DtHumanMoveToController Class Reference

DtHumanMoveToController is a controller that models movement to a <location> or <waypoint> for individual human entities.

Developer Description: DtHumanMoveToController models move-to behavior for individual humans. It generates speed and heading controls that direct the entity to to its destination at the entity's current ordered speed. It responds to DtMoveToType tasks. Component OPD Name: "human-move-to-controller"

Uses Descriptor Type: DtHumanMoveToControllerDescriptor

Inheritance diagram for DtHumanMoveToController:

Public Member Functions
	DtHumanMoveToController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=nullptr, DtReaderWriterRegistry *parentRegistry=nullptr)
virtual	~DtHumanMoveToController () override
virtual bool	init () override
virtual const char *	type () const override
virtual void	tick () override
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 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 bool	postAddComponentsInit () 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	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	moveToCallback (DtSimMessage *msg, void *usr)
static void	setLocationCallback (DtSimMessage *msg, void *usr)
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=nullptr, DtReaderWriterRegistry *parentRegistry=nullptr)
static void	modifyVrfObjectCallback (DtSimMessage *msg, void *usr)
Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()
static void	setFactory (DtSimComponentFactory *factory)
static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static void	setPutIndent (bool)
static bool	putIndent ()
static const char *	theXmlType ()
static const DtFilename &	appPath ()
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static void	setOutputStream (DtOutputStream *stream)
static DtOutputStream &	outputStream ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual void	processMoveToTask (DtSimMessage *msg)
virtual void	processDestinationChanged ()
virtual bool	setupDestination ()
virtual void	setupDestinationVector () const
virtual void	invalidateDestinationVector () const
virtual bool	atDestination ()
virtual void	doMoving ()
virtual double	findDesiredHeading ()
virtual double	findDesiredSpeed ()
virtual void	moveToDestination ()
virtual void	stop (bool success)
virtual void	registerTaskMsgCallbacks () override
virtual void	processModifyVrfObject (DtSimMessage *msg)
virtual void	processSetLocation (DtSimMessage *msg)
virtual bool	createPortGroups () override
virtual bool	createPorts () override
virtual bool	createPSR ()
virtual double	distanceToDestination () const
virtual void	clearTask () override
virtual bool	destinationIsInsideObstruction (const DtVector &localDestination) const
virtual bool	decideToGiveUpTask () const override
virtual double	atDistance () const
virtual bool	usingNavBot () const
virtual void	useNavBotData ()
virtual unsigned	maxNumFailedPathAttempts () const
virtual bool	findAlternateDestination ()
virtual void	setStuck (bool yesNo)
virtual double	stuckTime ()
virtual void	processNavAreaChanged ()
DtVector	localDestination () const
virtual void	updateTaskVisualizations () override
virtual void	suspendTask () override
virtual void	preFirstTickInit () override
virtual void	processSetAutonomousActionsEnabled (DtSimMessage *msg)
virtual void	processNavigationInterfaceChanged ()
virtual void	processEstimatedTotCalculation ()
template<typename T_Task >
void	setCommonTaskParams (const T_Task &task)
virtual bool	currentPathEdge (DtVector &pathEdgeStart, DtVector &pathEdgeEnd) 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)
static void	setAutonomousActionsEnabledCallback (DtSimMessage *msg, void *usrData)

Protected Attributes
DtSimObjectReference	myControlPoint
DtVector	myLocalDestination
DtVector	myWorldDestination
bool	myHasIntermediateDestination
DtVector	myIntermediateWorldDestination
DtVector	myIntermediateLocalDestination
DtVector	myDestinationVector
bool	myDestinationVectorIsValid
bool	myAtDestination
double	myDistanceSquared
bool	myOverrideAtDistance
double	myOverrideAtDistanceValue
bool	myOverrideSpeed
double	myOverrideSpeedValue
bool	myIgnoreNavData
unsigned	myNumFailedPathAttempts
DtHumanStateRepository *	myHumanStateRepository
DtHumanMoveToPSR *	myProcessState
DtHumanMoveToControllerDescriptor *	myHumanMoveToControllerDescriptor
DtActiveBotNavInterface *	myNavInterface
bool	myAutonomousActionsEnabled
const double	DtEstimatedTotCalcInterval = 5.0
bool	myEstimatedTotCalcEnabled
double	myEstimatedTotValue
double	myEstimatedTotLastCalcTime
DtVector	myEstimatedTotTextPos
DtHumanLocalObjectFacade	myHumanLocalObjectFacade
Ports and Port Groups
DtCollisionInputPort *	myCollisionAvoidancePort
DtInputPortGroup *	myCollisionAvoidancePortGroup
DtHumanMovementControlOutputPortGroup *	myHumanMovementControlOutputPortGroup
DtVectorOutputPort *	myDestinationOutputPort
DtBooleanOutputPort *	myIsMovingPort
DtBooleanOutputPort *	myUseCollisionAvoidancePort
DtVectorInputPort *	myLastVertexLocationInputPort
DtAnalogInputPort *	myEtaForLastVertexInputPort
DtAnalogOutputPort *	myEtaToLastVertexOutputPort
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
	DtHumanMoveToController ()
	DtHumanMoveToController (const DtHumanMoveToController &orig)
DtHumanMoveToController &	operator= (const DtHumanMoveToController &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

DtHumanMoveToController::DtHumanMoveToController ( )

private

Not Implemented - Not copyable.

DtHumanMoveToController::DtHumanMoveToController ( const DtHumanMoveToController &  orig )

private

Not Implemented - Not copyable.

DtHumanMoveToController::DtHumanMoveToController	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = nullptr,
		DtReaderWriterRegistry *	parentRegistry = nullptr
	)

Constructor.

virtual DtHumanMoveToController::~DtHumanMoveToController ( )

overridevirtual

Destructor.

Member Function Documentation

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

private

Not Implemented - Not copyable.

virtual bool DtHumanMoveToController::init ( )

overridevirtual

Init. Call immediately after construction.

Reimplemented from DtControllerComponent.

virtual const char* DtHumanMoveToController::type ( ) const

overridevirtual

Returns

DtHumanMoveToControllerType

Implements DtTaskControllerComponent.

virtual void DtHumanMoveToController::tick ( )

overridevirtual

This components simulation tick.

Reimplemented from DtSimComponent.

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

static

Callback function that handles DtMoveToType tasks. Calls processMoveToTask().

Parameters

msg	Message containing DtMoveToTask.
usr	Pointer to an instance of this class.

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

static

Callback function that handles DtSetLocationRequest set data requests. Calls processSetLocation().

Parameters

msg	Message containing DtSetLocationRequest.
usr	Pointer to an instance of this class.

static DtSimComponent* DtHumanMoveToController::creator ( const DtString &  name, DtLocalObject *  owner, DtSimulationServices *  simManager, DtComponentDescriptor *  desc = nullptr, DtReaderWriterRegistry *  parentRegistry = nullptr  )

static

Static creator function for factory registration.

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

static

Calls processModifyVrfObject.

virtual void DtHumanMoveToController::processMoveToTask ( DtSimMessage *  msg )

protectedvirtual

Sets world destination from the task.

Parameters

msg	Message containing a DtMoveToTask.

virtual void DtHumanMoveToController::processDestinationChanged ( )

protectedvirtual

Ensures that the destination stored in the ProcessStateRepository is consistent with the location of the destination control point. Intended to be called only when the position of the control point has changed.

Note

Also invalidates the destination vector as the world position has changed.

virtual bool DtHumanMoveToController::setupDestination ( )

protectedvirtual

Look up the control point by name and set the myControlPoint member to point to it. Detects changes in the target point using myControlPointLastLocation and calls processWaypointChanged().

virtual void DtHumanMoveToController::setupDestinationVector ( ) const

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.

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.

virtual void DtHumanMoveToController::invalidateDestinationVector ( ) const

protectedvirtual

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

virtual bool DtHumanMoveToController::atDestination ( )

protectedvirtual

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 void DtHumanMoveToController::doMoving ( )

protectedvirtual

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

virtual double DtHumanMoveToController::findDesiredHeading ( )

protectedvirtual

Determines the desired heading.

virtual double DtHumanMoveToController::findDesiredSpeed ( )

protectedvirtual

Determines the desired speed.

virtual void DtHumanMoveToController::moveToDestination ( )

protectedvirtual

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

virtual void DtHumanMoveToController::stop ( bool  success )

protectedvirtual

Set port values for stopping, and mark the task complete. The success flag is passed into taskComplete.

virtual void DtHumanMoveToController::registerTaskMsgCallbacks ( )

overrideprotectedvirtual

Overridden to register interest in move to messages.

Reimplemented from DtTaskControllerComponent.

virtual void DtHumanMoveToController::processModifyVrfObject ( DtSimMessage *  msg )

protectedvirtual

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).

virtual void DtHumanMoveToController::processSetLocation ( DtSimMessage *  msg )

protectedvirtual

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

virtual bool DtHumanMoveToController::createPortGroups ( )

overrideprotectedvirtual

Creates and initializes port groups.

Reimplemented from DtSimComponent.

virtual bool DtHumanMoveToController::createPorts ( )

overrideprotectedvirtual

Creates myDestinationOutputPort.

Reimplemented from DtSimComponent.

virtual bool DtHumanMoveToController::createPSR ( )

protectedvirtual

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

virtual double DtHumanMoveToController::distanceToDestination ( ) const

protectedvirtual

virtual void DtHumanMoveToController::clearTask ( )

overrideprotectedvirtual

Override to deactivate myHumanMovementControlOutputPortGroup.

Reimplemented from DtSingleTaskControllerComponent.

virtual bool DtHumanMoveToController::destinationIsInsideObstruction ( const DtVector &  localDestination ) const

protectedvirtual

Returns whether or not current destination is inside an obstruction.

virtual bool DtHumanMoveToController::decideToGiveUpTask ( ) const

overrideprotectedvirtual

Checks to see if destination is inside an obstruction. If it is, returns true. Returns false otherwise.

Reimplemented from DtSingleTaskControllerComponent.

virtual double DtHumanMoveToController::atDistance ( ) const

protectedvirtual

Maximum distance at which entity is considered to be 'at' goal. Returns value stored in descriptor (if it exists), otherwise returns 0.5.

Returns

Returns maximum distance in meters from goal location that entity is considered to be 'at' the goal.

virtual bool DtHumanMoveToController::usingNavBot ( ) const

protectedvirtual

Returns

True if the controller is currently using the navigation system bot to control movement.

virtual void DtHumanMoveToController::useNavBotData ( )

protectedvirtual

Uses calculations from the navBot to control the entity or end the task.

virtual unsigned DtHumanMoveToController::maxNumFailedPathAttempts ( ) const

protectedvirtual

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

virtual bool DtHumanMoveToController::findAlternateDestination ( )

protectedvirtual

Finds and sets up an alternate destination nearby the current destination in the case where we are unable to path to that destination.

virtual void DtHumanMoveToController::setStuck ( bool  yesNo )

protectedvirtual

Called to set the entity in or out of the stuck state.

virtual double DtHumanMoveToController::stuckTime ( )

protectedvirtual

Returns

The total time the entity has been in the stuck state.

static void DtHumanMoveToController::navAreaChangedCallback ( void *  usr )

staticprotected

virtual void DtHumanMoveToController::processNavAreaChanged ( )

protectedvirtual

DtVector DtHumanMoveToController::localDestination ( ) const

protected

Returns

myTransitionPoint if it is non-zero, otherwise myLocalDestination. Added to handle transitioning from direct move into a navArea.

virtual void DtHumanMoveToController::updateTaskVisualizations ( )

overrideprotectedvirtual

Called to update task visualizations after every tick. Implemented by subclasses.

Reimplemented from DtSimComponent.

virtual void DtHumanMoveToController::suspendTask ( )

overrideprotectedvirtual

Overridden to clear navBot destination, so the path can be replanned once the task is resumed.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtHumanMoveToController::preFirstTickInit ( )

overrideprotectedvirtual

Stash current value of Autonomous-Actions-Enabled flag.

Reimplemented from DtSimComponent.

static void DtHumanMoveToController::setAutonomousActionsEnabledCallback ( DtSimMessage *  msg, void *  usrData  )

staticprotected

virtual void DtHumanMoveToController::processSetAutonomousActionsEnabled ( DtSimMessage *  msg )

protectedvirtual

virtual void DtHumanMoveToController::processNavigationInterfaceChanged ( )

protectedvirtual

virtual void DtHumanMoveToController::processEstimatedTotCalculation ( )

protectedvirtual

Calculates the estimated time to the current destination (aka time-on-target/tot). This updates the myEtaToLastVertexOutputPort (eta-to-last-vertex) output port to pass the value to the DtDiGuyController for use in DtDiGuyController::updateAnimationState.

template<typename T_Task >

void DtHumanMoveToController::setCommonTaskParams ( const T_Task &  task )

inlineprotected

Template function to handle a number of tasks that all have a common set of parameters.

virtual bool DtHumanMoveToController::currentPathEdge ( DtVector &  pathEdgeStart, DtVector &  pathEdgeEnd  ) const

protectedvirtual

Member Data Documentation

DtCollisionInputPort* DtHumanMoveToController::myCollisionAvoidancePort

protected

Input Port Name: potential-collision-info
Input Port Description: information about an impending potential collision with an entity or terrain vector data feature.
Input Port Range:
Input Port Default Value:
Input Group Parent: collision-avoidance-control.

DtInputPortGroup* DtHumanMoveToController::myCollisionAvoidancePortGroup

protected

Input Port Group Name: collision-avoidance-control
Input Port Group Description:

DtHumanMovementControlOutputPortGroup* DtHumanMoveToController::myHumanMovementControlOutputPortGroup

protected

Output Group Name: movement-control
.

DtVectorOutputPort* DtHumanMoveToController::myDestinationOutputPort

protected

Output Port Name: destination
Output Port Description: Specifies the current destination of the entity in geocentric coordinates. Output Port Range:
Output Group Parent:
.

DtBooleanOutputPort* DtHumanMoveToController::myIsMovingPort

protected

Output Port Name: is-moving
Output Port Description: Indicates the entity is being actively moved by this controller.
Output Port Range:
Output Group Parent:
.

DtBooleanOutputPort* DtHumanMoveToController::myUseCollisionAvoidancePort

protected

Output Port Name: use-collision-avoidance
Output Port Description: Indicates whether or not this controller should use the collision avoidance controller.
Output Port Range:
Output Group Parent:
.

DtVectorInputPort* DtHumanMoveToController::myLastVertexLocationInputPort

protected

Input Port Name: last-vertex-location
Input Port Description: Specifies the last vertex location of the entity's route in geocentric coordinates. If not specified, it will be ignored by the actuator.
Input Port Range:
Input Port Default Value:
.

DtAnalogInputPort* DtHumanMoveToController::myEtaForLastVertexInputPort

protected

Input Port Name: eta-for-last-vertex
Input Port Description: Specifies the eta for the last vertex of the entity's route. Input Port Range:
Input Group Parent:
.

DtAnalogOutputPort* DtHumanMoveToController::myEtaToLastVertexOutputPort

protected

Output Port Name: eta-to-last-vertex
Output Port Description: Specifies the eta to reach the last vertex of the entity's route. This is used by the diguy controller to start transitioning to stopped prior to reaching destination. Output Port Range:
Output Group Parent:
.

DtSimObjectReference DtHumanMoveToController::myControlPoint

protected

This is looked up once per tick - assumed unchanging while we have control.

DtVector DtHumanMoveToController::myLocalDestination

protected

DtVector DtHumanMoveToController::myWorldDestination

protected

bool DtHumanMoveToController::myHasIntermediateDestination

protected

DtVector DtHumanMoveToController::myIntermediateWorldDestination

protected

DtVector DtHumanMoveToController::myIntermediateLocalDestination

protected

DtVector DtHumanMoveToController::myDestinationVector

mutableprotected

bool DtHumanMoveToController::myDestinationVectorIsValid

mutableprotected

bool DtHumanMoveToController::myAtDestination

protected

double DtHumanMoveToController::myDistanceSquared

protected

bool DtHumanMoveToController::myOverrideAtDistance

protected

double DtHumanMoveToController::myOverrideAtDistanceValue

protected

bool DtHumanMoveToController::myOverrideSpeed

protected

double DtHumanMoveToController::myOverrideSpeedValue

protected

bool DtHumanMoveToController::myIgnoreNavData

protected

Used to force the navigation interface to be ignored. This is useful when the nav interface has given us a partial path to the destination (for example, if we're in a nav area but our destination is outside the nav area). Once set, gets reset when any of the following happen: 1) A new task is issued 2) The destination location changes 3) A set location occurs 4) The entity moves to a new navArea.

unsigned DtHumanMoveToController::myNumFailedPathAttempts

protected

DtHumanStateRepository* DtHumanMoveToController::myHumanStateRepository

protected

DtHumanMoveToPSR* DtHumanMoveToController::myProcessState

protected

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

DtHumanMoveToControllerDescriptor* DtHumanMoveToController::myHumanMoveToControllerDescriptor

protected

DtActiveBotNavInterface* DtHumanMoveToController::myNavInterface

protected

bool DtHumanMoveToController::myAutonomousActionsEnabled

protected

const double DtHumanMoveToController::DtEstimatedTotCalcInterval = 5.0

protected

Interval for estimated tot calculations.

bool DtHumanMoveToController::myEstimatedTotCalcEnabled

protected

enabled flag for the tot calculations

double DtHumanMoveToController::myEstimatedTotValue

protected

the tot value

double DtHumanMoveToController::myEstimatedTotLastCalcTime

protected

used for tot calculation intervals

DtVector DtHumanMoveToController::myEstimatedTotTextPos

protected

tot text position

DtHumanLocalObjectFacade DtHumanMoveToController::myHumanLocalObjectFacade

protected

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

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