DtSimpleRotaryWingPilot is a controller that represents the autopilot aspects of a rotary-wing pilot.

End User Description: It sets the helicopter controls to achieve desired position, velocity, acceleration, and orientation. These values are provided over a set of input ports. The controller than uses these values to calculate the needed control inputs for the actuator, and sends these values on the output ports.

Uses Descriptor Type: DtRotaryWingPilotDescriptor

Inheritance diagram for DtSimpleRotaryWingPilot:

[legend]

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

virtual	~DtSimpleRotaryWingPilot () override

virtual bool	init () override

virtual bool	createPorts () override

virtual const char *	type () const override

virtual void	tick () override

virtual bool	taskVisualizationsActive () const override

virtual void	updateTaskVisualizations () override

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

virtual	~DtRotaryWingPilotController () override

virtual DtConstrainedAnalogOutputPort *	throttlePort ()

virtual DtConstrainedAnalogOutputPort *	collectivePort ()

virtual DtConstrainedDualAxisAnalogOutputPort *	cyclicPort ()

virtual DtConstrainedAnalogOutputPort *	pedalPort ()

virtual bool	createGuidancePortGroup ()

virtual bool	createDesiredPositionPort ()

virtual bool	createContinueMovementPort ()

virtual bool	createDesiredVelocityPort ()

virtual bool	createDesiredAccelerationPort ()

virtual bool	createDesiredHeadingPort ()

virtual bool	createPositionSelectorPort ()

virtual bool	createVelocitySelectorPort ()

virtual bool	createAccelerationSelectorPort ()

virtual bool	createHeadingSelectorPort ()

virtual bool	createPowerDownPort ()

virtual bool	createAggressivenessPort ()

virtual DtAnalogInputPort *	aggressivenessPort ()

virtual DtVectorInputPort *	desiredPositionPort ()

virtual DtBooleanInputPort *	continueMovementPort ()

virtual DtVectorInputPort *	desiredVelocityPort ()

virtual DtVectorInputPort *	desiredAccelerationPort ()

virtual DtAnalogInputPort *	desiredHeadingPort ()

virtual DtAnalogInputPort *	positionSelectorPort ()

virtual DtAnalogInputPort *	velocitySelectorPort ()

virtual DtAnalogInputPort *	accelerationSelectorPort ()

virtual DtAnalogInputPort *	headingSelectorPort ()

virtual DtBooleanInputPort *	powerDownPort ()

virtual bool	createRotaryWingControlPortGroup ()

virtual bool	createThrottlePort ()

virtual bool	createCollectivePort ()

virtual bool	createCyclicPort ()

virtual bool	createPedalPort ()

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

virtual	~DtControllerComponent () override

virtual DtSimRadio *	radio ()

virtual void	taskNotify (const DtSimTask &task)

virtual void	clearTask ()

virtual void	enableTaskTypes ()

virtual void	enableScriptedTask (const DtString &scriptId)

virtual void	disableTaskTypes ()

virtual void	enable () 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 void	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

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

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 void	updateImgui ()

virtual bool	debugActive () const

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 DtReal	xyDistSquared (DtVector a, DtVector b)

Static Public Member Functions inherited from DtRotaryWingPilotController
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 void	computeDesiredLinearAccel (DtVector &desiredHorizBodyAccel, double &desiredYawAccel)

virtual void	computeDesiredTopoAccelToPosition (const double maxAccel, const double period, DtVector &desiredTopoAccel, double &yawAccel)

virtual void	computeDesiredTopoAccelToVelocity (const DtVector &desiredVel, const double period, DtVector &desiredTopoAccel)

virtual double	desiredHeadingWithNoMoveGoal ()

virtual void	computeDesiredTopoAccelToHeading (const double desiredHeading, const double desiredSpeed, const double period, DtVector &desiredTopoAccel)

virtual void	checkLandNoFuel ()

virtual void	findEarthCurveDeltaPosition (DtVector fromPosition, DtVector toPosition, DtVector &deltaPosition, const Coordinate_System *coordinateSystem)

virtual void	limitAccelFromMaxAcceleration (DtVector &horizBodyAccel)

virtual void	computeTopoDeltaPosition (DtVector &topoDeltaPosition)

virtual void	computeTopoDesiredEndVelocity (const DtVector &topoXyDeltaPos, DtVector &topoXyEndDirection, double &topoXyEndSpeed)

virtual double	limitedVerticalControlAcceleration (const double verticalControlAccel, const double verticalError, const double currentVerticalVelocity, const double period)

virtual bool	isCloseToGoalPosition (const DtVector &topoDeltaPos)

virtual void	setCollectiveAndCyclicFromAccel (const DtVector &desiredAcceleration)

virtual void	setPedalFromDesiredYawAcceleration (const double yawAccel)

virtual void	setThrottle ()

void	limitAccelForFixedFlightSlope (DtVector &topoEntToGoal, DtVector &topoCurrentVel, double period, DtVector &desiredTopoAccel)

virtual DtReal	terrainAvoidanceVelocity () const

virtual void	calculateTargetAlignmentAngle (DtReal &headingToTarget) const

virtual void	computeYawAccelerationToHeading (const double headingToPoint, const double period, double &yawAccel)

virtual void	getTransformationMatrices ()

virtual void	clearControlState ()

virtual double	stationaryGoalSpeedThreshold ()

virtual double	catchUpSpeedFactor ()

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit () override

Protected Member Functions inherited from DtRotaryWingPilotController
virtual bool	createPortGroups () override

virtual void	setStateFromPorts ()

	DtRotaryWingPilotController ()

	DtRotaryWingPilotController (const DtRotaryWingPilotController &orig)

const DtRotaryWingPilotController &	operator= (const DtRotaryWingPilotController &orig)

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	setRadio (DtSimRadio *radio)

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)

Protected Attributes
DtRotaryWingPilotDescriptor *	myPilotDescriptor

DtDcm	myBodyToRef

DtDcm	myLocalToTopoDcm

DtDcm	myTopoToLocalDcm

DtDcm	myTopoToBodyHeadingDcm

DtRotaryWingFlightPSR *	myProcessState

DtVector	myLastIntegralDistError

double	myLastYawDerivativeControl

Ports and Port Groups
DtVectorInputPort *	myTargetLocationInputPort

Protected Attributes inherited from DtRotaryWingPilotController
DtRotaryWingEntityStateRepository *	myRotaryWingEntityState

DtVector	myNormalizedBodyVelocity

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtOutputPortGroup *	myRotaryWingControlPortGroup

DtConstrainedAnalogOutputPort *	myThrottlePort

DtConstrainedAnalogOutputPort *	myCollectivePort

DtConstrainedDualAxisAnalogOutputPort *	myCyclicPort

DtConstrainedAnalogOutputPort *	myPedalPort

DtInputPortGroup *	myGuidancePortGroup

DtVectorInputPort *	myDesiredPositionPort

DtVectorInputPort *	myDesiredVelocityPort

DtVectorInputPort *	myDesiredAccelerationPort

DtAnalogInputPort *	myDesiredHeadingPort

DtAnalogInputPort *	myPositionSelectorPort

DtBooleanInputPort *	myContinueMovementPort

DtAnalogInputPort *	myVelocitySelectorPort

DtAnalogInputPort *	myAccelerationSelectorPort

DtAnalogInputPort *	myHeadingSelectorPort

DtAnalogInputPort *	myAggressivenessPort

DtBooleanInputPort *	myPowerDownPort

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
	DtSimpleRotaryWingPilot ()

	DtSimpleRotaryWingPilot (const DtSimpleRotaryWingPilot &orig)

DtSimpleRotaryWingPilot &	operator= (const DtSimpleRotaryWingPilot &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

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot	(	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 DtSimpleRotaryWingPilot::~DtSimpleRotaryWingPilot ( )

overridevirtual

destructor

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot ( )

private

default constructor not implemented

DtSimpleRotaryWingPilot::DtSimpleRotaryWingPilot ( const DtSimpleRotaryWingPilot & orig )

private

copy constructor not implemented

Member Function Documentation

virtual bool DtSimpleRotaryWingPilot::init ( )

overridevirtual

Calls the parent�s init() to initialize the ports. Returns true if initialization was successful.

Reimplemented from DtRotaryWingPilotController.

virtual bool DtSimpleRotaryWingPilot::createPorts ( )

overridevirtual

Overridden to create rotary wing ports.

Reimplemented from DtRotaryWingPilotController.

virtual const char* DtSimpleRotaryWingPilot::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: DtRotaryWingPilotControllerType

Reimplemented from DtRotaryWingPilotController.

virtual void DtSimpleRotaryWingPilot::tick ( )

overridevirtual

Calculate new control values.

Reimplemented from DtRotaryWingPilotController.

static DtSimComponent* DtSimpleRotaryWingPilot::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 DtSimpleRotaryWingPilot::taskVisualizationsActive ( ) const

overridevirtual

Returns true if task visualizations are currently active for this component. Default behavior is to return false. Must be overridden in subclasses to enable task visualizations.

Reimplemented from DtSimComponent.

virtual void DtSimpleRotaryWingPilot::updateTaskVisualizations ( )

overridevirtual

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

Reimplemented from DtSimComponent.

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

private

assignment operator not implemented

virtual void DtSimpleRotaryWingPilot::computeDesiredLinearAccel	(	DtVector &	desiredHorizBodyAccel,
		double &	desiredYawAccel
	)

protectedvirtual

Computes the desired linear acceleration (and estimate of desired body velocity) based on the control inputs, as identified by the selector port inputs. Looks at the various selector inputs (position, velocity, acceleration, heading) to figure out what the goal is. For example, velocity alone is taken as the desired instantaneous velocity, but if there is position and velocity input, velocity is taken to be the desired velocity at the goal point.

Parameters

desiredHorizBodyAccel	is an output; it is the desired acceleration in a coordinate system with x a horizontal component in the forward direction (i.e. like body-x, but with no pitch); y a horizontal component to the right, and z the down component.
desiredYawAcceleration	is an output giving desired rotation around the down axis.

virtual void DtSimpleRotaryWingPilot::computeDesiredTopoAccelToPosition	(	const double	maxAccel,
		const double	period,
		DtVector &	desiredTopoAccel,
		double &	yawAccel
	)

protectedvirtual

Computes the desired topo acceleration for movement toward a goal point, with or without a goal velocity at that point. This function handles 3 possibilities:

Goal velocity is zero or not specified, and entity is > a body length from the goal: head toward the goal and control forward speed.
Same, but within a body length: freeze heading and move laterally as necessary toward goal.
Goal velocity is non-zero: move toward the line defined by the velocity vector and the point, and control speed along the line to get to the point at the desired speed.

virtual void DtSimpleRotaryWingPilot::computeDesiredTopoAccelToVelocity	(	const DtVector &	desiredVel,
		const double	period,
		DtVector &	desiredTopoAccel
	)

protectedvirtual

Computes the desired topo acceleration and yaw acceleration for movement controlled by a desired velocity vector alone. Adds terrain avoidance velocity if required. If the desired speed is very small, then the function checks to see if there are targets (calculateTargetAlignmentAngle) to face.

virtual double DtSimpleRotaryWingPilot::desiredHeadingWithNoMoveGoal ( )

protectedvirtual

Computes the desired heading when there isn't a position or velocity goal input. If the current speed is > the maxSpeedForHeadingControl, then the heading is just the direction of velocity. Otherwise, if there is a heading control input, that is the heading. Otherwise, if there is a target, then it's bearing is the heading. Otherwise, the current heading is returned.

virtual void DtSimpleRotaryWingPilot::computeDesiredTopoAccelToHeading	(	const double	desiredHeading,
		const double	desiredSpeed,
		const double	period,
		DtVector &	desiredTopoAccel
	)

protectedvirtual

Computes the desired topo acceleration and yaw acceleration for movement along a heading. Ordered speed and altitude are followed.

virtual void DtSimpleRotaryWingPilot::checkLandNoFuel ( )

protectedvirtual

.................

Lands the entity if the fuel is used up.

virtual void DtSimpleRotaryWingPilot::findEarthCurveDeltaPosition	(	DtVector	fromPosition,
		DtVector	toPosition,
		DtVector &	deltaPosition,
		const Coordinate_System *	coordinateSystem
	)

protectedvirtual

Given from and to positions in local coordinates, and a coordinate system, compute a delta position whose vertical component is the difference in altitudes of the from and to positions. This will be a vector to follow around the curve of the earth, vs. a straight line in space between the positions. The length of the vector will not be accurate (neither straight line distance or around-the-earth distance, exactly) but it is assumed that the length is long enough to max out the control system anyway.

virtual void DtSimpleRotaryWingPilot::limitAccelFromMaxAcceleration ( DtVector & horizBodyAccel )

protectedvirtual

Limit acceleration based on maxAcceleration and maxStoppingDeceleration parameter limits. Argument horizBodyAccel is a vector containing the input (desired) acceleration with X aligned with the entity's heading and Y to the right. This vector is modified if limiting is required. (Z is not changed.)

virtual void DtSimpleRotaryWingPilot::computeTopoDeltaPosition ( DtVector & topoDeltaPosition )

protectedvirtual

Computes the position error to the goal point in topo coordinates. If the horizontal distance is > 5km, then the difference in altitudes is used for dz, rather than the difference in topo z coordinates of the current and goal points (to accommodate earth curvature).

virtual void DtSimpleRotaryWingPilot::computeTopoDesiredEndVelocity	(	const DtVector &	topoXyDeltaPos,
		DtVector &	topoXyEndDirection,
		double &	topoXyEndSpeed
	)

protectedvirtual

Determines the direction and magnitude of the velocity at the goal point. If the velocity selector input is 0, then 0 speed is output, with a direction corresponding to the delta position.

virtual double DtSimpleRotaryWingPilot::limitedVerticalControlAcceleration	(	const double	verticalControlAccel,
		const double	verticalError,
		const double	currentVerticalVelocity,
		const double	period
	)

protectedvirtual

Takes the desired Vertical Control Acceleration (topographic, i.e. +down) and the other data (also in topo), and computes a limited acceleration that accounts for entity parameters such as maximum climb rate, max lift with collective at 0 and 1, and required terrain avoidance climb rate. Period is dt.

virtual bool DtSimpleRotaryWingPilot::isCloseToGoalPosition ( const DtVector & topoDeltaPos )

protectedvirtual

True if the horizontal distance to the goal position is less than a body length. Within this distance, the pilot does not try to orient towards the goal point, but just translates the entity without changing the heading to get exactly to the goal.

virtual void DtSimpleRotaryWingPilot::setCollectiveAndCyclicFromAccel ( const DtVector & desiredAcceleration )

protectedvirtual

Sets the collective and collective from a desired acceleration input. The acceleration is a topographic acceleration oriented to the entity heading, i.e. X is the horizontal acceleration in the heading of the entity, Y is the horizontal acceleration to the right of the heading of the entity, and Z is the down acceleration. Note that Z must include acceleration for counteracting gravity; i.e. if Z = -G, the entity will not accelerate up or down.

These values will be converted to values between -1 and 1 (each axis of cyclic) or 0 and 1 (collective) based on the entity max-acceleration and max-climb rates. Side effect is the setting of the cyclic and collective ports.

virtual void DtSimpleRotaryWingPilot::setPedalFromDesiredYawAcceleration ( const double yawAccel )

protectedvirtual

virtual void DtSimpleRotaryWingPilot::setThrottle ( )

protectedvirtual

Sets the throttle control output value.

void DtSimpleRotaryWingPilot::limitAccelForFixedFlightSlope	(	DtVector &	topoEntToGoal,
		DtVector &	topoCurrentVel,
		double	period,
		DtVector &	desiredTopoAccel
	)

protected

Limit the acceleration in the Z direction so that the Z speed is a proportion of the horizontal speed, in such a way as to maintain a fixed flight slope toward the goal. Assumes the horizontal speed is toward the goal.

virtual DtReal DtSimpleRotaryWingPilot::terrainAvoidanceVelocity ( ) const

protectedvirtual

Calculate an upward desired velocity to maintain a safe distance from the terrain.

virtual void DtSimpleRotaryWingPilot::calculateTargetAlignmentAngle ( DtReal & headingToTarget ) const

protectedvirtual

Calculate the angle to the target position input (port), or if none any target in a weapon PSR. This function is used when the entity is stationary and has 0 desired velocity.

Parameters

headingToTarget Output parameter. The heading (radians) to the target, if any. If there is no target, this parameter is unchanged.

virtual void DtSimpleRotaryWingPilot::computeYawAccelerationToHeading	(	const double	headingToPoint,
		const double	period,
		double &	yawAccel
	)

protectedvirtual

Computes a desired yaw acceleration to point the entity toward the given heading.

virtual void DtSimpleRotaryWingPilot::getTransformationMatrices ( )

protectedvirtual

Sets the myBodyToRef, myLocalToTopoDcm, and myTopoToLocalDcm.

virtual void DtSimpleRotaryWingPilot::clearControlState ( )

protectedvirtual

Zeros out the past error (derivative control) and accumulated error (integral control).

virtual double DtSimpleRotaryWingPilot::stationaryGoalSpeedThreshold ( )

inlineprotectedvirtual

Constants.

When moving toward a goal point, how slow the point (i.e. desired velocity control input) has to be moving before being considered stationary. When the goal point is moving, if the entity is close to it it will orient to the direction of movement; if the point is stationary, the entity will just maintain a constant orientation as it moves toward the goal. In mps.

virtual double DtSimpleRotaryWingPilot::catchUpSpeedFactor ( )

inlineprotectedvirtual

When moving toward a moving goal, how much faster than the goal's speed the entity is allowed to move while it is approaching. (If this is less than the ordered speed, the entity will move at ordered speed.)

virtual void DtSimpleRotaryWingPilot::lookupAndCacheProcessSR ( )

protectedvirtual

virtual bool DtSimpleRotaryWingPilot::postAddComponentsInit ( )

overrideprotectedvirtual

Calls enableTaskTypes()

Reimplemented from DtControllerComponent.

static DtReal DtSimpleRotaryWingPilot::xyDistSquared	(	DtVector	a,
		DtVector	b
	)

static

Calculate the distance squared between the projections of the points onto the x-y plane. Used by some other controllers.

Member Data Documentation

DtVectorInputPort* DtSimpleRotaryWingPilot::myTargetLocationInputPort

protected

Input Port Name: target-location
Input Port Description: Accepts local database location of a target which the pilot should orient the aircraft to face, in the absence of other tasks.
Input Port Range: Local database locations.
.

DtRotaryWingPilotDescriptor* DtSimpleRotaryWingPilot::myPilotDescriptor

protected

A pointer to the descriptor for this controller.

DtDcm DtSimpleRotaryWingPilot::myBodyToRef

protected

The local orientation matrix.

DtDcm DtSimpleRotaryWingPilot::myLocalToTopoDcm

protected

The local to topographic coordinate transformation matrix.

DtDcm DtSimpleRotaryWingPilot::myTopoToLocalDcm

protected

The topographic to local coordinate transformation matrix.

DtDcm DtSimpleRotaryWingPilot::myTopoToBodyHeadingDcm

protected

The 2D rotation about the yaw axis only.

DtRotaryWingFlightPSR* DtSimpleRotaryWingPilot::myProcessState

protected

DtVector DtSimpleRotaryWingPilot::myLastIntegralDistError

protected

PID state variables. In topo coordinates. Note – Integral control not employed currently.

double DtSimpleRotaryWingPilot::myLastYawDerivativeControl

protected

D state variable for yaw control.

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

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