DtSurfaceEntityActuator Class Reference

Provides a simple, kinematics-based model for surface vessels.

End User Description: The DtSurfaceEntityActuator converts throttle and rudder inputs into orientation, acceleration, velocity, and position.
The throttle control values are used to determine acceleration based on linear proportions of the specified maximum acceleration and velocity. The valid range of throttle control values are from 1.0 (maximum forward thrust) to -1.0 (maximum reverse thrust).
The rudder control values are used to determine the rotational acceleration based on linear proportions of the specified maximum rotational rate and acceleration as well asthe acceleration and velocity listed above. The valid range of rudder control values are from 1.0 (full right rudder) to -1.0 (full left rudder).
Resistance accelerations are calculated to insure that a ship will not accelerate beyond it's maximum speed or turning rate.

Uses Descriptor Type: DtSurfaceEntityActuatorDescriptor

Inheritance diagram for DtSurfaceEntityActuator:

Public Member Functions
	DtSurfaceEntityActuator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSurfaceEntityActuator () override
virtual bool	init () override
virtual const char *	type () const override
virtual bool	postAddComponentsInit () override
virtual void	initProcessSR ()
virtual void	tick () override
virtual double	calculateRudderYawAcceleration ()
virtual double	calculateResistanceYawAcceleration ()
virtual const DtVector	calculateThrottleAcceleration ()
virtual const DtVector	calculateDragAcceleration ()
virtual bool	clampSmallVelocityToZero ()
virtual double	stoppingSpeed ()
virtual void	useFuel (double fuelUsed)
virtual double	fuelLeft () const
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 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
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 double	fuelUsed (double speed) const
virtual bool	createPortGroups () override
virtual bool	createPorts () override
virtual void	integratePosition (double dT)
virtual void	integrateOrientation (double dT)
void	constrainYawAcceleration (double &yawAcceleration, double yawRate, double maxYawRate, double dT)
virtual void	updateRepository ()
DtSurfaceEntityStateRepository *	surfaceEntityState (void) const
virtual bool	createPSR ()
	DtSurfaceEntityActuator ()
	DtSurfaceEntityActuator (const DtSurfaceEntityActuator &orig)
const DtSurfaceEntityActuator &	operator= (const DtSurfaceEntityActuator &orig)
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
DtSurfaceEntityStateRepository *	mySurfaceEntityState
DtSurfaceEntityActuatorDescriptor *	mySurfaceEntityActuatorDescriptor
DtDcm	myBodyToLocalMatrix
DtDcm	myLocalToBodyMatrix
DtVector	myLocalPosition
DtVector	myRelativeVelocity
DtVector	myRelativeAcceleration
DtTaitBryan	myOrientation
DtVector	myBodyRotationRates
DtVector	myBodyRotationalAcceleration
DtSurfaceMovementPSR *	myProcessState
bool	myOutOfFuelWarningPrinted
DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
Ports and Port Groups
DtInputPortGroup *	mySurfaceControlPortGroup
DtConstrainedAnalogInputPort *	myThrottlePort
DtConstrainedAnalogInputPort *	myRudderPort
DtBooleanOutputPort *	mySmallVelocityClampedPort
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

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

DtSurfaceEntityActuator::DtSurfaceEntityActuator	(	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). Constructor

virtual DtSurfaceEntityActuator::~DtSurfaceEntityActuator ( )

overridevirtual

Destructor.
Removes myProcessState from the process state repository manager. Deletes all ports and port groups.

DtSurfaceEntityActuator::DtSurfaceEntityActuator ( )

protected

default constructor; not implemented

DtSurfaceEntityActuator::DtSurfaceEntityActuator ( const DtSurfaceEntityActuator &  orig )

protected

copy constructor; not implemented

Member Function Documentation

virtual bool DtSurfaceEntityActuator::init ( )

overridevirtual

Calls down to the base class, null checks entity(), calls createPSR(), and then caches the entity's state repository in mySurfaceEntityState.

Reimplemented from DtActuatorComponent.

virtual const char* DtSurfaceEntityActuator::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

DtSurfaceEntityActuatorType

Implements DtSimComponent.

virtual bool DtSurfaceEntityActuator::postAddComponentsInit ( )

overridevirtual

to initalize the PSR after the components have been created and initialized initP

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityActuator::initProcessSR ( )

virtual

the maxYawRate, maxYawAcceleration, and stoppingSpeed in myProcessState from the DtSurfaceEntityActuatorDescriptor

virtual void DtSurfaceEntityActuator::tick ( )

overridevirtual

Calculates new kinematic state.

The tick method carries out the following steps:

1. The tick() function checks whether dT (the time elapsed since the last tick call) is 0.0. If it is, tick() returns.
   
2. The soil type at the current location is checked. If it is not not a water surface, all movement is zeroed out, updateRepository() is called and the tick returns. If there isn't a terrain intersection at the current location (water or otherwise), the ship is allowed to sail on at altitude 0.
   
3. The yaw acceleration is calculated as the sum of calculateRudderYawAcceleration() and calculateResistanceYawAcceleration() and stored in myBodyRotationalAcceleration[2]. Then a call to integrateOrientation() calculates the new orientation of the ship.
   
4. The acceleration in body coordinates is calculated as the vector sum of calculateThrottleAcceleration() and calculateDragAcceleration(). The vector product of the body acceleration and myRelativeAcceleration is stored in myBodyToLocalMatrix. Finally, the new position is calculated by a call to integratePosition().
   
5. To stop slowly drifting ships, clampSmallVelocityToZero() is called.
   
6. In order to store the values that have been calculated during the tick in the entity's state repository, updateRepository() is called.
   
7. The actuator calls dataReceived(). This is done as a convenience for future subclasses – this actuator does not examine the newData flag.

Reimplemented from DtSimComponent.

virtual double DtSurfaceEntityActuator::calculateRudderYawAcceleration ( )

virtual

Calculates the signed yaw acceleration due to rudder. The rudder yaw acceleration is calculated as a product of the current value on the rudder port, the maximum yaw acceleration specified in the descriptor, and the ratio of the current speed to the maximum speed of the vessel (from the state repository).

virtual double DtSurfaceEntityActuator::calculateResistanceYawAcceleration ( )

virtual

Calculates the signed yaw acceleration due to resistance. The resistance yaw acceleration is calculated as a product of the maximum yaw acceleration (from the descriptor) and the ratio of the current yaw rate to the maximum yaw rate (squared).

virtual const DtVector DtSurfaceEntityActuator::calculateThrottleAcceleration ( )

virtual

Calculates the acceleration due to thrust, expressed in body coordinates. The thrust vector is assumed to always be through the body's x-axis, so the y and z values should always be zero. The acceleration is set to zero under any of the following conditions - the entity's appearance is damaged or immobilized, the throttlePort does not have an active connection, or fuelLeft() is less than or equal to zero.

virtual const DtVector DtSurfaceEntityActuator::calculateDragAcceleration ( )

virtual

Calculates the drag acceleration, expressed in body coordinates. The drag vector is always expressed in the opposite direction of the current heading. It is calculated as the ratio of the current speed to the maximum speed (squared) times the maximum acceleration.

virtual bool DtSurfaceEntityActuator::clampSmallVelocityToZero ( )

virtual

Called by tick() to zero out the velocity and acceleration of ships which are close to stopping due to drag. This cuts off the asymptotic decline in velocity to make sure that the entity will eventually come to a full stop. The cutoff is determined by the value returned from stoppingSpeed.

virtual double DtSurfaceEntityActuator::stoppingSpeed ( )

virtual

Returns the speed used by clampSmallVelocityToZero() to determine when to stop drifting ships. The default value is 1.0.

virtual void DtSurfaceEntityActuator::useFuel ( double  fuelUsed )

virtual

Looks up the value of the resource named 'fuel' in the entity's resource manager and deducts the given amount. If the resource is not found, useFuel() just returns. If the resource is found, the amount of fuel passed as the argument to useFuel() is deducted from the resource. When the resource reaches 0, a warning is printed to the object console.

virtual double DtSurfaceEntityActuator::fuelLeft ( ) const

virtual

Looks up the value of the resource named 'fuel' in the entity's resource manager. If the resource is not found, it returns an appropriately large constant to implement unlimited fuel. Otherwise, the value of the resource is returned.

static DtSimComponent* DtSurfaceEntityActuator::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 double DtSurfaceEntityActuator::fuelUsed ( double  speed ) const

protectedvirtual

Based on the entities speed, from the fuel efficiency value (m/l) calculate the liter amount of fuel used.

virtual bool DtSurfaceEntityActuator::createPortGroups ( )

overrideprotectedvirtual

Creates the mySurfaceControlPortGroup input port group and adds it to the component.

Reimplemented from DtSimComponent.

virtual bool DtSurfaceEntityActuator::createPorts ( )

overrideprotectedvirtual

Creates myThrottlePort and myRudderPort and adds them to mySurfaceControlPortGroup.

Reimplemented from DtSimComponent.

virtual void DtSurfaceEntityActuator::integratePosition ( double  dT )

protectedvirtual

Assumes that myRelativeAcceleration holds the freshly calculated total acceleration for this frame, expressed in local coordinates. This function integrates over dT, and stores a new velocity and position in myRelativeVelocity and myLocalPosition respectively.

virtual void DtSurfaceEntityActuator::integrateOrientation ( double  dT )

protectedvirtual

Assumes that myBodyRotationalAcceleration holds the freshly calculated total rotational acceleration for this frame, expressed in body coordinates. This function integrates over dT, and stores a new body rates, and orientation in myBodyRotationRates, and myOrientation respectively. To insure that the yaw rate does not exceed the maximum rate, constrainYawAcceleration is called.

void DtSurfaceEntityActuator::constrainYawAcceleration ( double &  yawAcceleration, double  yawRate, double  maxYawRate, double  dT  )

protected

Constrain incoming yaw acceleration such that resulting yawRate for the given time interval does not exceed the given maximum yaw rate for the time interval dT.

virtual void DtSurfaceEntityActuator::updateRepository ( )

protectedvirtual

Copy newly calculated state data from myLocalPosition, myRelativeVelocity, myRelativeAcceleration, myOrientation and myBodyRotationRates into the object's state repository.

DtSurfaceEntityStateRepository* DtSurfaceEntityActuator::surfaceEntityState ( void  ) const

protected

virtual bool DtSurfaceEntityActuator::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.

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

protected

assignment operator; not implemented

Member Data Documentation

DtSurfaceEntityStateRepository* DtSurfaceEntityActuator::mySurfaceEntityState

protected

DtSurfaceEntityActuatorDescriptor* DtSurfaceEntityActuator::mySurfaceEntityActuatorDescriptor

protected

DtInputPortGroup* DtSurfaceEntityActuator::mySurfaceControlPortGroup

protected

Input Port Group Name: surface-control
Input Port Group Description:

DtConstrainedAnalogInputPort* DtSurfaceEntityActuator::myThrottlePort

protected

Input Port Name: throttle
Input Port Description:
Input Port Range: 0.0 to 1.0
Input Port Default Value:
Input Group Parent: surface-control.

DtConstrainedAnalogInputPort* DtSurfaceEntityActuator::myRudderPort

protected

Input Port Name: rudder
Input Port Description:
Input Port Range: -1.0 to 1.0
Input Port Default Value:
Input Group Parent: surface-control.

DtBooleanOutputPort* DtSurfaceEntityActuator::mySmallVelocityClampedPort

protected

Output Port Name: clamp-small-vel-zero
Output Port Description:
Output Port Default Value: True
.

DtDcm DtSurfaceEntityActuator::myBodyToLocalMatrix

protected

DtDcm DtSurfaceEntityActuator::myLocalToBodyMatrix

protected

DtVector DtSurfaceEntityActuator::myLocalPosition

protected

DtVector DtSurfaceEntityActuator::myRelativeVelocity

protected

DtVector DtSurfaceEntityActuator::myRelativeAcceleration

protected

DtTaitBryan DtSurfaceEntityActuator::myOrientation

protected

DtVector DtSurfaceEntityActuator::myBodyRotationRates

protected

DtVector DtSurfaceEntityActuator::myBodyRotationalAcceleration

protected

DtSurfaceMovementPSR* DtSurfaceEntityActuator::myProcessState

protected

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

bool DtSurfaceEntityActuator::myOutOfFuelWarningPrinted

protected

DtUpdateRepositoryOutputPortGroup* DtSurfaceEntityActuator::myUpdateRepositoryOutputPortGroup

protected

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

DtPlatformLocalObjectFacade DtSurfaceEntityActuator::myPlatformLocalObjectFacade

protected

Member to allow for access to platform specific data.

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

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