	currentTaskInformationStatusPropertyValue () const
virtual DtRwPropertiesStructure *	taskInformationProperty (const DtSimTaskMessageType &taskType)
virtual DtRwPropertiesStructure *	currentTaskInformationProperty ()
Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *compDesc=nullptr, DtReaderWriterRegistry *parentRegistry=nullptr)
virtual	~DtTaskControllerComponent () override
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 () override
virtual DtSimRadio *	radio ()
virtual void	enableTaskTypes ()
virtual void	enableScriptedTask (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 () override
virtual void	setParentSystem (DtComponentSystem *system)
DtComponentSystem *	parentSystem () const
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) override
virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings) override
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 bool	taskVisualizationsEnabled () const
makVrf::DtTaskVisualizationMap &	taskVisualizations ()
virtual bool	debugActive () const
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) const
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	moveToCallback (DtSimMessage *msg, void *usr)
static void	moveToAltitudeCallback (DtSimMessage *msg, void *usr)
static void	setAltitudeCallback (DtSimMessage *msg, void *usrData)
static void	setLocationCallback (DtSimMessage *msg, void *usrData)
static void	setRestoreCallback (DtSimMessage *msg, void *usrData)
static void	waypointChangedCallback (const DtSimObject *msg, void *usr)
static void	modifyVrfObjectCallback (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 DtFixedWingPilotController
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static DtReaderWriter *	provideMaxThrustAcceleration (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	isClutterChanged () override
virtual bool	getLocalDestination (DtVector &local) const
virtual bool	getWorldDestination (DtVector &world) const
virtual double	distanceSquaredToDestination (const DtVector &current) const
virtual double	distanceSquaredToDestination2D (const DtVector &current) const
virtual bool	atAltitude (double desiredAltitude) const
virtual bool	setupControlPoint ()
virtual void	deleteWorkingControlPoint ()
virtual void	clearTask () override
virtual void	updateTaskVisualizations () override
virtual void	processEstimatedTotCalculation () override
virtual void	processFixedWingLocationChanged ()
Protected Member Functions inherited from DtFixedWingPilotController
virtual DtReaderWriter *	processProvideMaxThrustAcceleration ()
virtual bool	createPorts () override
virtual bool	createPortGroups () override
virtual void	lookupAndCacheProcessSR ()
virtual bool	postAddComponentsInit () override
virtual bool	decideToGiveUpTask () const override
virtual void	updateCurrentState ()
virtual double	calculateCollisionLookAhead (const double climbRate, const double speed, const double desiredAltitude)
virtual double	convertSpeedtoGroundSpeed (double speed, double currentAlt, DtAirSpeedType speedType)
	DtFixedWingPilotController ()
	DtFixedWingPilotController (const DtFixedWingPilotController &orig)
const DtFixedWingPilotController &	operator= (const DtFixedWingPilotController &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 () override
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
bool	myFirstTick
bool	myChangedLocation = false
Protected Attributes inherited from DtFixedWingPilotController
DtFixedWingEntityStateRepository *	myFixedWingEntityState
DtFixedWingFlightPSR *	myProcessState
DtAirspeedCalculator *	myAirSpeedCalculator
const double	DtEstimatedTotCalcInterval = 5.0
bool	myEstimatedTotCalcEnabled
double	myEstimatedTotValue
double	myEstimatedTotLastCalcTime
DtVector	myEstimatedTotTextPos
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
DtOutputPortGroup *	myFixedWingControlPortGroup
DtConstrainedAnalogOutputPort *	myThrottlePort
DtConstrainedDualAxisAnalogOutputPort *	myStickPort
DtConstrainedAnalogOutputPort *	myPedalPort
DtConstrainedAnalogOutputPort *	myBrakePort
DtBooleanOutputPort *	myFlapsDeployedPort
DtVector	myCurrentLocalPosition
DtVector	myCurrentLocalVelocity
double	myCurrentSpeed
DtDcm	myCurrentOrientationMatrix
double	myCurrentHeading
double	myCurrentTopoPitch
double	myCurrentTopoRoll
DtDcm	myLocalToTopoDcm
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
bool	myLocalDebug
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
bool	myInvalid
bool	myChangedFlag

Private Member Functions
	DtFixedWingMoveToController ()
	DtFixedWingMoveToController (const DtFixedWingMoveToController &orig)
DtFixedWingMoveToController &	operator= (const DtFixedWingMoveToController &orig)

Additional Inherited Members
Public Types inherited from DtTaskControllerComponent
enum	AcceptLevel { AcceptLevel_Accept = 0, AcceptLevel_Partial = 1, AcceptLevel_Error = 2, AcceptLevel_NoAccept = 99 }
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()
Public Attributes inherited from DtSingleTaskControllerComponent
const DtString	TaskStatusRunning = "TaskRunning"
const DtString	TaskStatusNotActive = "TaskNotActive"
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

DtFixedWingMoveToController::DtFixedWingMoveToController	(	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 DtFixedWingMoveToController::~DtFixedWingMoveToController ( )

overridevirtual

destructor

DtFixedWingMoveToController::DtFixedWingMoveToController ( )

private

default constructor - should not be called

DtFixedWingMoveToController::DtFixedWingMoveToController ( const DtFixedWingMoveToController &  orig )

private

copy constructor

Member Function Documentation

virtual void DtFixedWingMoveToController::tick ( )

overridevirtual

Calculate new control values. If myWaitingToSetMovementStatus is set in myProcessState, then setMovementStatusFromRoute is called to see if the required terrain data is now available.

Reimplemented from DtFixedWingPilotController.

Reimplemented in DtFixedWingFollowEntityController.

virtual const char* DtFixedWingMoveToController::type ( ) const

overridevirtual

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

DtFixedWingMoveToControllerType

Reimplemented from DtFixedWingPilotController.

Reimplemented in DtFixedWingFlyIntoController, DtFixedWingFollowEntityController, and DtFixedWingPatrolBetweenController.

bool DtFixedWingMoveToController::setMovementStatusFromControlPoint

(

)

Looks at the control point and the entity and determines which type of move to case is appropriate. Either taxiing, take off, landing, or flight. NOTE: The following objects must be valid before this function can be called or it will fail:

• myControlPoint
• myFixedWingEntityState
• simManager()
• entity()->referenceFrame() If the terrain data under the control point is not available, myWaitingToSetMovementStatus in myProcessState is set to true, the movement state is left unchanged and false is returned. Otherwise the movement state is set as described above, myWaitingToSetMovementStatus is set to false and true is returned.

virtual void DtFixedWingMoveToController::doFinishing ( )

virtual

Based on the current Movement status of the entity, calls the appropriate doFinishing function.

Reimplemented in DtFixedWingPatrolBetweenController.

virtual void DtFixedWingMoveToController::doFinishingForFlying ( )

virtual

Checks to see if the entity is within two seconds of being at the waypoint, or if the entity’s distance from the waypoint is greater than it was the previous frame (by comparing myProcessState->distanceSquared() to myProcessState->lastDistanceSquared()). If so, all port values are set to 0.0, myFinishing is set to false, and taskComplete() is called. Otherwise, flyTo() is called, and myProcessState->lastDistanceSquared() is set to myDistanceSquared.

virtual void DtFixedWingMoveToController::doFinishingForTaxiing ( )

virtual

Only called if the entity is near its goal. Checks to see if the entity is at the goal or passed it. If so, then it stops. Otherwise, it continues to taxi, but at its approach speed.

virtual void DtFixedWingMoveToController::doMoving ( )

virtual

Determines what state the entity is currently in and then calls the appropriate doMoving function for that state..

Reimplemented in DtFixedWingFollowEntityController.

virtual void DtFixedWingMoveToController::doFlying ( )

virtual

Determines if the entity is five seconds or fewer away from being at the waypoint using the entity’s speed and myDistanceSquared. If it is, it sets the myFinishing flag to true; The myProcessState->lastDistanceSquared() is set to myDistanceSquared. otherwise, it calls the flyTo() function provided by its parent class.

Reimplemented in DtFixedWingFlyIntoController, and DtFixedWingFollowEntityController.

virtual void DtFixedWingMoveToController::doTaxiing ( )

virtual

Determines if the entity is near its goal. If it is, it sets the finishing flag to true. The myProcessState->lastDistanceSquared() is set to myDistanceSquared. Otherwise, it calls the taxiTo() function provided by its parent class.

Reimplemented in DtFixedWingFollowEntityController.

virtual void DtFixedWingMoveToController::doTakeOff ( )

virtual

Changes the ordered speed to be the max ground speed and then taxi's in the direction of the waypoint. By setting the ordered speed to be the max ground speed, the plane will acclerate until either maxing out its speed or reaching min lift speed and taking off.

virtual void DtFixedWingMoveToController::updateTakeOffDirection ( )

virtual

Calculates and sets a new direction vector using the current waypoint to move to and the current position of the entity.

virtual double DtFixedWingMoveToController::findDesiredSpeed ( )

virtual

This function returns the appropriate speed for the movement status of the FWE. The desired speed can change between flying, taxiing, taking off...

Reimplemented in DtFixedWingFollowEntityController.

virtual bool DtFixedWingMoveToController::nearGoal ( )

virtual

Determines if the entity is close enough to the waypoint that it can be considered near its goal. For ground motion, this means determining if its breaking distance is greater than or equal to the specified near distance. For flying, this determines if the entity is within 5 seconds of the goal at current speed or orientation. NOTE: if the entity is not, but because it is at it's maximum altitude and the altitude is further above, it then determines if it is close enough to the goal as if that goal was at its altitude.

virtual bool DtFixedWingMoveToController::atGoal ( )

virtual

Determines if the entity is "at" the goal. For taxiing, it determines if entity is within the specified at-distance. For flying, it basically performs the same calculation for closeness, including altitude conditions, as nearGoal(), but for within 2 seconds.

virtual bool DtFixedWingMoveToController::passedGoal ( )

virtual

Determines if the entity will taxi passed the control point to which it is moving this frame if it continues at its current velocity and acceleration. It dead-reckons its position. It calculates the vector that points from the entity to the control point by subtracting the DtVector that represents the entity’s position from the one representing the control point’s position. It finds the dot product between this vector and the goal vector, If that dot product is greater than 0.0, the entity will pass the control point this tick if it does not stop.

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

overridevirtual

Overridden to set all internal state (i.e. port values, etc) properly when completing a task before notifying the task manager and actually making the task complete.

Reimplemented from DtSingleTaskControllerComponent.

static void DtFixedWingMoveToController::moveToCallback ( DtSimMessage *  msg, void *  usr  )

static

Instances of this component will register these callbacks with their own 'this' pointer as user data with the msg executive requesting notification of the appropriate tasks and setDataRequests.

static void DtFixedWingMoveToController::moveToAltitudeCallback ( DtSimMessage *  msg, void *  usr  )

static

static void DtFixedWingMoveToController::setAltitudeCallback ( DtSimMessage *  msg, void *  usrData  )

static

static void DtFixedWingMoveToController::setLocationCallback ( DtSimMessage *  msg, void *  usrData  )

static

static void DtFixedWingMoveToController::setRestoreCallback ( DtSimMessage *  msg, void *  usrData  )

static

static void DtFixedWingMoveToController::waypointChangedCallback ( const DtSimObject *  msg, void *  usr  )

static

static void DtFixedWingMoveToController::modifyVrfObjectCallback ( DtSimMessage *  msg, void *  usr  )

static

Calls processModifyVrfObject.

virtual void DtFixedWingMoveToController::processMoveToTask ( DtSimMessage *  msg )

virtual

Callback functions to execute when messages registered for are received.

virtual void DtFixedWingMoveToController::processMoveToAltitudeTask ( DtSimMessage *  msg )

virtual

virtual void DtFixedWingMoveToController::processSetAltitude ( DtSimMessage *  msg )

virtual

Changes the entities altitude/position to the user specified value. As a side effect, redetermines the proper value for the movement status and any other state variables.

virtual void DtFixedWingMoveToController::processSetLocation ( DtSimMessage *  msg )

virtual

virtual void DtFixedWingMoveToController::processSetRestore ( DtSimMessage *  msg )

virtual

virtual void DtFixedWingMoveToController::processWaypointChanged ( const DtSimObject *  msg )

virtual

Reimplemented in DtFixedWingFlyIntoController.

virtual void DtFixedWingMoveToController::processModifyVrfObject ( DtSimMessage *  msg )

virtual

If the entity is tasked, the control point is valid, and the object moved was the entity, then this resets any state associated with the previous location of the FWE when the location of the entity to which this controller is attached is changed through a DtIfModifyVrfObject message (i.e. a drag & drop in the front-end).

virtual void DtFixedWingMoveToController::registerTaskMsgCallbacks ( )

overridevirtual

Overrides this so it can register its interest in MoveTo commands and all other messages described in the above functions.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtFixedWingFollowEntityController, DtFixedWingPatrolBetweenController, and DtFixedWingFlyIntoController.

static DtSimComponent* DtFixedWingMoveToController::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 DtFixedWingMoveToController::isClutterChanged ( )

overrideprotectedvirtual

Called when the is-clutter setting changes.

Reimplemented from DtSimComponent.

virtual bool DtFixedWingMoveToController::getLocalDestination ( DtVector &  local ) const

protectedvirtual

virtual bool DtFixedWingMoveToController::getWorldDestination ( DtVector &  world ) const

protectedvirtual

virtual double DtFixedWingMoveToController::distanceSquaredToDestination ( const DtVector &  current ) const

protectedvirtual

Returns distance squared from destination point to current location. Positions are all in local coordinates.

virtual double DtFixedWingMoveToController::distanceSquaredToDestination2D ( const DtVector &  current ) const

protectedvirtual

virtual bool DtFixedWingMoveToController::atAltitude ( double  desiredAltitude ) const

protectedvirtual

Returns

True when the entity is considered at the altitude specified in the specified desired altitude. Considers being at the altitude to being within 33 meters of it.

virtual bool DtFixedWingMoveToController::setupControlPoint ( )

protectedvirtual

Sets up initial information for where the fixed wing wants to move to. Must call setMovementStatusFromControlPoint() after setting initial conditions.

Reimplemented in DtFixedWingFollowEntityController.

virtual void DtFixedWingMoveToController::deleteWorkingControlPoint ( )

protectedvirtual

Deletes working control point and cleans up any necessary elements.

virtual void DtFixedWingMoveToController::clearTask ( )

overrideprotectedvirtual

Override to set myControlPoint to NULL.

Reimplemented from DtFixedWingPilotController.

virtual void DtFixedWingMoveToController::updateTaskVisualizations ( )

overrideprotectedvirtual

update visualizations

Reimplemented from DtFixedWingPilotController.

Reimplemented in DtFixedWingFollowEntityController, and DtFixedWingFlyIntoController.

virtual void DtFixedWingMoveToController::processEstimatedTotCalculation ( )

overrideprotectedvirtual

calculate estimated tot

Reimplemented from DtFixedWingPilotController.

virtual void DtFixedWingMoveToController::processFixedWingLocationChanged ( )

protectedvirtual

Called in response to setLocation, setAltitude, modify message or restore message.

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

private

assignment operator

Member Data Documentation

bool DtFixedWingMoveToController::myFirstTick

protected

bool DtFixedWingMoveToController::myChangedLocation = false

protected

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/include/vrfmodel/fixedWingMoveToController.h