fixedWingFollowEntityController.h

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/*******************************************************************************
** Copyright (c) 2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once


#include "vrfmodel/fixedWingMoveToController.h"

#include <vlutil/vlString.h>
#include <matrix/vlVector.h>

class DtSimulationServices;
class DtSimMessage;
class DtLocalObject;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtFixedWingFollowEntityController : public DtFixedWingMoveToController
{

public:

   DtFixedWingFollowEntityController(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);
   virtual ~DtFixedWingFollowEntityController() override;

   virtual const char* type() const override;

   virtual void tick() override;

   virtual void doMoving() override;
   virtual void doFlying() override;
   virtual void doTaxiing() override;

   static void followEntityCallback(DtSimMessage * msg, void * usrData);
   virtual void processFollowEntityTask(DtSimMessage * msg);

   virtual DtUUID entityToFollow() const;
   virtual void setEntityToFollow(const DtUUID& entity);

   virtual const DtVector& offsetVector() const;
   virtual void setOffsetVector(const DtVector& offsets);

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

protected:
   DtFixedWingFollowEntityController();

   DtFixedWingFollowEntityController(const DtFixedWingFollowEntityController & 
      orig);

   const DtFixedWingFollowEntityController & operator=(const 
      DtFixedWingFollowEntityController & orig);

   virtual void registerTaskMsgCallbacks() override;

   virtual bool setupControlPoint() override;

   virtual bool getCurrentLeaderState(DtVector& localPosition,
      DtVector& localVelocity, DtTaitBryan& topoOrientation,
      DtVector& topoRotationRate);

   virtual double findDesiredFlyingSpeed( 
      const double leaderSpeed,
      const double forwardPositionError);

   virtual double flyingControlSpeed(double targetSpeed,
      double targetDistance);

   virtual double calculateControlClimbRate(double altitudeDiff,
      DtVector& topoEntityCurrentVelocity,
      DtVector& topoNextTickVelocity,
      double dt);

   virtual double turnRateToFollowLine(double estimatedTurnRadius,
      DtVector& topoEntityToGoal, DtVector topoGoalHorizDirection,
      DtVector topoEntityVelocity,
      double dt);

   DtVector predictedMove(const DtVector& vInitial,
      const DtVector& vFinal, double dt);

   virtual double findDesiredSpeed() override;

   virtual double lastHeadingError() const;
   virtual void setLastHeadingError(const double error);

   virtual double integratedHorizontalError() const;
   virtual void setIntegratedHorizontalError(const double error);
   virtual void updateIntegratedHorizontalError(const double currentError,
      const double dt, const double decayRate);

   virtual void updateTaskVisualizations() override;

protected:

   DtSimObjectReference myEntityPointer;
   DtMovementSimObjectFacade myEntityPointerMovementSimObjectFacade;

   DtVector myStationLocalPosition;
   DtVector myStationLocalVelocity;
   double myStationSpeed; 
   DtTaitBryan myStationTopoOrientation;
   DtVector myStationTopoRotationRate;

   double myLastHeadingError;

   double myIntegratedHorizontalError;

   bool myGaveLeaderStateWarning;

   std::vector<DtVector> myVisLine;

   enum approachRegion
   {
      unknownRegion,
      farFromGoalRegion,
      aheadFacingBackRegion,
      behindFacingBackRegion,
      farFromLineRegion,
      nearLineRegion
   };
   enum approachRegion myApproachState;

   double myLastDistanceToLine;
   double myLastAltitudeError;
};