DtRoadMovementController is a movement controller that models an entity's movement along a road path. When a road move task is started, this controller takes the path created from features and passed in a rail path (list of DtRailSegment) and constructs a road path (list of DtRoadSegment). The road path is smoothed to remove segments that are impossible to traverse, and is processed to generate curved arcs to connect the straight segments.

When the task is running, driving logic controls the speed of the entity to drive realistically along the straights and curves and to interact with other traffic that conflicts with it on its path.

The position of the entity is strictly constrained to be along the roads, whether on the centerline or on a computed path between lanes. The controller makes use of an "updater" function that directly updates the state repository with the entity kinematic parameters rather than using an actuator.

Registers for interest in DtRailMoveAlongTasks.

Uses Descriptor Type: DtRoadMovementDescriptor

Inheritance diagram for DtRoadMovementController:

[legend]

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

virtual	~DtRoadMovementController () override

const DtRailSegmentList *	path () const

Support Classes
These set functions can be used or overridden to install derivatives of the support classes.
virtual const DtRoadConstants *	roadConstants ()

virtual void	setRoadConstants (const DtRoadConstants *rc)

virtual DtRoadPathFunctions *	pathFunctions ()

virtual void	setPathFunctions (DtRoadPathFunctions *pf)

virtual DtRoadDrivingLogic *	drivingLogic ()

virtual void	setDrivingLogic (DtRoadDrivingLogic *dl)

virtual DtRoadObstructionFinder *	obstructionFinder ()

virtual void	setObstructionFinder (DtRoadObstructionFinder *of)

virtual DtRoadMovementUpdater *	movementUpdater ()

virtual void	setMovementUpdater (DtRoadMovementUpdater *u)

Accessors for Task State and Entity Data.
virtual DtRailMovementControllerPSR *	psr ()

virtual const DtMovingObjectParameters *	objectParameters ()

virtual const DtRoadMovementDescriptor *	descriptor () const

Member Accessors
virtual bool	drivingOnLeftEnabled () const

virtual void	setCurrentMovementState (DtRailMovementState state)

virtual DtRailMovementState	currentMovementState () const

virtual DtRoadSegment *	currentRoadSegment () const

virtual void	setCurrentRoadSegment (DtRoadSegment *seg)

virtual double	frontOffset () const

virtual void	setFrontOffset (const double o)

virtual double	rearAxleOffset () const

virtual void	setRearAxleOffset (const double o)

virtual DtVector	localRearAxleLocation () const

virtual DtRailSegmentList *	pathList ()

virtual const DtRailSegmentList *	pathList () const

virtual DtRoadSegmentPart	roadSegmentPart () const

virtual void	setRoadSegmentPart (const DtRoadSegmentPart s)

Visualization Support
virtual void	updateTaskVisualizations () override

virtual bool	findPointOnTerrain (const DtVector &worldLocation, DtVector &worldLocationOnTerrain)

virtual std::vector< DtVector > &	debugPoints ()

virtual std::vector < std::vector< DtVector > > &	debugBoxes ()

Not used; to be deleted.
virtual const double	followSpeedFactor () const

virtual double	getDistanceBehindConvoyTarget (const DtSimObject *convoyTgt) const

virtual DtSimObjectReference	getObjectFromObstruction (DtRailObstructionPtr &obs)

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 void	taskNotify (const DtSimTask &task) override

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

virtual std::vector< int >	currentPendingSubstaskIds () const

virtual DtSubtaskStatusEntry *	subtaskStatus (int subtaskId)

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual DtSimTaskStatePtr	currentTaskState () const

virtual bool	decideToGiveUpTask () 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

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
Message Callbacks
static void	moveAlongCallback (DtSimMessage msg, void usr)

static void	setConvoyFollowCallback (DtSimMessage msg, void usrData)

static void	settingsObjectConsumerCallback (const DtSettingsObject settingsObject, 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
	DtRoadMovementController ()

	DtRoadMovementController (const DtRoadMovementController &orig)

DtRoadMovementController &	operator= (const DtRoadMovementController &orig)

virtual bool	initializeCurrentState (DtRailMoveAlongTask *task)

virtual bool	setUpRoute (const DtRwRailSegmentList &path)

virtual int	entryLanePosition (double heading, unsigned int numLanes)

virtual void	clearTask () override

virtual void	clearPath ()

virtual void	initiateLaneChange (const int newLaneNum)

virtual void	checkPathEnd ()

virtual void	manageRoadSegmentElevationLookup ()

virtual DtRoadSegment *	lastSegmentWithElevation ()

virtual void	setLastSegmentWithElevation (DtRoadSegment *seg)

virtual void	processScriptedSet (DtSimMessage *msg)

Support Class Creators
These functions create objects and save them into the relevant member variables.
virtual bool	createPSR ()

virtual bool	createUpdater ()

virtual bool	createPathFunctions ()

virtual bool	createRoadObstructionFinder ()

virtual bool	createDrivingLogic ()

Callback Processors
virtual void	processSetting (const DtBoolSetting *setting)

virtual void	processSetConvoyFollowCallback (DtSimMessage *msg)

virtual void	processMoveAlongTask (DtSimMessage *msg)

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

virtual bool	createPortGroups ()

virtual bool	createPorts ()

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	scriptedSetCallback (DtSimMessage msg, void usrData)

Protected Attributes
DtRailMovementControllerPSR *	myProcessState

const DtRoadMovementDescriptor *	myRoadMoveDescriptor

DtVrfMovingObjectStateRepository *	myMovingStateRep

const DtMovingObjectParameters *	myObjectParams

DtRailSegmentList	myPath

DtRoadSegmentList	myRoadPath

DtRoadSegment *	myCurrentRoadSegment

DtRoadSegment *	myLastSegmentWithElevation

int	myLastSegmentIndex

bool	myDrivingOnLeft

bool	myNotInitialized

bool	myWarnedAboutMissingConvoyLeaderOnce

bool	myRoadAltitudesSet

double	myFrontOffset

double	myRearAxleOffset

DtRoadSegmentPart	myRoadSegmentPart

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade


const DtRoadConstants *	myRoadConstants

DtRoadPathFunctions *	myRoadPathFunctions

DtRoadDrivingLogic *	myDrivingLogic

DtRoadObstructionFinder *	myRoadObstructionFinder

DtRoadMovementUpdater *	myRoadUpdater


std::vector< DtVector >	myTaskVisPath

std::vector< DtVector >	myCurrentTaskVisPath

std::map< DtRoadSegment *, unsigned >	myRoadSegmentTaskVisMap

unsigned	myCurrentTaskVisPathPtIndex

bool	myHaveCreatedDebugVis

std::vector< DtVector >	myOriginalPath


std::vector< DtVector >	myObstacleLocations

int	myLastNumObstaclePoints

std::vector< std::vector < DtVector > >	myObstacleBoxes

int	myLastNumBoxes

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

Class Administrative Functions
virtual const char *	type () const override

virtual bool	init () override

virtual void	preFirstTickInit () override

virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState) override

virtual void	tick () override

virtual void	clear ()

virtual bool	tickWhileDestroyed () const override

virtual void	registerTaskMsgCallbacks () override

static DtSimComponent *	creator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

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

DtRoadMovementController::DtRoadMovementController	(	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 DtRoadMovementController::~DtRoadMovementController ( )

overridevirtual

destructor

DtRoadMovementController::DtRoadMovementController ( )

protected

default constructor - should not be called

DtRoadMovementController::DtRoadMovementController ( const DtRoadMovementController & orig )

protected

copy constructor

Member Function Documentation

virtual const char* DtRoadMovementController::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: DtRoadMoveAlongType

Implements DtTaskControllerComponent.

virtual bool DtRoadMovementController::init ( )

overridevirtual

Create and initialize our roadUpdater, roadObstructionFinder, roadPathFunctions (using the set functions below), myFrontOffset, myRearAxleOffset, and settings manager callback.

Reimplemented from DtControllerComponent.

virtual void DtRoadMovementController::preFirstTickInit ( )

overridevirtual

Calls initializeCurrentState from the currentTaskMessage. If it's unsuccessfull, calls clear() and taskComplete().

Reimplemented from DtSimComponent.

virtual bool DtRoadMovementController::beginProcessingTask	(	const DtTaskMessage &	task,
		DtSimTaskStatePtr	taskState
	)

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: DtRoadMoveAlongType

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtRoadMovementController::tick ( )

overridevirtual

Determines how the entity moves along the given path.Checks if entity has completed it's task. The DtRoadMovementUpdater checks for upcoming intersections and determines appropriate behavior. Checks for entities in the way of the path and determines if possible to pass them. Determines the speed and lane position the entity needs and passes this to the DtRoadMovementUpdater.Checks if entity has completed it's task.

Reimplemented from DtSimComponent.

virtual void DtRoadMovementController::clear ( )

virtual

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: DtRoadMoveAlongType

virtual bool DtRoadMovementController::tickWhileDestroyed ( ) const

overridevirtual

Define tickWhileDestroyed because this controller acts as an actuator in the way it updates the position of the entity directly.

Reimplemented from DtSimComponent.

virtual void DtRoadMovementController::registerTaskMsgCallbacks ( )

overridevirtual

Overrides this so it can register it's interest in RailMoveAlong commands.

Reimplemented from DtTaskControllerComponent.

static DtSimComponent* DtRoadMovementController::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.

static void DtRoadMovementController::moveAlongCallback	(	DtSimMessage *	msg,
		void *	usr
	)

static

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of rail-move-along tasks.

static void DtRoadMovementController::setConvoyFollowCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

static

Instances of this component will register this callback with their own 'this' pointer as user data with the msg executive requesting notification of rail-move-along tasks.

static void DtRoadMovementController::settingsObjectConsumerCallback	(	const DtSettingsObject *	settingsObject,
		void *	usr
	)

static

Callback for changing which side of the road entity is driving on. Calls processSetting.

virtual const DtRoadConstants* DtRoadMovementController::roadConstants ( )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual void DtRoadMovementController::setRoadConstants ( const DtRoadConstants * rc )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual DtRoadPathFunctions* DtRoadMovementController::pathFunctions ( )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual void DtRoadMovementController::setPathFunctions ( DtRoadPathFunctions * pf )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual DtRoadDrivingLogic* DtRoadMovementController::drivingLogic ( )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual void DtRoadMovementController::setDrivingLogic ( DtRoadDrivingLogic * dl )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual DtRoadObstructionFinder* DtRoadMovementController::obstructionFinder ( )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual void DtRoadMovementController::setObstructionFinder ( DtRoadObstructionFinder * of )

inlinevirtual

After creating a new obstFinder, call init() on it.

virtual DtRoadMovementUpdater* DtRoadMovementController::movementUpdater ( )

inlinevirtual

A new set of road constants can be set in a class derived from DtRoadConstansts; then set the pointer here with the value MyRoadConstants::instance()

virtual void DtRoadMovementController::setMovementUpdater ( DtRoadMovementUpdater * u )

inlinevirtual

After creating a new updater, call init(), setEntityState(), and setPSR() on the new updater.

virtual DtRailMovementControllerPSR* DtRoadMovementController::psr ( )

inlinevirtual

virtual const DtMovingObjectParameters* DtRoadMovementController::objectParameters ( )

inlinevirtual

virtual const DtRoadMovementDescriptor* DtRoadMovementController::descriptor ( ) const

virtual

virtual bool DtRoadMovementController::drivingOnLeftEnabled ( ) const

virtual

Distance from vehicle center to front edge.

virtual void DtRoadMovementController::setCurrentMovementState ( DtRailMovementState state )

virtual

Distance from vehicle center to front edge.

virtual DtRailMovementState DtRoadMovementController::currentMovementState ( ) const

virtual

Distance from vehicle center to front edge.

virtual DtRoadSegment* DtRoadMovementController::currentRoadSegment ( ) const

virtual

Distance from vehicle center to front edge.

virtual void DtRoadMovementController::setCurrentRoadSegment ( DtRoadSegment * seg )

virtual

Distance from vehicle center to front edge.

virtual double DtRoadMovementController::frontOffset ( ) const

virtual

Distance from vehicle center to front edge.

virtual void DtRoadMovementController::setFrontOffset ( const double o )

virtual

Distance from vehicle center to front edge.

virtual double DtRoadMovementController::rearAxleOffset ( ) const

virtual

Offset in +x (body) from vehicle center to the center of the rear axle. Note the value is negative if the rear axle is behind the entity origin.

virtual void DtRoadMovementController::setRearAxleOffset ( const double o )

virtual

Distance from vehicle center to front edge.

virtual DtVector DtRoadMovementController::localRearAxleLocation ( ) const

virtual

Computes the location of the rear axle of the entity.

virtual DtRailSegmentList* DtRoadMovementController::pathList ( )

virtual

Returns a pointer to our path list.

virtual const DtRailSegmentList* DtRoadMovementController::pathList ( ) const

virtual

Distance from vehicle center to front edge.

virtual DtRoadSegmentPart DtRoadMovementController::roadSegmentPart ( ) const

virtual

Accessors for myRoadSegmentPart (entry curve, straight section, exit curve).

virtual void DtRoadMovementController::setRoadSegmentPart ( const DtRoadSegmentPart s )

virtual

Distance from vehicle center to front edge.

virtual void DtRoadMovementController::updateTaskVisualizations ( )

overridevirtual

Creates visualizations for the path along the road, for areas on the being searched for cars, and for cars identified to be obstacles. If the notify level of the entity is set to Debug, point visualizations are also shown at the vertices of the original rail path (red) and for the final road path (blue).

Reimplemented from DtSimComponent.

virtual bool DtRoadMovementController::findPointOnTerrain	(	const DtVector &	worldLocation,
		DtVector &	worldLocationOnTerrain
	)

virtual

Finds the closest point on the terrain. Returns true if data was available. Used in updatTaskVisualizations.

virtual std::vector<DtVector>& DtRoadMovementController::debugPoints ( )

inlinevirtual

Accessor for the individual points representing obstacle vehicles.

virtual std::vector<std::vector<DtVector> >& DtRoadMovementController::debugBoxes ( )

inlinevirtual

Accessor for the array of 4-point arrays representing areas where the controller is looking for obstacle vehicles.

virtual const double DtRoadMovementController::followSpeedFactor ( ) const

virtual

virtual double DtRoadMovementController::getDistanceBehindConvoyTarget ( const DtSimObject * convoyTgt ) const

virtual

virtual DtSimObjectReference DtRoadMovementController::getObjectFromObstruction ( DtRailObstructionPtr & obs )

virtual

const DtRailSegmentList* DtRoadMovementController::path ( ) const

inline

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

protected

assignment operator

virtual bool DtRoadMovementController::createPSR ( )

protectedvirtual

This also calls init, setEntityState, and setPSR.

virtual bool DtRoadMovementController::createUpdater ( )

protectedvirtual

This also calls init, setEntityState, and setPSR.

virtual bool DtRoadMovementController::createPathFunctions ( )

protectedvirtual

This also calls init, setEntityState, and setPSR.

virtual bool DtRoadMovementController::createRoadObstructionFinder ( )

protectedvirtual

This function also calls init on the obstruction finder.

virtual bool DtRoadMovementController::createDrivingLogic ( )

protectedvirtual

This also calls init, setEntityState, and setPSR.

virtual void DtRoadMovementController::processSetting ( const DtBoolSetting * setting )

protectedvirtual

Sets myDrivingOnLeftEnabled with value in setting.

virtual void DtRoadMovementController::processSetConvoyFollowCallback ( DtSimMessage * msg )

protectedvirtual

Sets myDrivingOnLeftEnabled with value in setting.

virtual void DtRoadMovementController::processMoveAlongTask ( DtSimMessage * msg )

protectedvirtual

Handle messages to move along a generated path. These paths are generated by the DtRailPathPlanner in the DtMovementSelectorController.

virtual bool DtRoadMovementController::initializeCurrentState ( DtRailMoveAlongTask * task )

protectedvirtual

When loading up from a scenario we need to find out where we were on the route and initialize from our process state repository. This is called in pre-first-tick-init.

virtual bool DtRoadMovementController::setUpRoute ( const DtRwRailSegmentList & path )

protectedvirtual

Set up our path from the rail move along task's path.

virtual int DtRoadMovementController::entryLanePosition	(	double	heading,
		unsigned int	numLanes
	)

protectedvirtual

Determines which lane we should be starting in. Returns the default lane from descriptor->drivingLane. Ignores the parameters. Returns a 1-based lane number.

virtual void DtRoadMovementController::clearTask ( )

overrideprotectedvirtual

Override to clear route name and route state data stored in myProcessState.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtRoadMovementController::clearPath ( )

protectedvirtual

Clears the current path.

virtual void DtRoadMovementController::initiateLaneChange ( const int newLaneNum )

protectedvirtual

Update the controller state to initiate a lane change. Sets currentLaneNumber, offsetFromLaneCenterline, laneChangeWidth, and postionAlongLane in the PSR.

virtual void DtRoadMovementController::checkPathEnd ( )

protectedvirtual

Check to see if the entity has reached the end of the path, and if so set the movement state to DtMovementStop.

virtual void DtRoadMovementController::manageRoadSegmentElevationLookup ( )

protectedvirtual

Manages the lookup of elevation of the road segments. The elevation at the start and end of the left and right lanes is obtained in order to compute define a plane containing the segment (as best possible) and a coordinated transformation from segment coordinates to local coordinates. Since terrain surface lookup can take time, especially over a long route with many segments, no more than one segment is processed each tick. A segment is not processed until the previous segment is processed so that the previous segment can be used to estimate the elevation of the current one. This function uses DtRoadSegment::computeSegmentToLocalTransform.

virtual DtRoadSegment* DtRoadMovementController::lastSegmentWithElevation ( )

protectedvirtual

virtual void DtRoadMovementController::setLastSegmentWithElevation ( DtRoadSegment * seg )

protectedvirtual

static void DtRoadMovementController::scriptedSetCallback	(	DtSimMessage *	msg,
		void *	usrData
	)

staticprotected

virtual void DtRoadMovementController::processScriptedSet ( DtSimMessage * msg )

protectedvirtual

Member Data Documentation

DtRailMovementControllerPSR* DtRoadMovementController::myProcessState

protected

const DtRoadMovementDescriptor* DtRoadMovementController::myRoadMoveDescriptor

protected

DtVrfMovingObjectStateRepository* DtRoadMovementController::myMovingStateRep

protected

const DtMovingObjectParameters* DtRoadMovementController::myObjectParams

protected

const DtRoadConstants* DtRoadMovementController::myRoadConstants

protected

The following members hold classes that define key functions of the driving controller. By setting them to derived classes, these functions can be modified.

Class to hold constants having to do with the assumed standard design of the road, e.g. a design vehicle length, width, and turn radius, and a design driver's typical accelerations.

DtRoadPathFunctions* DtRoadMovementController::myRoadPathFunctions

protected

Class to hold functions that process lists of road segments, i.e. a road path. These functions create the path from a rail path, connect segments, remove short segments, compute the path curves between segments, etc.

DtRoadDrivingLogic* DtRoadMovementController::myDrivingLogic

protected

Class to hold functions defining the driving logic.

DtRoadObstructionFinder* DtRoadMovementController::myRoadObstructionFinder

protected

Class to hold functions that find obstructions (vehicles) along the entity's current lane and adjacent lanes.

DtRoadMovementUpdater* DtRoadMovementController::myRoadUpdater

protected

Class to hold functions that perform the kinematic update and compute the resulting position, orientation, and lane offset along the road path. This class writes to the ports that connect to the Update Repository actuator, thus making this controller act as an actuator too.

DtRailSegmentList DtRoadMovementController::myPath

protected

This is the input path to the controller.

DtRoadSegmentList DtRoadMovementController::myRoadPath

protected

This path is computed, and includes the lane connections and the geometry of the paths connecting the lanes.

DtRoadSegment* DtRoadMovementController::myCurrentRoadSegment

protected

DtRoadSegment* DtRoadMovementController::myLastSegmentWithElevation

protected

The last road segment that the controller has successfully obtained terrain elevation for, and computed the segment-to-local coordinate transform.

int DtRoadMovementController::myLastSegmentIndex

protected

For debugging output.

bool DtRoadMovementController::myDrivingOnLeft

protected

bool DtRoadMovementController::myNotInitialized

protected

bool DtRoadMovementController::myWarnedAboutMissingConvoyLeaderOnce

protected

bool DtRoadMovementController::myRoadAltitudesSet

protected

double DtRoadMovementController::myFrontOffset

protected

Distance from entity center to front. This is computed as boundingVolume->halfLength + boundingVolume->latticeOffset.x.

double DtRoadMovementController::myRearAxleOffset

protected

Offset in x from entity center to the center of the rear axle. When turning, the turn circle center is on a line through the rear axle, and thus the tangent direction of circular motion points directly forward at the rear axle; thus this position of the vehicle is used as a reference position (vs. the entity origin) for determining entity orientation. The "other support" point is assumed to be on the rear axle, so this offset is computed as movingObjectParameters->otherSupport.x.

DtRoadSegmentPart DtRoadMovementController::myRoadSegmentPart

protected

Keeps track of what part of the road segment the vehicle currently occupies (entry curve, straight section, exit curve).

std::vector<DtVector> DtRoadMovementController::myTaskVisPath

protected

For debug visualizationThe path of the road segments. Holds world (geoc) coordinates. Computed once.

std::vector<DtVector> DtRoadMovementController::myCurrentTaskVisPath

protected

The currently displayed task vis path. Only a portion of myTaskVisPath is shown at any given time to prevent very large task visualizations that can slow down the system.

std::map<DtRoadSegment*, unsigned> DtRoadMovementController::myRoadSegmentTaskVisMap

protected

Maps road segments to the index of the task vis path points that make up this segment.

unsigned DtRoadMovementController::myCurrentTaskVisPathPtIndex

protected

The current starting point index of the displayed task vis path.

bool DtRoadMovementController::myHaveCreatedDebugVis

protected

Several visualizations are created once and never updated. They are created only if the entity notify level is set to Debug. Includes location of start of each original rail segment, the location of the path end, and the location of the start of each road segment.

Indicates the debug visualizations have been created

std::vector<DtVector> DtRoadMovementController::myOriginalPath

protected

Holds the start (local) locations of the original rail path segments.

std::vector<DtVector> DtRoadMovementController::myObstacleLocations

protected

These visualizations are updated every tick.Location of obstacle vehicles that constrain movement. In local coordinates; converted to world when updateTaskVis is called.

int DtRoadMovementController::myLastNumObstaclePoints

protected

The number of obstacles last tick.

std::vector<std::vector<DtVector> > DtRoadMovementController::myObstacleBoxes

protected

A set of polygons representing bounding volumes of the lanes to search for obstacle vehicles. Holds world coordinates.

int DtRoadMovementController::myLastNumBoxes

protected

The number of boxes last tick.

DtPlatformLocalObjectFacade DtRoadMovementController::myPlatformLocalObjectFacade

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Class Administrative Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation