DtGimbalDriver looks for the plane element created by DtExampleDriver (or DtDriverExamplePlugin) and implements a gimbal attached to that plane at a specified offset. It shows how to use the DtGeoReference class to position and orient the gimbal using the plane's position and orientation; and how to find azimuth and elevation angles to a target in the gimbal's local coordinate system. It attaches the observer named "Observer 1" to the gimbal, and uses the azimuth and elevation angles determined to lock the observer onto the target location.

Inheritance diagram for DtGimbalDriver:

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Public Member Functions
	DtGimbalDriver (makVrv::DtAgentManager &am)

	DtGimbalDriver ()=delete

virtual	~DtGimbalDriver ()

Public Member Functions inherited from makVrv::DtDriver
	DtDriver (DtAgentManager &agentManager, const std::string &instanceName)

virtual	~DtDriver ()

virtual void	realizeConfiguration (const DtConfiguration &configuration)

virtual DtConfiguration	createConfiguration (bool saveAllParameters=false) const

DtAgentManager &	agentManager ()

virtual DtAgentManagerInterface &	sceneInterface ()

bool	started () const

virtual const std::string &	instanceName () const

virtual bool	autoStart () const

virtual void	setAutoStart (bool autoStart)

virtual bool	isWindowDependent () const

virtual void	setIsWindowDependent (bool dep)

virtual void	setIsUserControllable (bool)

virtual bool	isUserControllable () const

virtual void	setIsPersistent (bool per)

virtual bool	isPersistent () const

virtual bool	isOnDriverSelectionList () const

virtual void	setOnDriverSelectionList (bool)

bool	objectFromAgentManager (const DtUniqueID &id) const

Protected Member Functions
virtual bool	initialize ()

virtual void	slot_coordinateSystemChanged ()

Protected Member Functions inherited from makVrv::DtDriver
void	applyChangesAndDelete (DtElementChanges *changes)

void	reportElementCreated (DtElementID id, DtElementID parentId, DtElementEntry::ElementType type)

void	reportElementAttribute (DtElementID id, DtElementAttribute *attribute)

void	reportElementDestroyed (DtElementID id)

void	start ()

void	stop ()

bool	tick ()

virtual void	setInstanceName (const std::string &name)

virtual void	installAccessories ()

virtual void	uninstallAccessories ()

Protected Attributes
makVrv::DtGeoReference *	myPlaneGeoRef

makVrv::DtGeoReference *	myGimbalGeoRef

makVrv::DtSceneObjectAgent *	myGimbalSceneObjectAgent

makVrv::DtSceneObject *	myPlaneSceneObject

makVrv::DtElementID	myGimbalId

makVrv::DtSignalConnectionManager	mySignalConnections

DtGeodeticCoord *	myTargetLocation

makVrv::DtElementID	myPlaneElementId

DtGimbalSensorOverlay *	myGimbalSensorOverlay

Protected Attributes inherited from makVrv::DtDriver
DtAgentManager &	myAgentManager

bool	myStartedFlag

std::string	myName

DtConfiguration	myConfiguration

bool	myPersistentFlag

bool	myUserControllableFlag

bool	myRequestStateDiffPendingFlag

DtElementChanges	myChanges

Methods Inherited from makVrv::DtDriver
virtual const std::string &	className () const

virtual bool	onStart ()

virtual bool	onStop ()

virtual bool	onTick ()

virtual void	attachObserverToEntity (const std::string &observerName, const std::string &entityName)

virtual void	slot_displayEngineAdded (const makVrv::DtDeRecord &igRecord)

Additional Inherited Members
Static Protected Attributes inherited from makVrv::DtDriver
static const std::string	theOnDriverSelectionList

Constructor & Destructor Documentation

DtGimbalDriver::DtGimbalDriver ( makVrv::DtAgentManager & am )

CTOR.

DtGimbalDriver::DtGimbalDriver ( )

delete

Unimplemented CTOR to prevent auto-creation.

virtual DtGimbalDriver::~DtGimbalDriver ( )

virtual

Virtual DTOR.

Member Function Documentation

virtual const std::string& DtGimbalDriver::className ( ) const

virtual

Returns the driver's class name.

See Also: makVrv::DtDriver::className() const

Implements makVrv::DtDriver.

virtual bool DtGimbalDriver::onStart ( )

protectedvirtual

Performs startup logic for the driver. In this case, this method is a no-op (but must be implemented since it's pure virtual). Initialization is delayed until onTick() so that the plane we need to attach exists.

See Also: makVrv::DtDriver::start().

Implements makVrv::DtDriver.

virtual bool DtGimbalDriver::onStop ( )

protectedvirtual

Performs shutdown logic for the driver. Deletes the Gimbal Element and GeoReference objects.

See Also: makVrv::DtDriver::stop()

Implements makVrv::DtDriver.

virtual bool DtGimbalDriver::onTick ( )

protectedvirtual

Performs update logic for the driver. If myGimbalSceneObjectAgent hasn't been initialized yet, onTick() calls initialize(). Once initialized, each tick this method:

Updates the DtGeoReference for the plane with the plane's current position and orientation.
Finds the position and orientation of the gimbal in the plane's coordinate system and updates the gimbal's DtGeoReference
Finds the position of the target in the gimbal's coordinate system.
Calculates azimuth and elevation angles from the gimbal to the target
Sets the observer's attached rotation with the azimuth and elevation angles
See Also
makVrv::DtDriver::tick()

Implements makVrv::DtDriver.

virtual void DtGimbalDriver::attachObserverToEntity	(	const std::string &	observerName,
		const std::string &	entityName
	)

protectedvirtual

Tells the named observer to attach to the named entity. This method uses an observer state record, and calls DtObserver::setFromRecord. When setFromRecord is used, the observer will listen for the existence of the named entity and actually do the attachment when the entity is created.

virtual void DtGimbalDriver::slot_displayEngineAdded ( const makVrv::DtDeRecord & igRecord )

protectedvirtual

Ensures the driver is properly restarted when a de is connected (such as a remote display engine).

See Also: makVrv::DtDriver::slot_displayEngineAdded( const makVrv::DtDeRecord& )

Reimplemented from makVrv::DtDriver.

virtual bool DtGimbalDriver::initialize ( )

protectedvirtual

initialize() looks for the plane created by DtExampleDriver (or DtExampleDriverPlugin). When found, it creates a Gimbal element that can be (logically) attached to the plane. It also creates the DtGeoReferences to use for topocentric operations to correctly place the Gimbal element and put the target into Gimbal coordinates.

virtual void DtGimbalDriver::slot_coordinateSystemChanged ( )

protectedvirtual

We use this to set up our target location. This is mostly for future use when we support alternate datums, since the target location (being geodetic) needs to be reset if the datum changes.

Member Data Documentation

makVrv::DtGeoReference* DtGimbalDriver::myPlaneGeoRef

protected

makVrv::DtGeoReference* DtGimbalDriver::myGimbalGeoRef

protected

makVrv::DtSceneObjectAgent* DtGimbalDriver::myGimbalSceneObjectAgent

protected

makVrv::DtSceneObject* DtGimbalDriver::myPlaneSceneObject

protected

makVrv::DtElementID DtGimbalDriver::myGimbalId

protected

makVrv::DtSignalConnectionManager DtGimbalDriver::mySignalConnections

protected

DtGeodeticCoord* DtGimbalDriver::myTargetLocation

protected

makVrv::DtElementID DtGimbalDriver::myPlaneElementId

protected

DtGimbalSensorOverlay* DtGimbalDriver::myGimbalSensorOverlay

protected

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/examples/exampleGimbalPlugin/DtGimbalDriver.h

Public Member Functions

Protected Member Functions

Protected Attributes

Methods Inherited from makVrv::DtDriver

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation