DtSurfaceEntityMoveToController is a controller that models the movement of a surface entity to a specific waypoint.

DtSurfaceEntityMoveToLocationController is derived from DtSurfaceEntityPilotController. It uses the Location parameter or control object in the task as the aiming point for the entity. The PilotController moveToWithFinalSpeed function is used to generate control outputs.

Uses Descriptor Type: DtSurfaceEntityPilotControllerDescriptor

Inheritance diagram for DtSurfaceEntityMoveToController:

[legend]

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

virtual	~DtSurfaceEntityMoveToController () override

virtual const char *	type () const override

virtual void	clearTask () override

virtual void	registerTaskMsgCallbacks () override

virtual void	processMoveToTask (DtSimMessage *msg)

virtual void	tick () override

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

virtual	~DtSurfaceEntityPilotController () override

virtual bool	init () override

virtual bool	createSurfaceControlPortGroup ()

virtual DtVrfMovingObjectStateRepository *	getSR ()

Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=nullptr, DtReaderWriterRegistry parentRegistry=nullptr)

virtual	~DtSingleTaskControllerComponent () override

virtual void	postTick () override

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

virtual void	taskNotify (const DtSimTask &task) override

virtual void	taskComplete (bool success=true)

virtual void	suspendTask ()

virtual int	sendSubtask (DtSimTask &task)

virtual void	clearSubtask (int subtaskId)

virtual void	addPendingSubtaskId (int subtaskId)

virtual bool	findPendingSubtaskId (int subtaskId)

virtual bool	isSubtasked () const

virtual void	removePendingSubtaskId (int subtaskId)

virtual void	removeAllPendingSubtaskIds ()

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

virtual DtSubtaskStatusEntry *	subtaskStatus (int subtaskId)

virtual void	clearCurrentTaskMessage ()

virtual DtTaskMessage *	currentTaskMessage () const

virtual DtSimTaskStatePtr	currentTaskState () const

virtual void	giveUpTask ()

virtual bool	taskActive (int taskId) const override

virtual bool	clearTopLevelTasks () override

virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType) override

virtual void	clearTasksByType (const DtSimTaskMessageType &taskType) override

virtual void	clearTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId) override

virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId) override

virtual std::list < DtTaskMessage * >	currentTaskMessages () const override

virtual DtTaskWithTaskStateListPtr	topLevelTasks () const override

virtual void	disable () override

virtual void	updateImgui () override

virtual void	initializeTaskInformationStateProperty (const DtSimTaskMessageType &taskType)

virtual void	updateCurrentTaskInformationStatusProperty (const DtString &status)

virtual DtString	taskInformationStatusPropertyValue (const DtSimTaskMessageType &taskType) const

virtual DtString	currentTaskInformationStatusPropertyValue () const

virtual DtRwPropertiesStructure *	taskInformationProperty (const DtSimTaskMessageType &taskType)

virtual DtRwPropertiesStructure *	currentTaskInformationProperty ()

Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject owner, DtSimulationServices simServices, DtComponentDescriptor compDesc=nullptr, DtReaderWriterRegistry parentRegistry=nullptr)

virtual	~DtTaskControllerComponent () override

virtual AcceptLevel	acceptTask (const DtTaskMessage &task)

virtual bool	showCurrentTaskInGui () const

virtual void	setRadio (DtSimRadio *radio) override

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)

virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)

virtual void	enable () override

virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)

virtual bool	taskVisualizationsActive () const override

virtual void	setTasked (bool tasked)

virtual bool	tasked () const

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

virtual	~DtControllerComponent () override

virtual DtSimRadio *	radio ()

virtual void	enableTaskTypes ()

virtual void	enableScriptedTask (const DtString &scriptId)

virtual void	disableTaskTypes ()

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

virtual	~DtSimComponent () override

virtual void	setParentSystem (DtComponentSystem *system)

DtComponentSystem *	parentSystem () const

virtual void	registerAttributeFunctions ()

virtual void	preFirstTickInit ()

virtual void	timedTick ()

virtual void	setMinTickPeriod (double minTickPeriod, double minTickPeriodVariance)

virtual void	setupFirstTickTime ()

virtual void	setEntity (DtLocalObject *entity)

virtual DtSimComponent *	nextComponent ()

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)

virtual DtListItem *	listItem ()

virtual void	putData (std::string &fp, int indentLevel=0) override

virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings) override

virtual void	addInputPort (DtInputPort *port)

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)

virtual DtList	inputPortList () const

virtual void	addOutputPort (DtOutputPort *port)

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)

virtual DtList	outputPortList () const

virtual void	addInputPortGroup (DtInputPortGroup *group)

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)

virtual DtList	inputPortGroupList () const

virtual void	addOutputPortGroup (DtOutputPortGroup *group)

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)

virtual DtList	outputPortGroupList () const

virtual int	priority () const

virtual void	setPriority (int priority)

double	dT () const

virtual void	setDT (double deltaT)

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)

virtual const DtComponentDescriptor *	componentDescriptor () const

virtual bool	tickWhileDestroyed () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()

const DtPhysicalWorld *	physicalWorld () const

const DtAttachedTerrain *	terrainAttachedTo () const

DtLocalObject *	entity ()

const DtLocalObject *	entity () const

DtSimulationServices *	simulationServices ()

const DtSimulationServices *	simulationServices () const

const Coordinate_System *	coordinateSystem () const

virtual void	isClutterChanged ()

virtual bool	taskVisualizationsEnabled () const

makVrf::DtTaskVisualizationMap &	taskVisualizations ()

virtual bool	debugActive () const

virtual bool	isEnabled ()

virtual void	setIsEnabled (bool yesNo)

virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const

virtual int	notifyLevel () const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

VRF4API_METHOD const DtSimulationServices *	simManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()

	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)

const DtReaderWriter &	operator= (const DtReaderWriter &orig)

bool	operator== (const DtReaderWriter &) const

bool	operator!= (const DtReaderWriter &rhs) const

virtual	~DtReaderWriter ()

virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual void	postPutSelf ()

virtual void	prePutSelf ()

virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

virtual void	postGetSelf ()

virtual void	preGetSelf ()

virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())

virtual DtSymbolString	name () const

virtual void	addAlias (const DtSymbolString &alias)

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)

bool	isReadonly () const

virtual void	reset ()

virtual int	alignment () const

virtual bool	variableIsBound () const

virtual void	unbindVariable ()

virtual void	setName (const DtString &)

virtual const char *	readerWriterType () const

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)

virtual std::list < DtVariableNameType >	unboundVariables () const

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const

virtual bool	hasVariableReference () const

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)

virtual void	recordUpdateTime () const

virtual bool	changedSinceLastChecked ()

virtual bool	peekChangedSinceLastChecked () const

virtual void	setValueSpecified (bool specified, bool recurse=false)

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()

virtual DtSymbolString	variableName () const

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)

virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())

const DtReaderWriterRegistry &	registry () const

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const

virtual bool	toXml (const DtFilename &) const

virtual bool	fromXml (const DtString &)

virtual bool	fromXmlFile (const DtFilename &)

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const

virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static void	moveToCallback (DtSimMessage msg, void user)

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

Static Public Member Functions inherited from DtSurfaceEntityPilotController
static DtSimComponent *	creator (const DtString &name, DtLocalObject owner, DtSimulationServices simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

static DtReaderWriter *	provideOrderedSpeed (void *controller)

Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage msg, void usr, DtSimTaskStatePtr taskState)

Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()

static void	setFactory (DtSimComponentFactory *factory)

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

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)

static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()

static const DtFilename &	appPath ()

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual void	initializeLocals (const DtVector &globalTarget)

virtual double	getAtDistance () const

virtual bool	setupControlPoint ()

virtual bool	passedGoal ()

virtual bool	atGoal ()

virtual void	controlMovement ()

virtual void	processEstimatedTotCalculation ()

virtual void	updateTaskVisualizations () override

Protected Member Functions inherited from DtSurfaceEntityPilotController
virtual void	moveToWithFinalSpeed (const DtVector &localDestination, const double cruiseSpeed, const double finalSpeed)

virtual void	moveToWithFinalSpeed (const double goalHeading, const double cruiseSpeed, const double finalSpeed)

virtual void	turn (double desiredRate)

virtual void	turn (double desiredRate, double desiredHeading)

virtual void	immediateNormalStop ()

virtual double	calculateControlForTurn (double yawAngle, double desiredRate)

virtual double	calculateNormalAcceleration (double cruiseSpeed, double distance, double turnAngle, double finalSpeed)

virtual double	calculateNormalAcceleration (double desiredSpeed)

virtual double	limitedAcceleration (double desiredAcceleration, double desiredSpeed)

virtual double	followerAcceleration (double dT, double distance, double maxDeceleration, double followerSpeed, double leaderSpeed)

virtual bool	createPortGroups () override

virtual bool	createPorts () override

virtual void	lookupAndCacheProcessSR ()

virtual bool	postAddComponentsInit () override

virtual bool	decideToGiveUpTask () const override

DtPlatformLocalObjectFacade &	platformLocalObjectFacade ()

	DtSurfaceEntityPilotController ()

	DtSurfaceEntityPilotController (const DtSurfaceEntityPilotController &orig)

const DtSurfaceEntityPilotController &	operator= (const DtSurfaceEntityPilotController &orig)

Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()

virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)

virtual void	cleanupInactiveSubtaskStatus ()

Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)

virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)

virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const

Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()

	DtControllerComponent (const DtControllerComponent &orig)

const DtControllerComponent &	operator= (const DtControllerComponent &orig)

virtual void	onRestore () override

virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)

virtual void	sendCapableSetsAndTasks ()

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

virtual double	computeCurrentTime ()

bool	testInvariant () const

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

virtual void	destroyTaskVisualizations ()

virtual void	destroyTaskVisualization (const DtString &name)

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

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

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

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

double	calculateNextTaskVisTickTime () const

DtVrfObjectStateRepository *	localStateRepository ()

const DtVrfObjectStateRepository *	localStateRepository () const

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

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

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

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

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

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

void	invokeSimObjectPredicateCallbacks ()

virtual void	clearPredicateCallbacks ()

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

Protected Attributes
DtVector	myControlPointLastLocation

DtLocation3D	myEntityPoint

DtBoolean	myPassedGoal = false

DtBoolean	myAtGoal = false

DtVector2D	myCurrentGoalToEntity2DVector

DtVector2D	myCurrentEntityToGoal2DVector

DtLocation3D	myAimingPoint

double	myAtDistance = 0.

const double	DtEstimatedTotCalcInterval = 5.0

bool	myEstimatedTotCalcEnabled = true

double	myEstimatedTotValue = 0.0

double	myEstimatedTotLastCalcTime = 0.0

DtVector	myEstimatedTotTextPos

Protected Attributes inherited from DtSurfaceEntityPilotController
DtVrfMovingObjectStateRepository *	myEntityState

DtSurfaceEntityPilotControllerDescriptor *	myDescriptor

const DtSurfaceEntityParameters *	myParameters

DtSurfaceMovementPSR *	myProcessState

double	myDistanceSquared

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

DtAnalogOutputPort *	myAccelerationPort

DtAnalogOutputPort *	myClampSpeedPort

DtAnalogOutputPort *	myTurnRatePort

DtAnalogOutputPort *	myFinalHeadingPort

DtOutputPortGroup *	mySurfaceControlPortGroup

Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap

std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList

bool	myTaskIsRunning

Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio

bool	myTaskTypesEnabled

bool	myInitialized

Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity

DtComponentSystem *	mySystem

DtListItem *	myListItem

DtInputPortMap	myInputPortList

DtOutputPortMap	myOutputPortList

DtInputPortGroupMap	myInputPortGroupList

DtOutputPortGroupMap	myOutputPortGroupList

int	myPriority

double	myLastTickSimTime

std::unique_ptr< DtTimedTickLogic >	myTimedTickLogic

double	myDT

bool	myIsEnabled

bool	myFirstTick

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs

makVrf::DtTaskVisualizationMap	myTaskVisualizations

double	myNextTaskVisTickTime

DtSymbolString	myFullComponentName

DtSimulationServices *	mySimServices

DtPredicateCallbackManager *	myPredicateCallbackManager

boost::signals2::scoped_connection	myIsClutterChangedConnection

bool	myLocalDebug

Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName

DtReaderWriterRegistry	myRegistry

DtReaderWriterRegistry *	myParentRegistry

bool	myValueSpecified

bool	myReadOnlyFlag

bool	myIsVariableReference

DtSymbolString	myVariableName

bool	myVariableIsBound

DtReaderWriter *	myDefaultValue

aliasContainer	myAliases

bool	myInvalid

bool	myChangedFlag

Private Member Functions
	DtSurfaceEntityMoveToController ()

	DtSurfaceEntityMoveToController (const DtSurfaceEntityMoveToController &orig)

const DtSurfaceEntityMoveToController &	operator= (const DtSurfaceEntityMoveToController &orig)

Additional Inherited Members
Public Types inherited from DtTaskControllerComponent
enum	AcceptLevel { AcceptLevel_Accept = 0, AcceptLevel_Partial = 1, AcceptLevel_Error = 2, AcceptLevel_NoAccept = 99 }

Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer

typedef std::vector < DtSymbolString >::iterator	aliasIter

typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter

typedef std::vector< DtFilename >	SearchPaths

typedef std::pair < DtSymbolString, DtString >	DtVariableNameType

typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()

Public Attributes inherited from DtSingleTaskControllerComponent
const DtString	TaskStatusRunning = "TaskRunning"

const DtString	TaskStatusNotActive = "TaskNotActive"

Protected Types inherited from DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair

typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap

Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap

typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap

typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap

typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap

Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Constructor & Destructor Documentation

DtSurfaceEntityMoveToController::DtSurfaceEntityMoveToController	(	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 DtSurfaceEntityMoveToController::~DtSurfaceEntityMoveToController ( )

overridevirtual

destructor

DtSurfaceEntityMoveToController::DtSurfaceEntityMoveToController ( )

private

default constructor - not implemented

DtSurfaceEntityMoveToController::DtSurfaceEntityMoveToController ( const DtSurfaceEntityMoveToController & orig )

private

copy constructor

Member Function Documentation

virtual const char* DtSurfaceEntityMoveToController::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: DtSurfaceEntityMoveToType

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityPatrolRouteController, DtSurfaceEntityPatrolBetweenController, and DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityMoveToController::clearTask ( )

overridevirtual

Calls down to the base class and then calls allowDeactivation() on mySurfaceControlPortGroup.

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityMoveToController::registerTaskMsgCallbacks ( )

overridevirtual

Registers interest in move to tasks by calling addTaskProcessorCallback with moveToCallback as the function pointer, and the 'this' pointer as the user data.

Reimplemented from DtTaskControllerComponent.

Reimplemented in DtSurfaceEntityMoveAlongController, DtSurfaceEntityPatrolBetweenController, and DtSurfaceEntityPatrolRouteController.

static void DtSurfaceEntityMoveToController::moveToCallback	(	DtSimMessage *	msg,
		void *	user
	)

static

Called when a move to message is received.

Instances of this component will register this callback in registerTaskMsgCallbacks (with their own 'this' pointer as user data) by calling addTaskProcessorCallback in order to request for notification of move-to tasks. When this callback is activated, the user data pointer is cast to an instance of this class upon which processMoveToTask is called with the move to task message.

virtual void DtSurfaceEntityMoveToController::processMoveToTask ( DtSimMessage * msg )

virtual

Retrieves the name of the target waypoint from the task message.

Called by moveToCallback to lookup the control point stored in the move to message and store a pointer to it in myControlPoint. If the lookup is successful, setupGoalVector() is called. The name of the waypoint is saved as the control object name in the process state repository.

static DtSimComponent* DtSurfaceEntityMoveToController::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: A new instance of this class.

virtual void DtSurfaceEntityMoveToController::tick ( )

overridevirtual

Overridden to check for valid myProcessState pointer. If it is null a warning is printed to the object console.

Reimplemented from DtSurfaceEntityPilotController.

Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolBetweenController.

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

private

assignment operator

virtual void DtSurfaceEntityMoveToController::initializeLocals ( const DtVector & globalTarget )

protectedvirtual

Initialize local variables and PSR data with the parameters of the task. Takes a target location in geocentric coordinates.

virtual double DtSurfaceEntityMoveToController::getAtDistance ( ) const

protectedvirtual

Determines the at distance. Taken from the task message if present, or else from the descriptor.

Returns: atDistance to use in at-goal calculations.

virtual bool DtSurfaceEntityMoveToController::setupControlPoint ( )

protectedvirtual

Looks up the control point based on the control object name stored in the process state repository. If necessary the myControlPoint pointer is updated. If the control point has changed, setupGoalVector is called to reset myGoalVector.

Reimplemented in DtSurfaceEntityMoveAlongController.

virtual bool DtSurfaceEntityMoveToController::passedGoal ( )

protectedvirtual

Determines if the entity has passed the goal. This is true for move-to-loc if the vector from the goal to the entity, dotted with the goal vector in the PSR, is negative.

Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolBetweenController.

virtual bool DtSurfaceEntityMoveToController::atGoal ( )

protectedvirtual

Determines when the entity is at the goal. Uses the stoppingDistance parameter.

Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolBetweenController.

virtual void DtSurfaceEntityMoveToController::controlMovement ( )

protectedvirtual

Executes the control function for the task, to produce control port outputs.

Executes the control function for the task. May be overridden in derived controllers to do somewhat different functions. For the move-to-location controller, this function calls moveToWithFinalSpeed 0.

Reimplemented in DtSurfaceEntityMoveAlongController, and DtSurfaceEntityPatrolBetweenController.

virtual void DtSurfaceEntityMoveToController::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented in DtSurfaceEntityMoveAlongController.

virtual void DtSurfaceEntityMoveToController::updateTaskVisualizations ( )

overrideprotectedvirtual

update visualizations

Reimplemented from DtSimComponent.

Member Data Documentation

DtVector DtSurfaceEntityMoveToController::myControlPointLastLocation

protected

Stores last known location of the waypoint.

DtLocation3D DtSurfaceEntityMoveToController::myEntityPoint

protected

These data are computed each tick and used later in the same tick.

DtBoolean DtSurfaceEntityMoveToController::myPassedGoal = false

protected

DtBoolean DtSurfaceEntityMoveToController::myAtGoal = false

protected

DtVector2D DtSurfaceEntityMoveToController::myCurrentGoalToEntity2DVector

protected

DtVector2D DtSurfaceEntityMoveToController::myCurrentEntityToGoal2DVector

protected

DtLocation3D DtSurfaceEntityMoveToController::myAimingPoint

protected

                                     Note: in general, this is not

the negation of the goal-to-entity vector, because the vector direction comes from local North, and local North at the entity and the goal point are different.

This location is refreshed from the PSR every tick. The PSR stores the lat-lon-alt in DtRWVector form.

double DtSurfaceEntityMoveToController::myAtDistance = 0.

protected

This is taken from the task message if present, or else from the descriptor.

const double DtSurfaceEntityMoveToController::DtEstimatedTotCalcInterval = 5.0

protected

Interval for estimated tot calculations.

bool DtSurfaceEntityMoveToController::myEstimatedTotCalcEnabled = true

protected

enabled flag for the tot calculations

double DtSurfaceEntityMoveToController::myEstimatedTotValue = 0.0

protected

the tot value

double DtSurfaceEntityMoveToController::myEstimatedTotLastCalcTime = 0.0

protected

used for tot calculation intervals

DtVector DtSurfaceEntityMoveToController::myEstimatedTotTextPos

protected

tot text position

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

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