contactFusionController.h

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/*******************************************************************************
** Copyright (c) 2007 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfobjcore/controllerComponent.h"
#include "vrfmodel/vrfmodelDefines.h"

#include <map>

class DtSensorContactListMultiInputPort;
class DtRwSensorContactInfo;
class DtSensorContactListOutputPort;
class DtSensorContactInfoList;
class DtContactFusionDescriptor;

class DT_DLL_vrfmodel DtContactFusionController : public DtControllerComponent
{
private:
   DtContactFusionController();
   DtContactFusionController(const DtContactFusionController& orig);
   DtContactFusionController& operator=(
      const DtContactFusionController& orig);
public:

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

   virtual ~DtContactFusionController() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void tick() override;

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

protected:

   virtual bool ageRecallContact(const DtTime& simTime,
      DtRwSensorContactInfo& agingInfo);

   virtual bool ageRecallContact(const DtRwSensorContactInfo& newInfo,
      DtRwSensorContactInfo& agingInfo);
 
   virtual bool createPorts() override;
   
   virtual void fuseSensorContacts();

   virtual void checkAndUpdateForceHostility(DtRwSensorContactInfo*) const;

   virtual bool hasLostContacts() const;

protected:

   DtContactFusionDescriptor *myContactFusionDescriptor;



   DtSensorContactListMultiInputPort* myDetectedObjectsInputPort;

   DtSensorContactInfoList * myFusedContactsList;
};