The algorithm for updating the kinematic variables and modeling the limiting effects of maximum rotation rates, climb rate, altitude, and speed is documented in an accompanying file in this directory (libsrc/vrfmodel): rotaryWingActuatorComponentAlgorithm.docx.

DtRotaryWingActuatorComponent is a kinematics-based model of a rotary wing aircraft that converts collective, cyclic, and pedal into acceleration, velocity, position, rotational velocity, and orientation.

End User Description: In addition, the actuator implements ground detection.

Uses Descriptor Type: DtRotaryWingActuatorDescriptor

Inheritance diagram for DtRotaryWingActuatorComponent:

[legend]

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

virtual	~DtRotaryWingActuatorComponent () override

virtual bool	init () override

virtual const char *	type () const override

virtual void	tick () override

virtual void	useFuel (double fuelUsed)

virtual double	fuelLeft () const

virtual double	fuelUsed (double speed) const

virtual void	fallFromSky ()

Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent () override

virtual DtSimRadio *	radio ()

virtual bool	tickWhileDestroyed () const override

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 bool	postAddComponentsInit ()

virtual void	registerAttributeFunctions ()

virtual void	postTick ()

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	taskVisualizationsActive () const

virtual bool	taskVisualizationsEnabled () const

virtual void	onRestore ()

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

virtual void	updateImgui ()

virtual bool	debugActive () const

virtual void	enable ()

virtual void	disable ()

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

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 bool	createPortGroups () override

virtual bool	createPorts () override

virtual bool	createPSR ()

virtual void	clampFrameRate ()

virtual void	setLanded (const DtVector &localIntersectionPoint)

virtual bool	checkFlyingWithoutFuel ()

virtual void	setYawAcceleration ()

virtual void	calculateYawRate ()

virtual double	calculateOneAxisOfOrientation (const int axis, const double angleInit, const double period, const double portValue, const double maxAccel, const double maxRate)

virtual void	checkAndDetachIfNecessary ()

virtual void	calculateOrientation ()

virtual void	calculateNormalizedBodyVelocity ()

virtual void	calculateLiftAcceleration ()

virtual double	altitudePowerFactor (const double altitude)

virtual void	calculateResultantAcceleration ()

virtual void	integrate ()

virtual void	updateRepository ()

virtual void	updateAirspeedToRepository ()

virtual void	updateDisplay ()

virtual void	checkLandedOrCrashed ()

virtual bool	isCrashedIntoGround (const DtVector &localPosition, const double downSpeed, DtVector &localIntersectionPoint)

virtual void	sendDetonation (const DtVector &geocentricLocation)

virtual bool	isSubsurface () const

virtual bool	componentInitialized () const

virtual bool	engineOperational () const

virtual void	updateAppearance ()

virtual void	updateOrderedSpeed ()

virtual void	preFirstTickInit () override

virtual void	processSetLocationCallback ()

Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual void	setRadio (DtSimRadio *radio)

	DtActuatorComponent ()

Protected Member Functions inherited from DtSimComponent
virtual void	setupTimedTickLogic (double minTickPeriod, double minTickPeriodVariance)

virtual double	computeCurrentTime ()

bool	testInvariant () const

DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)

virtual void	updateTaskVisualizations ()

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)

virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)

virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)

virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

DtPropertyInterface *	cachedNextFrameStateProperty (DtPropertyInterface **prop, const DtString &propName)

template<typename ValType >
void	setCachedNextFrameStatePropertyValue (DtPropertyInterface **prop, const DtString &propName, ValType value)

const DtPropertyInterface *	cachedCurrentFrameStateProperty (const DtPropertyInterface **prop, const DtString &propName) const

template<typename ValType >
bool	getCachedCurrentFrameStatePropertyValue (const DtPropertyInterface **prop, const DtString &propName, ValType &value) const

void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)

void	removeSimObjectPredicateCallback (const DtSimObject , DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void userData=0)

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState

DtRotaryWingActuatorDescriptor *	myRotaryWingActuatorDescriptor

DtReal	myMaxDragAcceleration

DtVector	myBodyRotationalAcceleration

DtVector	myBodyRotationRates

DtTaitBryan	myOrientation

DtDcm	myBodyToLocalMatrix

DtDcm	myLocalToBodyMatrix

DtReal	mySpeedRatioSquared

DtVector	myBodyVelocity

DtVector	myNormalizedBodyVelocity

DtVector	myBodyLift

DtVector	myBodyAcceleration

DtVector	myRelativeAcceleration

DtVector	myRelativeVelocity

DtReal	mySpeed

DtVector	myLocalPosition

DtVector	myLocalOrientation

DtReal	myAltitudeAGL

DtVector	myPreviousGroundClampedPosition

bool	myPrintedOutOfFuelMessage

DtRotaryWingFlightPSR *	myProcessState

DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup

double	myHeightAboveGroundSupport

DtAirspeedCalculator *	myAirSpeedCalculator

double	myLastSpeed

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

boost::signals2::connection	mySetLocationCompleteConnection

Ports and Port Groups
DtInputPortGroup *	myRotaryWingControlPortGroup

DtConstrainedAnalogInputPort *	myThrottlePort

DtConstrainedDualAxisAnalogInputPort *	myCyclicPort

DtConstrainedAnalogInputPort *	myPedalPort

DtConstrainedAnalogInputPort *	myCollectivePort

Protected Attributes inherited from DtActuatorComponent
DtSimRadio *	myRadio

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
	DtRotaryWingActuatorComponent ()

	DtRotaryWingActuatorComponent (const DtRotaryWingActuatorComponent &orig)

DtRotaryWingActuatorComponent &	operator= (const DtRotaryWingActuatorComponent &orig)

Additional Inherited Members
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 )()

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

DtRotaryWingActuatorComponent::DtRotaryWingActuatorComponent	(	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 DtRotaryWingActuatorComponent::~DtRotaryWingActuatorComponent ( )

overridevirtual

destructor Removes process state from process state manager before deleting it.

DtRotaryWingActuatorComponent::DtRotaryWingActuatorComponent ( )

private

default constructor; not implemented

DtRotaryWingActuatorComponent::DtRotaryWingActuatorComponent ( const DtRotaryWingActuatorComponent & orig )

private

copy constructor; not implemented

Member Function Documentation

virtual bool DtRotaryWingActuatorComponent::init ( )

overridevirtual

to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.

Reimplemented from DtActuatorComponent.

virtual const char* DtRotaryWingActuatorComponent::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: DtRotaryWingActuatorType

Implements DtSimComponent.

virtual void DtRotaryWingActuatorComponent::tick ( )

overridevirtual

Calculate new kinematic state. Calls updateAppearance().

Reimplemented from DtSimComponent.

virtual void DtRotaryWingActuatorComponent::useFuel ( double fuelUsed )

virtual

Fuel manipulation functions. Assumes the fuel resource has resource name "fuel" If not found, fuel consumption not will not be modeled.

virtual double DtRotaryWingActuatorComponent::fuelLeft ( ) const

virtual

virtual double DtRotaryWingActuatorComponent::fuelUsed ( double speed ) const

virtual

Calculate the fuel used in the last time step.

virtual void DtRotaryWingActuatorComponent::fallFromSky ( )

virtual

This member function is called when an entity has been destroyed and is still in the air. The only acceleration applied is gravity. All rotation rates are set to 0.0. When the entity intersects the ground, a detonation interaction is generated at the point of impact. A munition type of <2, 0, 0, 0, 0, 0, 0> is used.

static DtSimComponent* DtRotaryWingActuatorComponent::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 bool DtRotaryWingActuatorComponent::createPortGroups ( )

overrideprotectedvirtual

Creates the local port groups.

Reimplemented from DtSimComponent.

virtual bool DtRotaryWingActuatorComponent::createPorts ( )

overrideprotectedvirtual

Creates the input ports and adds them to the component.

Reimplemented from DtSimComponent.

virtual bool DtRotaryWingActuatorComponent::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 void DtRotaryWingActuatorComponent::clampFrameRate ( )

protectedvirtual

Clamp the frame rate if the rate is too slow.

virtual void DtRotaryWingActuatorComponent::setLanded ( const DtVector & localIntersectionPoint )

protectedvirtual

Sets the parameters for a landed entity.

virtual bool DtRotaryWingActuatorComponent::checkFlyingWithoutFuel ( )

protectedvirtual

Check to see if the entity is flying without fuel, and call fallFromSky if so.

virtual void DtRotaryWingActuatorComponent::setYawAcceleration ( )

protectedvirtual

Find yaw acceleration and new rate.

virtual void DtRotaryWingActuatorComponent::calculateYawRate ( )

protectedvirtual

virtual double DtRotaryWingActuatorComponent::calculateOneAxisOfOrientation	(	const int	axis,
		const double	angleInit,
		const double	period,
		const double	portValue,
		const double	maxAccel,
		const double	maxRate
	)

protectedvirtual

For pitch and roll:

virtual void DtRotaryWingActuatorComponent::checkAndDetachIfNecessary ( )

protectedvirtual

If attached (embark) check to see if should be disembarked b/c the entity is no longer close to the entity it is currently attached to.

virtual void DtRotaryWingActuatorComponent::calculateOrientation ( )

protectedvirtual

Uses current local orientation, rotationRates in SR, and dT. Results placed in object pointed to by orientation argument.

virtual void DtRotaryWingActuatorComponent::calculateNormalizedBodyVelocity ( )

protectedvirtual

Put current velocity into body coordinates (AFTER rotating body).

virtual void DtRotaryWingActuatorComponent::calculateLiftAcceleration ( )

protectedvirtual

Calculate scalar accel in direction of lift (perpendicular to wings).

virtual double DtRotaryWingActuatorComponent::altitudePowerFactor ( const double altitude )

protectedvirtual

Calculate a factor by which to multiply lift based on altitude. Assumes that at 0 MSL, this factor will be 1.0; at altitude = maxAltitude, full power (collective = 1.0) will produce a lift of g (gravity acceleration), thus producing 0 net lift. Factor = (g - full-collective-lift-acceleration)/ full-collective-lift-acceleration * (altitude / max-altitude)

1.0.

virtual void DtRotaryWingActuatorComponent::calculateResultantAcceleration ( )

protectedvirtual

Sum the accelerations produced by forces acting on the body, and put the result into world coordinates.

virtual void DtRotaryWingActuatorComponent::integrate ( )

protectedvirtual

Find the new velocity and position.

virtual void DtRotaryWingActuatorComponent::updateRepository ( )

protectedvirtual

Sets the state to locally calculated values.

virtual void DtRotaryWingActuatorComponent::updateAirspeedToRepository ( )

protectedvirtual

/brief Called from updateRepository(). Override this method to calculate air speed and set state properties. Uses myAltitudeAGL and myLocalPosition as ground speed. Sets state properties "IndicatedAirspeed", "TrueAirspeed", "MachNumber". Uses myAirSpeedCalculator to calculate from ground speed (i.e. entity velocity). To use a different air speed calculator, see DtAirspeedCalculatorFactory in airspeedCalculator.h. Register a class derived from DtAirspeedCalculator with the factory. During registration, either override the default type "DtAirspeedCalculator" or register a new type. See DtRotaryWingActuatorDescriptor::myAirspeedCalculatorType in vrfobjparam. See also "data/simulationModelSets/EntityLevel/vrfSim/systems/movement/rotary-wing-attack.sysdef. Factory changes can be made at application initialization, e.g. in DtInitializeVrfPlugin(DtCgf* cgf). Just make a call to DtAirspeedCalculatorFactory::instance().registerAirSpeedCalculatorCreator(<string>, <static_creator_function>);

virtual void DtRotaryWingActuatorComponent::updateDisplay ( )

protectedvirtual

Can be used to print control values in the console window.

virtual void DtRotaryWingActuatorComponent::checkLandedOrCrashed ( )

protectedvirtual

Check if the entity landed on the ground or crashed. If landed, ground clamp the actuator. If crashed, set isDestroyed and isSmoking. Checks to see if the entity is below ground. If it is, the entity is set to destroyed, flaming, and smoking. Its velocity and acceleration vectors are set to <0.0, 0.0, 0.0>, and its Z-coordinate is set to the height of the terrain at that <X, Y> coordinate. If it is not below ground, checkLandedOrCrashed() checks to see if the following criteria are met for being in a landed state: Velocity along the (database) Z axis is greater than -3.0 meters/second, but less than 2.0 * dT meters/second Height above terrain is less than 2.0 meters Overall entity speed is less than 4.0 meters/second. If one or more of these criteria is false, checkLandedOrCrashed() sets the SR Landed flag to false and returns. Otherwise, the variables myLandPosition and myLandHeading are set to the entity�s current position and heading, and DtRotaryWingEntity::land() is called. The velocity, acceleration, and rotational velocity vectors are all set to <0.0, 0.0, 0.0>.

virtual bool DtRotaryWingActuatorComponent::isCrashedIntoGround	(	const DtVector &	localPosition,
		const double	downSpeed,
		DtVector &	localIntersectionPoint
	)

protectedvirtual

Determines if the entity has crashed into the ground.

Returns: A boolean indicating whether or not the entity has crashed into the ground.

Parameters

localPosition	The position to test, in database coordinates.
physWorld	The physicalWorld to test against.
downSpeed	The down component of entity speed. Positive down.
localIntersectionPoint	This parameter is filled with the results of the intersection test with the terrain database.

Note: The localIntersectionPoint is always calculated, even if the entity has not crashed into the ground.

virtual void DtRotaryWingActuatorComponent::sendDetonation ( const DtVector & geocentricLocation )

protectedvirtual

Sends a detonation interaction at the specified location, in geocentric coordinates.

virtual bool DtRotaryWingActuatorComponent::isSubsurface ( ) const

protectedvirtual

Determine whether or not the configured entity is a subsurface entity or not.

Returns: True if the configured entity is a subsurface and false if it isn't.

Note: This is not intended for general use, as it will most likely be removed when proper subsurface components are developed.

virtual bool DtRotaryWingActuatorComponent::componentInitialized ( ) const

protectedvirtual

Determine if the component has been properly initialized. The component must have a valid sim manager, entity state, actuator descriptor, and process state rep to be initialized properly. Additionally, it must have a valid terrain database, a valid coordinate system in the terrain database, and a valid exercise clock in order to be used. If any of these are missing, then the function returns false.

Returns: True if the component is initialized and ready to be ticked.

virtual bool DtRotaryWingActuatorComponent::engineOperational ( ) const

protectedvirtual

Returns: True as long as the entity is not destroyed and the entity is not "mobility killed", based on its appearance.

virtual void DtRotaryWingActuatorComponent::updateAppearance ( )

protectedvirtual

Called from tick() to update the PowerPlantOn appearance bit to on if the entity is not in the landed state and engineOperational() is true.

virtual void DtRotaryWingActuatorComponent::updateOrderedSpeed ( )

protectedvirtual

Update the ordered speed with the ordered air speed.

virtual void DtRotaryWingActuatorComponent::preFirstTickInit ( )

overrideprotectedvirtual

Initialize member variables needed for air temp calculation.

Reimplemented from DtSimComponent.

virtual void DtRotaryWingActuatorComponent::processSetLocationCallback ( )

protectedvirtual

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

private

assignment operator; not implemented

Member Data Documentation

DtRotaryWingEntityStateRepository* DtRotaryWingActuatorComponent::myRotaryWingEntityState

protected

DtRotaryWingActuatorDescriptor* DtRotaryWingActuatorComponent::myRotaryWingActuatorDescriptor

protected

DtInputPortGroup* DtRotaryWingActuatorComponent::myRotaryWingControlPortGroup

protected

Input Port Group Name: rotary-wing-control
Input Port Group Description:

DtConstrainedAnalogInputPort* DtRotaryWingActuatorComponent::myThrottlePort

protected

Input Port Name: throttle
Input Port Description:
Input Port Range: 0. to 1.
Input Port Default Value:
Input Group Parent: rotary-wing-control.

DtConstrainedDualAxisAnalogInputPort* DtRotaryWingActuatorComponent::myCyclicPort

protected

Input Port Name: cyclic
Input Port Description:
Input Port Range: X: -1. to 1. Y: -1. to 1.
Input Port Default Value:
Input Group Parent: rotary-wing-control.

DtConstrainedAnalogInputPort* DtRotaryWingActuatorComponent::myPedalPort

protected

Input Port Name: pedal
Input Port Description:
Input Port Range: -1. to 1.
Input Port Default Value:
Input Group Parent: rotary-wing-control.

DtConstrainedAnalogInputPort* DtRotaryWingActuatorComponent::myCollectivePort

protected

Input Port Name: collective
Input Port Description:
Input Port Range: 0. to 1.
Input Port Default Value:
Input Group Parent: rotary-wing-control.

DtReal DtRotaryWingActuatorComponent::myMaxDragAcceleration

protected

DtVector DtRotaryWingActuatorComponent::myBodyRotationalAcceleration

protected

DtVector DtRotaryWingActuatorComponent::myBodyRotationRates

protected

DtTaitBryan DtRotaryWingActuatorComponent::myOrientation

protected

DtDcm DtRotaryWingActuatorComponent::myBodyToLocalMatrix

protected

DtDcm DtRotaryWingActuatorComponent::myLocalToBodyMatrix

protected

DtReal DtRotaryWingActuatorComponent::mySpeedRatioSquared

protected

DtVector DtRotaryWingActuatorComponent::myBodyVelocity

protected

DtVector DtRotaryWingActuatorComponent::myNormalizedBodyVelocity

protected

DtVector DtRotaryWingActuatorComponent::myBodyLift

protected

DtVector DtRotaryWingActuatorComponent::myBodyAcceleration

protected

DtVector DtRotaryWingActuatorComponent::myRelativeAcceleration

protected

DtVector DtRotaryWingActuatorComponent::myRelativeVelocity

protected

DtReal DtRotaryWingActuatorComponent::mySpeed

protected

DtVector DtRotaryWingActuatorComponent::myLocalPosition

protected

DtVector DtRotaryWingActuatorComponent::myLocalOrientation

protected

DtReal DtRotaryWingActuatorComponent::myAltitudeAGL

protected

DtVector DtRotaryWingActuatorComponent::myPreviousGroundClampedPosition

protected

bool DtRotaryWingActuatorComponent::myPrintedOutOfFuelMessage

protected

DtRotaryWingFlightPSR* DtRotaryWingActuatorComponent::myProcessState

protected

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

DtUpdateRepositoryOutputPortGroup* DtRotaryWingActuatorComponent::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository. All values are in local coordinates.

double DtRotaryWingActuatorComponent::myHeightAboveGroundSupport

protected

Cached value from heightAboveGroundSupport.

DtAirspeedCalculator* DtRotaryWingActuatorComponent::myAirSpeedCalculator

protected

Air Speed Calculator for updating state properties Created in init()

double DtRotaryWingActuatorComponent::myLastSpeed

protected

myLastSpeed is used in tick() to catch velocity changes while paused, due to setCurrentSpeed() or setAltitude(). When current speed does not match last speed while paused, recalculate true air speed.

DtPlatformLocalObjectFacade DtRotaryWingActuatorComponent::myPlatformLocalObjectFacade

protected

Member to allow for access to platform specific data.

boost::signals2::connection DtRotaryWingActuatorComponent::mySetLocationCompleteConnection

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation