DtGroundAutoControllerComponent is a base controller that holds capabilitites common to all automotive controllers.

Uses Descriptor Type: DtComponentDescriptor

Examples

Inheritance diagram for DtGroundAutoControllerComponent:

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

virtual	~DtGroundAutoControllerComponent () override

virtual bool	init () override

virtual const char *	type () const override

virtual void	clearTask () override

virtual double	computeSpeedForFastestTurn (const double latAccelLimit=0.0) const

virtual double	speedForFastestTurn () const

virtual void	setSpeedForFastestTurn (double speed)

virtual double	approximateThrottle (double desiredSpeed, double headingError=0.0)

double	speedConstraintForHeadingError (const double headingError, const double maxAccel=0.0) const

virtual double	headingErrorRequiringMinTurnRadius () const

virtual double	calculateSteering (double currentHeading, double desiredHeading) const

virtual double	calculateCurrentBrakingDistance () const

virtual double	decelerationSoilFactor () const

virtual double	tractionFactorFromSoilAndWeather () const

virtual double	calcSteeringForTurnInPlace ()

virtual double	calcThrottleForTurnInPlace ()

virtual double	calcBrakeForTurnInPlace ()

virtual int	calcGearForTurnInPlace ()

virtual double	calcSteeringForPivot ()

virtual double	calcThrottleForPivot ()

virtual double	calcSteeringForKTurn ()

virtual double	calcThrottleForKTurn ()

virtual double	calcBrakeForKTurn ()

virtual double	findSpeedForKTurn ()

virtual double	findHeadingForKTurn ()

virtual void	setHeadingToTurnTo (double headingToTurnTo)

virtual double	headingToTurnTo () const

virtual double	calculateHeadingToTurnTo ()

virtual void	setTurnToMode (int headingToTurnTo)

virtual int	turnToMode () const

virtual void	setKTurnReverseGoalHeading (double kTurnReverseGoalHeading)

virtual double	kTurnReverseGoalHeading () const

virtual void	setKTurnReverseComplete (bool kTurnReverseComplete)

virtual bool	kTurnReverseComplete () const

virtual DtAutomotivePSR *	processState () const

Acceleration level constants
Standard acceleration values for vehicles. Used for lateral, forward, and braking acceleration. These are absolutes, not based on vehicle performance parameters (except that they are limited by vehicle maximums); they relate to the comfort level of passengers in cars. 0.15 g
virtual double	mildAccelerationConstant () const

virtual double	standardAccelerationConstant () const

virtual double	hardAccelerationConstant () const

virtual double	maxAccelerationConstant () const

virtual double	currentAccelerationToUse () const

Port Functions
virtual bool	createAutomotiveControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createSteeringPort ()

virtual bool	createBrakePort ()

virtual bool	createGearPort ()

virtual bool	createParkingBrakePort ()

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedAnalogOutputPort *	steeringPort ()

virtual DtConstrainedAnalogOutputPort *	brakePort ()

virtual DtConstrainedIntegerOutputPort *	gearPort ()

virtual DtBooleanOutputPort *	parkingBrakePort ()

virtual void	setThrottleFromAcceleration (const double signedAccel)

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	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 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	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 () 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	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	tick ()

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 void	isClutterChanged ()

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)

Protected Member Functions
virtual bool	createPorts () override

virtual bool	createPortGroups () override

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit () override

virtual const DtSoilFactors *	currentSoilFactors () const

virtual bool	decideToGiveUpTask () const override

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	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
DtGroundVehicleStateRepository *	myGroundVehicleState

DtAutomotivePSR *	myProcessState

double	mySpeedLastTick

double	myAccumulatedSpeedError

double	mySpeedForFastestTurn

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

bool	myHaveWarnedAboutNoPivotSpeed

Ports and Port Groups
DtConstrainedAnalogOutputPort *	myThrottlePort

DtConstrainedAnalogOutputPort *	mySteeringPort

DtConstrainedAnalogOutputPort *	myBrakePort

DtConstrainedIntegerOutputPort *	myGearPort

DtBooleanOutputPort *	myParkingBrakePort

DtOutputPortGroup *	myAutomotiveControlPortGroup

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
	DtGroundAutoControllerComponent ()

	DtGroundAutoControllerComponent (const DtGroundAutoControllerComponent &orig)

const DtGroundAutoControllerComponent &	operator= (const DtGroundAutoControllerComponent &orig)

virtual void	processSetSpeed (DtSimMessage *msg)

static void	setSpeedCallback (DtSimMessage msg, void usrData)

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 )()

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)

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

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent	(	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 DtGroundAutoControllerComponent::~DtGroundAutoControllerComponent ( )

overridevirtual

destructor

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent ( )

private

default constructor; not implemented

DtGroundAutoControllerComponent::DtGroundAutoControllerComponent ( const DtGroundAutoControllerComponent & orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtGroundAutoControllerComponent::init ( )

overridevirtual

Initializes myGroundVehicleState.

Reimplemented from DtControllerComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundManeuverInFormationControllerComponent, and DtGroundMoveAlongControllerComponent.

virtual const char* DtGroundAutoControllerComponent::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: DtGroundAutoMovementControllerType

Implements DtTaskControllerComponent.

Reimplemented in DtGroundMoveToDestinationControllerComponent, DtGroundManeuverInFormationControllerComponent, DtRetreatController, DtGroundMoveToControllerComponent, DtGroundFollowEntityController, DtGroundStopMovingControllerComponent, DtGroundFollowInFormationControllerComponent, DtGroundPatrolRouteController, DtGroundTurnToControllerComponent, DtGroundMoveAlongControllerComponent, DtGroundLeadFormationControllerComponent, and DtGroundJoyMoveController.

virtual void DtGroundAutoControllerComponent::clearTask ( )

overridevirtual

Overridden to deactivate the port group when this controller completes a task.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundManeuverInFormationControllerComponent, DtGroundMoveToDestinationControllerComponent, DtGroundFollowInFormationControllerComponent, DtGroundTurnToControllerComponent, and DtGroundLeadFormationControllerComponent.

virtual double DtGroundAutoControllerComponent::mildAccelerationConstant ( ) const

virtual

0.35 g

virtual double DtGroundAutoControllerComponent::standardAccelerationConstant ( ) const

virtual

0.35 g

virtual double DtGroundAutoControllerComponent::hardAccelerationConstant ( ) const

virtual

0.7 g

virtual double DtGroundAutoControllerComponent::maxAccelerationConstant ( ) const

virtual

Limited only by vehicle parameters.

virtual double DtGroundAutoControllerComponent::currentAccelerationToUse ( ) const

virtual

Returns the acceleration for maneuver control planning that corresponds to the level set in the PSR. If an acceleration level has not been set, this defaults to standardAccelerationConstant.

virtual double DtGroundAutoControllerComponent::computeSpeedForFastestTurn ( const double latAccelLimit = 0.0 ) const

virtual

The turn rate of a vehicle, i.e. rotation rate, increases with increasing speed and decreasing turn radius: w = accel(lateral) / v. Therefore the maximum turn rate is achieved at minimal speed and turn radius. However, steering vehicles have a minimum turn radius, so the highest turn rate is achieved using this turn radius at the highest speed that maximum lateral acceleration allows. This function computes the maximum speed the vehicle can drive given its maximum lateral acceleration and minimum turn radius.
If the entity can pivot, and/or the minimum turn radius is less than the half-width of the entity, then this controller will assume that the entity pivots, i.e. skid-steers, and use the max pivot rate as the turn rate. If the max pivot rate is less than the turn rate when r = halfWidth, then the speed computed here is for r = halfWidth.
This function is used at the beginning of the tick to set mySpeedForFastestTurn. This value is used in approximateThrottle() when the heading error is >= headingErrorRequiringMinTurnRadius().

Parameters

latAccelLimit The lateral acceleration limit to use for the calculation. If <= 0.0, then the entity maximum lateral acceleration parameter is used.

virtual double DtGroundAutoControllerComponent::speedForFastestTurn ( ) const

virtual

Accesses mySpeedForFastestTurn. This value is computed in the tick function using the compute function, and thus is available for other functions during the tick through this accessor.

virtual void DtGroundAutoControllerComponent::setSpeedForFastestTurn ( double speed )

virtual

virtual double DtGroundAutoControllerComponent::approximateThrottle	(	double	desiredSpeed,
		double	headingError = `0.0`
	)

virtual

ApproximateThrottle computes a value between -1 and 1 that represents the desired, normalized acceleration. The calling function should treat negative values as (positive) brake output.
This control function gets the current gear setting, the current forward speed, current throttle setting, the speed last tick, and dT as further input. If the gear is Reverse, then the desiredSpeed and currentSpeed are negated so that the throttle value computed will end up being positive to move the vehicle. The function then considers two cases:

Desired speed is 0 or in the opposite direction from the current drive direction: throttle is full brake (-1)
Otherwise, use proportional-derivative control using speed error and delta speed error/dt as inputs.
Calls speedConstraintForLargeHeadingError to produce a behavior where speed is limited below desiredSpeed if necessary in order to use a higher turning rate (i.e., smaller radius of turn).

Parameters

desiredSpeed If negative, this means that the vehicle wants to travel in reverse.

headingError In radians.

Returns
Throttle value between -1 and 1. Note that PID state is updated.

Reimplemented in DtGroundMoveToDestinationControllerComponent.

double DtGroundAutoControllerComponent::speedConstraintForHeadingError	(	const double	headingError,
		const double	maxAccel = `0.0`
	)		const

Computes a speed constraint due to the heading error, with the aim of producing a higher turn rate (rad/s) if the heading error is high. A higher turn rate is achieved with a small turn radius, so this speed constraint allows the vehicle to use a minimum turn radius given its maximum lateral acceleration parameter. This function uses headingErrorRequiringMinTurnRadius() to determine when the minimum turn radius should be used.

Parameters

headingError	The magnitude of the heading error (desired - current) in radians.
maxAccel	The maximum lateral acceleration to use in turning to change heading. If <= 0.0, the entity maximum lateral acceleration parameter is used.

Returns: The maximum speed magnitude in m/s.

virtual double DtGroundAutoControllerComponent::headingErrorRequiringMinTurnRadius ( ) const

inlinevirtual

virtual double DtGroundAutoControllerComponent::calculateSteering	(	double	currentHeading,
		double	desiredHeading
	)		const

virtual

Computes a steering output [-1, 1] to steer from the current heading to the desired heading. The steering output is maximum (1 or -1) when the desired turning radius is the minimum turning radius for the vehicle.
The vehicle will attempt to use the minimum turning radius unless that would exceed the maxLateralAcceleration for the vehicle at its current speed. In that case, the vehicle steers the smallest radius it can at maxLateralAcceleration.

virtual double DtGroundAutoControllerComponent::calculateCurrentBrakingDistance ( ) const

virtual

virtual bool DtGroundAutoControllerComponent::createAutomotiveControlPortGroup ( )

virtual