DtSurfaceMovementPSR Class Reference

Inheritance diagram for DtSurfaceMovementPSR:

Public Member Functions
	DtSurfaceMovementPSR (DtLocalObject *vrfObject, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	DtSurfaceMovementPSR (const DtSurfaceMovementPSR &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSurfaceMovementPSR () override
DtSurfaceMovementPSR &	operator= (const DtSurfaceMovementPSR &orig)
virtual DtVrfProcessStateRepository *	clone (const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0) const override
virtual DtString	type () const override
virtual void	setRouteVertices (const DtLocalVectorIterator &routeIterator)
virtual const DtLocalVertexList &	routeVertices () const
virtual void	emptyRouteVertices ()
virtual void	setReverseFlag (bool flag)
virtual bool	reverseFlag () const
virtual void	setFirstWaypoint (const DtUUID &)
virtual DtSimObjectReference	firstWaypoint () const
virtual void	setSecondWaypoint (const DtUUID &)
virtual DtSimObjectReference	secondWaypoint () const
virtual void	setEntityToFollow (const DtUUID &)
virtual DtSimObjectReference	entityToFollow () const
virtual void	setFollowOffsetVector (const DtVector &offset)
virtual const DtVector &	followOffsetVector () const
virtual void	setKeepStationOffsetDistance (DtReal keepStationOffsetDistance)
virtual DtReal	keepStationOffsetDistance () const
virtual void	setKeepStationHeading (DtReal keepStationHeading)
virtual DtReal	keepStationHeading () const
virtual void	setWaitUntilOrderedSpeedMetToStopTask (bool)
virtual bool	waitUntilOrderedSpeedMetToStopTask ()
virtual void	setGeodeticAimingPoint (const DtVector &pnt)
virtual const DtVector	geodeticAimingPoint () const
virtual void	setGoalVector (const DtVector &goalVector)
virtual const DtVector &	goalVector () const
virtual void	setContinueAtGoal (const bool cont)
virtual bool	continueAtGoal (void) const
virtual void	setIsEmergencyStop (const bool isEmergency)
virtual bool	isEmergencyStop (void) const
virtual void	setIsDriftStop (const bool isDriftStop)
virtual bool	isDriftStop (void) const
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtReaderWriter::appPath()) override
virtual double	forwardSpeed ()
virtual void	setForwardSpeed (const double speed)
virtual double	forwardAcceleration ()
virtual void	setForwardAcceleration (const double acceleration)
virtual double	clampSpeed ()
virtual void	setClampSpeed (const double speed)
virtual double	clampHeading ()
virtual void	setClampHeading (const double clampHeading)
virtual double	altitudeChangeRate ()
virtual void	setAltitudeChangeRate (const double altitudeRate)
virtual double	clampAltitude ()
virtual void	setClampAltitude (const double altitude)
virtual bool	hasFuel () const
virtual void	setHasFuel (const bool hasFuel)
virtual bool	isAground () const
virtual void	setIsAground (bool isAground)
virtual double	goalDepth ()
virtual void	setGoalDepth (const double depth)
virtual double	desiredDepthRate ()
virtual void	setDesiredDepthRate (const double rate)
virtual bool	isTurnContinuous ()
virtual void	setIsTurnContinuous (const bool isContinous)
virtual double	goalHeading ()
virtual void	setGoalHeading (const double goalHeading)
virtual bool	isUsingConstantDiameter ()
virtual void	setIsUsingConstantDiameter (const bool usingDiameter)
virtual bool	isTurningRight ()
virtual void	setIsTurningRight (const bool isContinous)
virtual double	desiredTurnDiameter ()
virtual void	setDesiredTurnDiameter (const double desiredTurnDiameter)
virtual double	desiredTurnRate ()
virtual void	setDesiredTurnRate (const double desiredTurnRate)
virtual bool	turnTaskIsControllingSpeed () const
virtual void	setTurnTaskIsControllingSpeed (const bool isControlling)
virtual void	setControlObject (const DtUUID &)
virtual DtSimObjectReference	controlObject () const
virtual void	setRoute (const DtUUID &)
virtual DtSimObjectReference	route () const
virtual DtLocalVectorIterator *	routeState () const
virtual DtReal	startTurnDistance2 ()
virtual void	setStartTurnDistance2 (const DtReal distance)
virtual int	prevRoutePointIndex ()
virtual void	setPrevRoutPointIndex (const int index)
virtual int	nextRoutePointIndex ()
virtual void	setNextRoutePointIndex (const int index)
virtual void	setCurrentRoutePointIndex (const int index)
virtual DtRwInt &	currentVertex ()
virtual const DtRwInt &	currentVertex () const
virtual DtRwInt &	nextVertex ()
virtual const DtRwInt &	nextVertex () const
virtual DtRwInt &	previousVertex ()
virtual const DtRwInt &	previousVertex () const
virtual DtReal	maxYawRate () const
virtual void	setMaxYawRate (DtReal maxYawRate)
virtual DtReal	maxYawAcceleration () const
virtual void	setMaxYawAcceleration (DtReal maxYawAcceleration)
virtual double	stoppingSpeed () const
virtual void	setStoppingSpeed (DtReal stoppingSpeed)
Public Member Functions inherited from DtVrfProcessStateRepository
	DtVrfProcessStateRepository (DtLocalObject *vrfObject, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
	DtVrfProcessStateRepository (const DtVrfProcessStateRepository &orig, const DtString &rwName=DtString::nullString(), DtReaderWriterRegistry *parentRegistry=0)
const DtVrfProcessStateRepository &	operator= (const DtVrfProcessStateRepository &orig)
virtual	~DtVrfProcessStateRepository () override
virtual bool	init ()
virtual bool	loadedFromMTL () const
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings) override
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	postPutSelf ()
virtual void	prePutSelf ()
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	putData (std::string &fp, int indentLevel=0)
virtual DtlObjPtr	getData (DtlObjPtr args, const SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
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 DtVrfProcessStateRepository *	creator (const DtString &rwName, DtLocalObject *vrfObject, DtReaderWriterRegistry *parentRegistry)
Static Public Member Functions inherited from DtVrfProcessStateRepository
static DtVrfProcessStateRepositoryFactory *	factory ()
static void	setFactory (DtVrfProcessStateRepositoryFactory *factory)
static void	addVrfProcessStateRepositoryCreatorFcn (const DtString &type, DtVrfProcessStateRepositoryCreatorFcn fcn)
static DtVrfProcessStateRepository *	createRepository (const DtString &name, const DtString &type, DtLocalObject *vrfObject, DtReaderWriterRegistry *parentRegistry=0)
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 Attributes
DtRwReal	myStartTurnDistance2
DtRwBoolean	myReverseFlag
DtRwReal	myForwardSpeed
DtRwReal	myForwardAcceleration
DtRwReal	myClampSpeed
DtRwReal	myClampHeading
DtRwReal	myAltitudeChangeRate
DtRwReal	myClampAltitude
DtRwBoolean	myHasFuel
DtRwBoolean	myIsAground
DtRwReal	myGoalDepth
DtRwReal	myDesiredDepthRate
DtRwBoolean	myIsTurnContinuous
DtRwReal	myGoalHeading
DtRwBoolean	myIsUsingConstantDiameter
DtRwBoolean	myIsTurningRight
DtRwReal	myDesiredTurnDiameter
DtRwReal	myDesiredTurnRate
DtRwBoolean	myTurnTaskControllingSpeed
DtRwBoolean	myWaitUntilOrderedSpeedMetToStopTask
DtRwVector	myGeodeticAimingPoint
DtRwVector	myGoalVector
DtRwBoolean	myContinueAtGoal
DtRwSimObjectReference	myControlObject
DtRwSimObjectReference	myRoute
DtLocalVectorIterator *	myRouteState
DtLocalVertexList	myVertices
DtRwInt	myCurrentVertex
DtRwInt	myNextVertex
DtRwInt	myPrevVertex
DtRwSimObjectReference	myFirstWaypoint
DtRwSimObjectReference	mySecondWaypoint
DtRwSimObjectReference	myEntityToFollow
DtRwVector	myFollowOffsetVector
DtRwReal	myKeepStationOffsetDistance
DtRwReal	myKeepStationHeading
DtRwBoolean	myIsEmergencyStop
DtRwBoolean	myIsDriftStop
DtRwReal	myStoppingSpeed
DtRwReal	myMaxYawRate
DtRwReal	myMaxYawAcceleration
Protected Attributes inherited from DtVrfProcessStateRepository
DtLocalObject *	myVrfObject
bool	myLoadedFromMTL
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 Member Functions inherited from DtVrfProcessStateRepository
	DtVrfProcessStateRepository ()
const DtSimObject *	vrfObject () const
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
Static Protected Attributes inherited from DtVrfProcessStateRepository
static DtVrfProcessStateRepositoryFactory *	theFactory
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

DtSurfaceMovementPSR::DtSurfaceMovementPSR	(	DtLocalObject *	vrfObject,
		const DtString &	rwName = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = 0
	)

constructor

DtSurfaceMovementPSR::DtSurfaceMovementPSR	(	const DtSurfaceMovementPSR &	orig,
		const DtString &	rwName = DtString::nullString(),
		DtReaderWriterRegistry *	parentRegistry = 0
	)

copy constructor

virtual DtSurfaceMovementPSR::~DtSurfaceMovementPSR ( )

overridevirtual

destructor

Member Function Documentation

DtSurfaceMovementPSR& DtSurfaceMovementPSR::operator=

(

const DtSurfaceMovementPSR &

orig

)

assignment operator

virtual DtVrfProcessStateRepository* DtSurfaceMovementPSR::clone ( const DtString &  rwName = DtString::nullString(), DtReaderWriterRegistry *  parentRegistry = 0  ) const

overridevirtual

returns a newly created copy of this object

Implements DtVrfProcessStateRepository.

virtual DtString DtSurfaceMovementPSR::type ( ) const

overridevirtual

Returns the string type of the repository, as defined in psrTypes.h. (DtVrfSurfaceMovementProcessStateRepositoryType).

Implements DtVrfProcessStateRepository.

virtual double DtSurfaceMovementPSR::forwardSpeed ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setForwardSpeed ( const double  speed )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::forwardAcceleration ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setForwardAcceleration ( const double  acceleration )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::clampSpeed ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setClampSpeed ( const double  speed )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::clampHeading ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setClampHeading ( const double  clampHeading )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::altitudeChangeRate ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setAltitudeChangeRate ( const double  altitudeRate )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual double DtSurfaceMovementPSR::clampAltitude ( )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual void DtSurfaceMovementPSR::setClampAltitude ( const double  altitude )

inlinevirtual

These accessors return the values that the actuator caches between ticks for kinematic values.

virtual bool DtSurfaceMovementPSR::hasFuel ( ) const

inlinevirtual

Accessors for actuator status info.The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual void DtSurfaceMovementPSR::setHasFuel ( const bool  hasFuel )

inlinevirtual

Accessors for actuator status info.The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual bool DtSurfaceMovementPSR::isAground ( ) const

inlinevirtual

Accessors for actuator status info.The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual void DtSurfaceMovementPSR::setIsAground ( bool  isAground )

inlinevirtual

Accessors for actuator status info.The accessor is a shortcut for looking up the fuel resource. This flag is set by the actuator when it checks fuel usage.

virtual double DtSurfaceMovementPSR::goalDepth ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setGoalDepth ( const double  depth )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::desiredDepthRate ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setDesiredDepthRate ( const double  rate )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::isTurnContinuous ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setIsTurnContinuous ( const bool  isContinous )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::goalHeading ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setGoalHeading ( const double  goalHeading )

virtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::isUsingConstantDiameter ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setIsUsingConstantDiameter ( const bool  usingDiameter )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::isTurningRight ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setIsTurningRight ( const bool  isContinous )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::desiredTurnDiameter ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setDesiredTurnDiameter ( const double  desiredTurnDiameter )

virtual

Access functions for state variables describing the various movement tasks.

virtual double DtSurfaceMovementPSR::desiredTurnRate ( )

inlinevirtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setDesiredTurnRate ( const double  desiredTurnRate )

virtual

Access functions for state variables describing the various movement tasks.

virtual bool DtSurfaceMovementPSR::turnTaskIsControllingSpeed ( ) const

virtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setTurnTaskIsControllingSpeed ( const bool  isControlling )

virtual

Access functions for state variables describing the various movement tasks.

virtual void DtSurfaceMovementPSR::setControlObject ( const DtUUID &  )

virtual

Set/get control object to head towards.Was: setControlObjectName.

virtual DtSimObjectReference DtSurfaceMovementPSR::controlObject ( ) const

virtual

Was: controlObjectName.

virtual void DtSurfaceMovementPSR::setRoute ( const DtUUID &  )

virtual

Set/get route to follow.Was: setRouteName.

virtual DtSimObjectReference DtSurfaceMovementPSR::route ( ) const

virtual

Was: routeName.

virtual void DtSurfaceMovementPSR::setRouteVertices ( const DtLocalVectorIterator &  routeIterator )

virtual

Set/get route vertices (local coordinates).  Once route is set, can 

access routeState() to query and set current position along route. The minSpacing parameter allows this function to prune route points that are closer together than this.

virtual const DtLocalVertexList& DtSurfaceMovementPSR::routeVertices ( ) const

virtual

virtual void DtSurfaceMovementPSR::emptyRouteVertices ( )

virtual

Empty route vertices.

virtual DtLocalVectorIterator* DtSurfaceMovementPSR::routeState ( ) const

virtual

Get route state (an iterator over the route used to keep track of which point along the route we're heading toward).

virtual DtReal DtSurfaceMovementPSR::startTurnDistance2 ( )

inlinevirtual

Accessors for start-turn-distance squared (see description below).

virtual void DtSurfaceMovementPSR::setStartTurnDistance2 ( const DtReal  distance )

inlinevirtual

Accessors for start-turn-distance squared (see description below).

References makVrv::vrvTacticalGraphicUtilities::distance().

virtual int DtSurfaceMovementPSR::prevRoutePointIndex ( )

inlinevirtual

Accessors for next- and prev-route-point index.

virtual void DtSurfaceMovementPSR::setPrevRoutPointIndex ( const int  index )

virtual

Accessors for next- and prev-route-point index.

virtual int DtSurfaceMovementPSR::nextRoutePointIndex ( )

inlinevirtual

Accessors for next- and prev-route-point index.

virtual void DtSurfaceMovementPSR::setNextRoutePointIndex ( const int  index )

virtual

Accessors for next- and prev-route-point index.

virtual void DtSurfaceMovementPSR::setCurrentRoutePointIndex ( const int  index )

virtual

Accessors for next- and prev-route-point index.

virtual DtRwInt& DtSurfaceMovementPSR::currentVertex ( )

virtual

Accessors for the current vertex indices (RW) into the route.

virtual const DtRwInt& DtSurfaceMovementPSR::currentVertex ( ) const

virtual

Accessors for the current vertex indices (RW) into the route.

virtual DtRwInt& DtSurfaceMovementPSR::nextVertex ( )

virtual

Accessors for the current vertex indices (RW) into the route.

virtual const DtRwInt& DtSurfaceMovementPSR::nextVertex ( ) const

virtual

Accessors for the current vertex indices (RW) into the route.

virtual DtRwInt& DtSurfaceMovementPSR::previousVertex ( )

virtual

Accessors for the current vertex indices (RW) into the route.

virtual const DtRwInt& DtSurfaceMovementPSR::previousVertex ( ) const

virtual

Accessors for the current vertex indices (RW) into the route.

virtual void DtSurfaceMovementPSR::setReverseFlag ( bool  flag )

virtual

Set/get the reverse flag (reverse the direction of travel while patrolling - either between points or along a route).

virtual bool DtSurfaceMovementPSR::reverseFlag ( ) const

virtual

virtual void DtSurfaceMovementPSR::setFirstWaypoint ( const DtUUID &  )

virtual

Set/get the first waypoint object.

virtual DtSimObjectReference DtSurfaceMovementPSR::firstWaypoint ( ) const

virtual

virtual void DtSurfaceMovementPSR::setSecondWaypoint ( const DtUUID &  )

virtual

Set/get the second waypoint object.

virtual DtSimObjectReference DtSurfaceMovementPSR::secondWaypoint ( ) const

virtual

virtual void DtSurfaceMovementPSR::setEntityToFollow ( const DtUUID &  )

virtual

Set/get the entity to follow.

virtual DtSimObjectReference DtSurfaceMovementPSR::entityToFollow ( ) const

virtual

virtual void DtSurfaceMovementPSR::setFollowOffsetVector ( const DtVector &  offset )

virtual

Set/get the entity follow offset (offset vector in body coordinates of the entity to follow, in meters).

virtual const DtVector& DtSurfaceMovementPSR::followOffsetVector ( ) const

virtual

virtual void DtSurfaceMovementPSR::setKeepStationOffsetDistance ( DtReal  keepStationOffsetDistance )

virtual

Set/get the entity keep station distance (distance of the station keeping entity, relative to the entity to follow in meters).

virtual DtReal DtSurfaceMovementPSR::keepStationOffsetDistance ( ) const

virtual

virtual void DtSurfaceMovementPSR::setKeepStationHeading ( DtReal  keepStationHeading )

virtual

Set/get the entity keep station heading (heading of the station keeping entity, relative to the entity to follow in radians).

virtual DtReal DtSurfaceMovementPSR::keepStationHeading ( ) const

virtual

virtual void DtSurfaceMovementPSR::setWaitUntilOrderedSpeedMetToStopTask ( bool  )

virtual

Accessor for myWaitUntilOrderedSpeedMetToStopTask.

virtual bool DtSurfaceMovementPSR::waitUntilOrderedSpeedMetToStopTask ( )

virtual

virtual void DtSurfaceMovementPSR::setGeodeticAimingPoint ( const DtVector &  pnt )

virtual

Get/set the point to which this entity is moving towards for a move to location task. In a triple (DtVector) containing lat-lon-alt.

virtual const DtVector DtSurfaceMovementPSR::geodeticAimingPoint ( ) const

virtual

virtual void DtSurfaceMovementPSR::setGoalVector ( const DtVector &  goalVector )

virtual

The vector from the goal position (destination) to the entity's position at the start of the move task. This vector is used to determine when the entity has passed by the goal location. North-east-down (i.e., like topocentric) data from a DtVector3D.

virtual const DtVector& DtSurfaceMovementPSR::goalVector ( ) const

virtual

virtual void DtSurfaceMovementPSR::setContinueAtGoal ( const bool  cont )

virtual

Get/set the flag to determine if entity should continue at speed after reaching the destination.

virtual bool DtSurfaceMovementPSR::continueAtGoal ( void  ) const

virtual

virtual void DtSurfaceMovementPSR::setIsEmergencyStop ( const bool  isEmergency )

virtual

virtual bool DtSurfaceMovementPSR::isEmergencyStop ( void  ) const

virtual

virtual void DtSurfaceMovementPSR::setIsDriftStop ( const bool  isDriftStop )

virtual

virtual bool DtSurfaceMovementPSR::isDriftStop ( void  ) const

virtual

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

overridevirtual

Override to set myCurrentVertex from route state before writing.

Reimplemented from DtReaderWriter.

virtual DtReal DtSurfaceMovementPSR::maxYawRate ( ) const

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.Accessor/mutator for myMaxYawRate.

virtual void DtSurfaceMovementPSR::setMaxYawRate ( DtReal  maxYawRate )

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.Accessor/mutator for myMaxYawRate.

virtual DtReal DtSurfaceMovementPSR::maxYawAcceleration ( ) const

virtual

Accessor/mutator for myMaxYawAcceleration.

virtual void DtSurfaceMovementPSR::setMaxYawAcceleration ( DtReal  maxYawAcceleration )

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.Accessor/mutator for myMaxYawRate.

virtual double DtSurfaceMovementPSR::stoppingSpeed ( ) const

virtual

Accessor/mutator for myStoppingSpeed.

virtual void DtSurfaceMovementPSR::setStoppingSpeed ( DtReal  stoppingSpeed )

virtual

These accessors are for copies of parameters from the actuator descriptor that are saved in the PSR.Accessor/mutator for myMaxYawRate.

static DtVrfProcessStateRepository* DtSurfaceMovementPSR::creator ( const DtString &  rwName, DtLocalObject *  vrfObject, DtReaderWriterRegistry *  parentRegistry  )

static

Returns a newly created instance of this class.

Member Data Documentation

DtRwReal DtSurfaceMovementPSR::myForwardSpeed

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myForwardAcceleration

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myClampSpeed

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myClampHeading

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwReal DtSurfaceMovementPSR::myAltitudeChangeRate

protected

For the subsurface depth actuator:

DtRwReal DtSurfaceMovementPSR::myClampAltitude

protected

Used in the actuator DtSufaceEntitySimpleActuator.

These are kinematic values for the previous tick. The first two are caches of values that can be computed from kinematic state; using these values saves computation of transformations. Speed and acceleration are signed values; they are negative if they are in the rearward direction. Clamp speed from the previous tick must be saved in state (the alternative is to use the clamp speed for the next tick, which is available to the actuator on its input port.) Rotation rate is easier to get from kinematic state, so is not saved here. Clamp heading is for the previous tick. If the entity is performing a turn task, this will be the same as myGoalHeading, but myGoalHeading may not be valid for other tasks.

DtRwBoolean DtSurfaceMovementPSR::myHasFuel

protected

Actuator status information.Set by the actuator when it checks fuel.
When the actuator determines that the entity is out of fuel, it will set the power plant appearance to "off." The (pilot) controller can also turn off the power plant to drift. The controller should check fuel before trying to turn the power plant on.

DtRwBoolean DtSurfaceMovementPSR::myIsAground

protected

Set by the actuator when it detects that the entity is aground.

DtRwReal DtSurfaceMovementPSR::myGoalDepth

protected

This is used by subsurface depth controller.

The desired depth. Note this is 0 at sea level and increases with decreasing altitude.

DtRwReal DtSurfaceMovementPSR::myDesiredDepthRate

protected

The desired depth change rate. This is always positive.

DtRwBoolean DtSurfaceMovementPSR::myIsTurnContinuous

protected

For turn-move:

If true, goalHeading is not used:

DtRwReal DtSurfaceMovementPSR::myGoalHeading

protected

For turn-move:

If true, goalHeading is not used:

DtRwBoolean DtSurfaceMovementPSR::myIsUsingConstantDiameter

protected

If turn rate is set with diameter, then each tick the radians/secc turn rate for the output port has to be computed from the speed.

DtRwBoolean DtSurfaceMovementPSR::myIsTurningRight

protected

If turning on a diameter, this flag indicates which way:

DtRwReal DtSurfaceMovementPSR::myDesiredTurnDiameter

protected

For turn-move:

If true, goalHeading is not used:

DtRwReal DtSurfaceMovementPSR::myDesiredTurnRate

protected

Positive if turning right, negative if left. Rad/sec.

DtRwBoolean DtSurfaceMovementPSR::myTurnTaskControllingSpeed

protected

True when the task is run; stays true until another movement task runs. While true, the task keeps controlling speed to match ordered speed, even if the task is complete.

DtRwBoolean DtSurfaceMovementPSR::myWaitUntilOrderedSpeedMetToStopTask

protected

Whether or not to wait until the ordered speed has been met to stop the task. Default is true to allow for previous tasks that did not use this value to perform the way it does now. This is not set by the task, but rather is set as a function of the DtTurnMoveTaskType. The DtSailHeadingTaskType will set this value to false to stop when it reaches the heading. The entity will still continue to increase it's speed until it matches it's ordered speed.

DtRwVector DtSurfaceMovementPSR::myGeodeticAimingPoint

protected

For Surface Entity Move To Location controller.

The current destination location, in a triple that represents lat-lon-alt. Copied to a DtLocation3D each tick.

DtRwVector DtSurfaceMovementPSR::myGoalVector

protected

The vector from the aiming point (goal) to the start point of the move. Used to determine when the entity has passed the goal (when it's vector to the goal is 90 degrees to this). North-east-down (i.e., like topocentric) data from a DtVector3D.

DtRwBoolean DtSurfaceMovementPSR::myContinueAtGoal

protected

Indicates that the entity should continue at speed after hitting the destination location. Used in move-to as well.

DtRwSimObjectReference DtSurfaceMovementPSR::myControlObject

protected

For move-to [waypoint] control.

Object name of a waypoint we're moving toward.

DtRwSimObjectReference DtSurfaceMovementPSR::myRoute

protected

For move-along [route] control.

Route object we're following.

DtLocalVectorIterator* DtSurfaceMovementPSR::myRouteState

protected

Route state used to get info about the current route we're trying to follow (e.g. which vertex to move toward).

DtLocalVertexList DtSurfaceMovementPSR::myVertices

protected

my copy of the current route

DtRwInt DtSurfaceMovementPSR::myCurrentVertex

protected

Read/write variables to capture route state. The route following controller may skip closely-spaced route points, so cannot just use the iterator's prev() and next() functions to get at the points it is actually using.

DtRwInt DtSurfaceMovementPSR::myNextVertex

protected

For move-along [route] control.

Route object we're following.

DtRwInt DtSurfaceMovementPSR::myPrevVertex

protected

For move-along [route] control.

Route object we're following.

DtRwReal DtSurfaceMovementPSR::myStartTurnDistance2

protected

The distance (squared) before the next point that the ship has to start heading for the following point, so that it can make the turn "inside" the route segments (vs. overshooting the next point), and yet stay close to the route segments (vs. turning away early).

DtRwBoolean DtSurfaceMovementPSR::myReverseFlag

protected

For patrol-route control.

Current direction of patrol (along route or between waypoints).

DtRwSimObjectReference DtSurfaceMovementPSR::myFirstWaypoint

protected

For patrol-between control.

Object names of the waypoints to patrol between.

DtRwSimObjectReference DtSurfaceMovementPSR::mySecondWaypoint

protected

For patrol-between control.

Object names of the waypoints to patrol between.

DtRwSimObjectReference DtSurfaceMovementPSR::myEntityToFollow

protected

For follow control tasks.

• DtFollowEntityTask
• DtKeepStationTask

Object name of entity to follow.

DtRwVector DtSurfaceMovementPSR::myFollowOffsetVector

protected

Following offset vector (in body coordinates of entity to follow, in meters).

DtRwReal DtSurfaceMovementPSR::myKeepStationOffsetDistance

protected

The distance of the station keeping entity , relative to the entity to follow (in meters).

DtRwReal DtSurfaceMovementPSR::myKeepStationHeading

protected

The heading of the station keeping entity , relative to the entity to follow (in radians).

DtRwBoolean DtSurfaceMovementPSR::myIsEmergencyStop

protected

For stop task.

DtRwBoolean DtSurfaceMovementPSR::myIsDriftStop

protected

For stop task.

DtRwReal DtSurfaceMovementPSR::myStoppingSpeed

protected

Other variables: not used in the above controllers or actuators. Copies of parameters in the actuator descriptor.Stopping speed. This is the epsilon within which the vessel's speed must be of the desired (clamp) speed before the actuator clamps the speed. (PSR version used only in DtSurfaceEntityActuator)

DtRwReal DtSurfaceMovementPSR::myMaxYawRate

protected

Max yaw rate– used only in DtSurfaceEntityActuator.

DtRwReal DtSurfaceMovementPSR::myMaxYawAcceleration

protected

Max yaw rate acceleration– used only in DtSurfaceEntityActuator.

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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/vrfobjcore/surfaceMovementPSR.h