DtGroundMoveToDestinationControllerComponent is a controller that provides a kinematics-based model of an automotive system that converts throttle, brake, and steering into orientation, acceleration, velocity, and position.

End User Description: It moves the entity of which it is a part towards a user-specified (or other controller specified) destination. Uses Descriptor Type: DtGroundMoveToDescriptor

Inheritance diagram for DtGroundMoveToDestinationControllerComponent:

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

virtual	~DtGroundMoveToDestinationControllerComponent () override

virtual void	createObstacleAvoider ()

virtual DtGroundMoveToObstacleAvoider *	obstacleAvoider () const

virtual bool	init () override

virtual void	tick () override

virtual const char *	type () const override

virtual void	processSetLocation (DtSimMessage *msg)

virtual void	processModifyVrfObject (DtSimMessage *msg)

virtual void	registerTaskMsgCallbacks () override

virtual void	clearTask () override

virtual bool	getDestination (DtVector &destination) const

virtual const DtVector &	destinationVector ()

virtual double	findDesiredSpeed (const DtVector &localDestination, const double stoppingAcceleration=0.0)

virtual double	findDesiredSpeed (const double stoppingAcceleration=0.0)

virtual double	destinationSpeed (const double cruiseSpeed) const

virtual DtAutoTransmissionGearEnum	determineGearSetting (const double desiredSpeed)

virtual bool	atDestination ()

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

virtual void	stopVehicle (bool success=true)

virtual void	stop (bool success=true)

virtual void	doMoving ()

virtual void	updateTaskVisualizations () override

Deprecated (no longer used)
virtual bool	nearDestination ()

virtual bool	passedDestination ()

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

virtual	~DtGroundAutoControllerComponent () override

virtual double	computeSpeedForFastestTurn (const double latAccelLimit=0.0) const

virtual double	speedForFastestTurn () const

virtual void	setSpeedForFastestTurn (double speed)

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

virtual double	mildAccelerationConstant () const

virtual double	standardAccelerationConstant () const

virtual double	hardAccelerationConstant () const

virtual double	maxAccelerationConstant () const

virtual double	currentAccelerationToUse () const

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)

virtual void	processSetSpeed (DtSimMessage *msg)

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	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod, double minTickPeriodVariance)

virtual void	setupFirstTickTime ()

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

virtual void	putData (std::string &fp, int indentLevel=0) 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)

Static Public Member Functions
static void	setLocationCallback (DtSimMessage 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 DtGroundAutoControllerComponent
static void	setSpeedCallback (DtSimMessage msg, void usrData)

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)

Static Public Attributes
Task Status Strings
These are possible values for the task information internal state property.
static const std::string	notActiveString

static const std::string	noObstaclesString

static const std::string	avoidingString

static const std::string	blockedByVehicleString

static const std::string	blockedByWallString

Protected Member Functions
virtual bool	setupDestination ()

virtual void	setupDestinationVector ()

virtual void	invalidateDestinationVector () const

virtual void	moveToDestination ()

virtual double	distanceSqToDestination () const

virtual double	steeringHeadingToLocation (const DtVector &destination)

virtual double	findDesiredHeading ()

virtual bool	decideToGiveUpTask () const override

virtual void	taskComplete (bool success=true) override

virtual bool	createPortGroups () override

virtual bool	createPorts () override

virtual void	setDestinationIsInsideObstruction (bool yesNo)

virtual bool	destinationIsInsideObstruction () const

virtual unsigned	maxNumFailedPathAttempts () const

virtual void	processNavAreaChanged ()

DtVector	localDestination () const

virtual void	processNavigationInterfaceChanged ()

virtual void	processEstimatedTotCalculation ()

virtual void	processGroundVehicleLocationChanged ()

Protected Member Functions inherited from DtGroundAutoControllerComponent
virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit () override

virtual const DtSoilFactors *	currentSoilFactors () const

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)

Static Protected Member Functions
static void	navAreaChangedCallback (void *usr)

Protected Attributes
const DtGroundMoveToDescriptor *	myMoveToDescriptor

DtGroundMoveToObstacleAvoider *	myObstacleAvoider

int	myLastNumberOfObstacleVisualizations

double	myDistanceSquared

double	myCurrentSpeed

DtVector	myLocalDestination

DtVector	myWorldDestination

DtVector	myDestinationVector

bool	myDestinationVectorIsValid

bool	myAtDestination

DtActiveBotNavInterface *	myNavInterface

bool	myIgnoreNavData

bool	myDestinationIsInsideObstruction

double	myTargetHeading

const double	DtEstimatedTotCalcInterval = 5.0

bool	myEstimatedTotCalcEnabled

double	myEstimatedTotValue

double	myEstimatedTotLastCalcTime

DtVector	myEstimatedTotTextPos

bool	myChangedLocation

bool	myHasFinalOutputBeenSet

Ports and Port Groups
DtBooleanOutputPort *	myClampToNavDataPort


bool	myHasIntermediateDestination

DtVector	myIntermediateWorldDestination

DtVector	myIntermediateLocalDestination


bool	myNearDestination

bool	myPassedDestination

double	myNearDistanceSquared

Protected Attributes inherited from DtGroundAutoControllerComponent
DtGroundVehicleStateRepository *	myGroundVehicleState

DtAutomotivePSR *	myProcessState

double	mySpeedLastTick

double	myAccumulatedSpeedError

double	mySpeedForFastestTurn

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

bool	myHaveWarnedAboutNoPivotSpeed

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
	DtGroundMoveToDestinationControllerComponent ()

	DtGroundMoveToDestinationControllerComponent (const DtGroundMoveToDestinationControllerComponent &orig)

const DtGroundMoveToDestinationControllerComponent &	operator= (const DtGroundMoveToDestinationControllerComponent &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

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent	(	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 DtGroundMoveToDestinationControllerComponent::~DtGroundMoveToDestinationControllerComponent ( )

overridevirtual

destructor

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( )

private

Default constructor; should not be called. Here because the compiler will generate an unprotected one otherwise.

DtGroundMoveToDestinationControllerComponent::DtGroundMoveToDestinationControllerComponent ( const DtGroundMoveToDestinationControllerComponent & orig )

private

copy constructor; shallow; does not copy the ports.

Member Function Documentation

virtual void DtGroundMoveToDestinationControllerComponent::createObstacleAvoider ( )

virtual

Allocates a new DtGroundMoveToObstacleAvoider and assigns it to myObstacleAvoider.

virtual DtGroundMoveToObstacleAvoider* DtGroundMoveToDestinationControllerComponent::obstacleAvoider ( ) const

virtual

virtual bool DtGroundMoveToDestinationControllerComponent::init ( )

overridevirtual

Initializes modifyVrfObjectCallback.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::tick ( )

overridevirtual

Looks at the value on #myCollisionAvoidancePort, and if there is a value and the destination point is within the bounding volume of the collision object, setDestinationIsInsideObstruction(true) is called. If setupDestination() returns true, then moveToDestination() is called, otherwise an error is printed.

Reimplemented from DtSimComponent.

Reimplemented in DtGroundFollowEntityController, DtGroundMoveAlongControllerComponent, and DtGroundMoveToControllerComponent.

virtual const char* DtGroundMoveToDestinationControllerComponent::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: DtGroundAutoMoveToDestinationType

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveToControllerComponent, DtGroundFollowEntityController, DtGroundPatrolRouteController, and DtGroundMoveAlongControllerComponent.

static void DtGroundMoveToDestinationControllerComponent::setLocationCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Calls processSetLocation.

virtual void DtGroundMoveToDestinationControllerComponent::processSetLocation ( DtSimMessage * msg )

virtual

Resets the destination vector when the location of the entity to which this controller is attached is changed through a set location request.

Reimplemented in DtGroundMoveAlongControllerComponent.

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

static

Calls processModifyVrfObject.

virtual void DtGroundMoveToDestinationControllerComponent::processModifyVrfObject ( DtSimMessage * msg )

virtual

Resets the destination vector 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).

static DtSimComponent* DtGroundMoveToDestinationControllerComponent::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 DtGroundMoveToDestinationControllerComponent::registerTaskMsgCallbacks ( )

overridevirtual

Overridden to register interest in move to and set location commands.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtGroundFollowEntityController, DtGroundMoveToControllerComponent, DtGroundMoveAlongControllerComponent, and DtGroundPatrolRouteController.

virtual void DtGroundMoveToDestinationControllerComponent::clearTask ( )

overridevirtual

Releases the nav interface and then calls the parent clearTask().

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::getDestination ( DtVector & destination ) const

virtual

getDestination()

Parameters

destination the position this object is trying to drive to in local coordinates.

Returns: true if it has a valid destination () or false if it is unable to determine it's destination.

Note: Used by other areas of the simulation to determine where this object is going. (Information)

virtual const DtVector& DtGroundMoveToDestinationControllerComponent::destinationVector ( )

virtual

Returns the current destination vector for the entity.

Note: if the destination vector is currently invalidated, it recalculates it and sets it to valid.

See Also: setupDestinationVector

virtual double DtGroundMoveToDestinationControllerComponent::findDesiredSpeed	(	const DtVector &	localDestination,
		const double	stoppingAcceleration = `0.0`
	)

virtual

Determines how fast we should go. Considers ordered speed and task speed. Gets the final speed desired at the destination. Makes sure that the entity can reach (slow to) the final speed by the time it gets to the destination (actually, atDistance before the destination). This function does not consider how speed should be limited to allow a turn to the direction of the destination; that is done in approximateThrottle in the base groundAutoController class.

Parameters

localDestination	The location on which to base final speed constraints.
stoppingAcceleration	The maximum stopping acceleration to use in the calculation. This parameter is considered when there is a speed constraint at the destination (for example, the default is to stop at the destination). This value should be negative normally. If >= 0.0, then the vehicle maxStoppingAcceleration parameter (negated) is used.

virtual double DtGroundMoveToDestinationControllerComponent::findDesiredSpeed ( const double stoppingAcceleration = 0.0 )

virtual

Uses myLocalDestination as the localDestination in the above function.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual double DtGroundMoveToDestinationControllerComponent::destinationSpeed ( const double cruiseSpeed ) const

virtual

Determines the appropriate final speed at the destination. Considers whether the continueFlag has been set and whether the task has a finalSpeed defined. If these have been set, then final speed (as recorded in the PSR) is used. If only the continue flag has been set, then the cruiseSpeed provided is the final speed. Otherwise, the final speed is 0.0.
Note that if the finalSpeed in the task message is of opposite sign to the cruiseSpeed, it is ignored.
For derived controllers that repeatedly move to locations (e.g. move-along), this may be a different speed if the task is not at the very last destination.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual DtAutoTransmissionGearEnum DtGroundMoveToDestinationControllerComponent::determineGearSetting ( const double desiredSpeed )

virtual

Sets myProcessState->myCurrentGear to DtAutoGearReverse or DtAutoGearForward based on sign of orderedSpeed(). If ordered speed is negative, DtAutoGearReverse is returned. If ordered speed is positive, DtAutoGearForward is returned. In either case, the member variable myProcessState->myCurrentGear is set to the appropriate value.

virtual bool DtGroundMoveToDestinationControllerComponent::atDestination ( )

virtual

Are we within the at-distance parameter to the destination? If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the at-distance parameter of the DtGroundMoveToDescriptor, atDestination() sets myAtDestination to true. If the myDistanceSquared !<= at-distance, atDestination() sets myAtDestination to false. myAtDestination is returned to the calling function.

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

overridevirtual

This override of the groundAutoController base function checks to see if the entity is nearDestination. If so, then the desired speed is constrained to be slow enough that the entity can skid-steer/pivot if it is capable of that. This allows the entity to steer more precisely to the goal location. With desiredSpeed possibly modified, the base function is called.

Reimplemented from DtGroundAutoControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::stopVehicle ( bool success = true )

virtual

Set the port values for stopping. If the continue flag is marked, the port values will keep a throttle value set to keep the speed at the end speed. Also releases control of the navigation interface.

virtual void DtGroundMoveToDestinationControllerComponent::stop ( bool success = true )

virtual

Set port values for stopping, and mark the task complete.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, and DtGroundPatrolRouteController.

virtual void DtGroundMoveToDestinationControllerComponent::doMoving ( )

virtual

Calls determineGearSetting(), findDesiredSpeed() and findDesiredHeading() and then sets port values based on those results.

virtual void DtGroundMoveToDestinationControllerComponent::updateTaskVisualizations ( )

overridevirtual

Draw task visualizations. By default, the following are drawn:

Destination location (green ball)
Path to destination (green line).

Reimplemented from DtSimComponent.

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::nearDestination ( )

virtual

Determines if the entity is close enough to the destination that it should start slowing down (see findDesiredSpeed()). nearDestination() calls calculateCurrentBrakingDistance(). If the myDistanceSquared member calculated in tick() is less than or equal to the square of the value provided in the near-distance parameter of the DtGroundMoveToDescriptor, or if it is less than the square of the current braking distance, nearDestination() sets myNearDestination to true. If the above is not true, nearDestination() sets myNearDestination to false. myNearDestination is returned to the calling function.

virtual bool DtGroundMoveToDestinationControllerComponent::passedDestination ( )

virtual

Determines if the entity will pass the destination 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 destination It finds the dot product between this vector and destination vector, If that dot product is greater than 0.0, the entity will pass the destination this tick if it does not stop. myPassedDestination is set, and the value is returned to the calling function.

Reimplemented in DtGroundFollowEntityController.

virtual bool DtGroundMoveToDestinationControllerComponent::setupDestination ( )

protectedvirtual

= "BlockedByWall";

This function ensures that the destination stored in the process state matches the member function. Also calculates the destination in local coordinates from the world coordinates.

Reimplemented in DtGroundMoveAlongControllerComponent, DtGroundFollowEntityController, and DtGroundMoveToControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::setupDestinationVector ( )

protectedvirtual

Sets up a vector from the current destination location to the entity's location to use in determining when/if the entity has passed its destination location. This is done by subtracting the DtVector representing the destination's position from the one representing the entity's position. This is done once when the move task starts.

Note: Users should not use this function directly,and should instead use the invalidateDestinationVector and destinationVector functions. Should be a protected or even private function, but was left public to maintain the interface.

Reimplemented in DtGroundFollowEntityController, and DtGroundMoveAlongControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::invalidateDestinationVector ( ) const

protectedvirtual

Tells the component that any cached destination vector should be recalculated.

virtual void DtGroundMoveToDestinationControllerComponent::moveToDestination ( )

protectedvirtual

Attempts to move to the destination location. Override to provide movement functionality.

virtual double DtGroundMoveToDestinationControllerComponent::distanceSqToDestination ( ) const

protectedvirtual

virtual double DtGroundMoveToDestinationControllerComponent::steeringHeadingToLocation ( const DtVector & destination )

protectedvirtual

Finds the desired steering heading towards a given local location. If the vehicle cannot pivot (about its origin), its turn center is assumed to be the center of the rear axle, so it aims using the direction from the center of the rear axle to the destination. If the goal is between the rear axle and the origin, the steering is away from the goal. The rear axle is assumed to be at the rear support point of the entity.

virtual double DtGroundMoveToDestinationControllerComponent::findDesiredHeading ( )

protectedvirtual

Determines the desired heading in the following manner: If the myNearDestination member variable is true (set by nearDestination()), the desired heading is in the opposite direction as the destination vector (described in setupDestinationVector()). If the myNearDestination member variable is false, it calls headingAngleTo() to find the heading from the entity to the destination. In either case, if the current gear is DtAutoGearReverse, PI is added to heading before it is returned.

Reimplemented in DtGroundFollowEntityController.

virtual bool DtGroundMoveToDestinationControllerComponent::decideToGiveUpTask ( ) const

overrideprotectedvirtual

Checks to see if destination is inside an obstruction. If it is, returns true. Otherwise it returns the value of DtGroundAutoControllerComponent::decideToGiveUpTask()

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, and DerivedMoveAlongController.

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

overrideprotectedvirtual

Calls stop() and then base taskComplete.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtGroundMoveToControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::createPortGroups ( )

overrideprotectedvirtual

Overridden to create myAutomotiveControlPortGroup.

Reimplemented from DtGroundAutoControllerComponent.

virtual bool DtGroundMoveToDestinationControllerComponent::createPorts ( )

overrideprotectedvirtual

Overridden to create the automotive ports.

Reimplemented from DtGroundAutoControllerComponent.

Reimplemented in DtGroundMoveAlongControllerComponent, and DtGroundFollowEntityController.

virtual void DtGroundMoveToDestinationControllerComponent::setDestinationIsInsideObstruction ( bool yesNo )

protectedvirtual

Set whether or not current destination is inside an obstruction. This should be reevaluated each tick.

virtual bool DtGroundMoveToDestinationControllerComponent::destinationIsInsideObstruction ( ) const

protectedvirtual

Returns whether or not current destination is inside an obstruction.

Returns: myDestinationIsInsideObstruction

virtual unsigned DtGroundMoveToDestinationControllerComponent::maxNumFailedPathAttempts ( ) const

protectedvirtual

Returns the maximum number of times this component will attempt to find a new destination when the desired destination is unreachable.

static void DtGroundMoveToDestinationControllerComponent::navAreaChangedCallback ( void * usr )

staticprotected

virtual void DtGroundMoveToDestinationControllerComponent::processNavAreaChanged ( )

protectedvirtual

DtVector DtGroundMoveToDestinationControllerComponent::localDestination ( ) const

protected

virtual void DtGroundMoveToDestinationControllerComponent::processNavigationInterfaceChanged ( )

protectedvirtual

virtual void DtGroundMoveToDestinationControllerComponent::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented in DtGroundMoveAlongControllerComponent.

virtual void DtGroundMoveToDestinationControllerComponent::processGroundVehicleLocationChanged ( )

protectedvirtual

Called in response to setLocation message.

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

private

assignment operator; see comments on copy constructor!

Member Data Documentation

const std::string DtGroundMoveToDestinationControllerComponent::notActiveString

static

= "NotActive";

const std::string DtGroundMoveToDestinationControllerComponent::noObstaclesString

static

= "NotActive";

const std::string DtGroundMoveToDestinationControllerComponent::avoidingString

static

= "NoObstacles";

const std::string DtGroundMoveToDestinationControllerComponent::blockedByVehicleString

static

                                       = "Avoiding";

These two are the ones currently used, besides TaskStatusRunning:

const std::string DtGroundMoveToDestinationControllerComponent::blockedByWallString

static

= "BlockedByVehicle";

const DtGroundMoveToDescriptor* DtGroundMoveToDestinationControllerComponent::myMoveToDescriptor

protected

DtGroundMoveToObstacleAvoider* DtGroundMoveToDestinationControllerComponent::myObstacleAvoider

protected

int DtGroundMoveToDestinationControllerComponent::myLastNumberOfObstacleVisualizations

protected

DtBooleanOutputPort* DtGroundMoveToDestinationControllerComponent::myClampToNavDataPort

protected

Output Port Name: clamp-to-nav-data
Output Port Description: When there is a failure to path plan due to unavailable terrain data, this port is used to tell the actuator to clamp to the nav data instead.
Output Port Range:
Output Port Default Value: False
.

double DtGroundMoveToDestinationControllerComponent::myDistanceSquared

protected

double DtGroundMoveToDestinationControllerComponent::myCurrentSpeed

protected

DtVector DtGroundMoveToDestinationControllerComponent::myLocalDestination

protected

DtVector DtGroundMoveToDestinationControllerComponent::myWorldDestination

protected

bool DtGroundMoveToDestinationControllerComponent::myHasIntermediateDestination

protected

These no longer get set, since Gameware path planning is not performed by this controller.

DtVector DtGroundMoveToDestinationControllerComponent::myIntermediateWorldDestination

protected

These no longer get set, since Gameware path planning is not performed by this controller.

DtVector DtGroundMoveToDestinationControllerComponent::myIntermediateLocalDestination

protected

These no longer get set, since Gameware path planning is not performed by this controller.

DtVector DtGroundMoveToDestinationControllerComponent::myDestinationVector

mutableprotected

bool DtGroundMoveToDestinationControllerComponent::myDestinationVectorIsValid

mutableprotected

bool DtGroundMoveToDestinationControllerComponent::myAtDestination

protected

bool DtGroundMoveToDestinationControllerComponent::myNearDestination

protected

Deprecated– these two are no longer used.

bool DtGroundMoveToDestinationControllerComponent::myPassedDestination

protected

Deprecated– these two are no longer used.

double DtGroundMoveToDestinationControllerComponent::myNearDistanceSquared

protected

Deprecated– these two are no longer used.

DtActiveBotNavInterface* DtGroundMoveToDestinationControllerComponent::myNavInterface

protected

bool DtGroundMoveToDestinationControllerComponent::myIgnoreNavData

protected

bool DtGroundMoveToDestinationControllerComponent::myDestinationIsInsideObstruction

protected

double DtGroundMoveToDestinationControllerComponent::myTargetHeading

protected

For task visualization:

const double DtGroundMoveToDestinationControllerComponent::DtEstimatedTotCalcInterval = 5.0

protected

Interval for estimated tot calculations.

bool DtGroundMoveToDestinationControllerComponent::myEstimatedTotCalcEnabled

protected

enabled flag for the tot calculations

double DtGroundMoveToDestinationControllerComponent::myEstimatedTotValue

protected

the tot value

double DtGroundMoveToDestinationControllerComponent::myEstimatedTotLastCalcTime

protected

used for tot calculation intervals

DtVector DtGroundMoveToDestinationControllerComponent::myEstimatedTotTextPos

protected

tot text position

bool DtGroundMoveToDestinationControllerComponent::myChangedLocation

protected

bool DtGroundMoveToDestinationControllerComponent::myHasFinalOutputBeenSet

protected

This flag is set by task complete when the final control outputs are set. It is used by clearTask to determine if this has been done; if not– i.e. if the task is aborted–then clear task sets the final control outputs.

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

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation