Eaagles::Simulation::Gimbal Class Reference

Inheritance diagram for Eaagles::Simulation::Gimbal:

[legend]Collaboration diagram for Eaagles::Simulation::Gimbal:


Public Types
enum	Type { INVALID = -1, ANY = 0, NAVAID = 2, WAYPOINT = 3, AIRPORT = 10, RUNWAY = 11, ILS = 12, MECHANICAL, ELECTRONIC }
enum	ServoMode { FREEZE_SERVO, RATE_SERVO, POSITION_SERVO }
enum	{ AZ_IDX, ELEV_IDX, ROLL_IDX }
Public Member Functions
	Gimbal ()
bool	isGimbalType (const Type tt) const
Type	getGimbalType () const
ServoMode	getServoMode () const
const osg::Vec3 &	getPosition () const
LCreal	getAzimuth () const
LCreal	getElevation () const
LCreal	getRoll () const
LCreal	getAzimuthD () const
LCreal	getElevationD () const
LCreal	getRollD () const
virtual bool	isPositioned (const LCreal tol=-1) const
virtual bool	isAtLimits () const
const osg::Vec3 &	getRates () const
LCreal	getAzimuthRate () const
LCreal	getElevationRate () const
LCreal	getRollRate () const
bool	isFastSlewMode () const
bool	isSlowSlewMode () const
const osg::Vec3 &	getCmdPosition () const
LCreal	getCmdAz () const
LCreal	getCmdElev () const
LCreal	getCmdRoll () const
const osg::Vec3 &	getCmdRates () const
LCreal	getCmdAzRate () const
LCreal	getCmdElevRate () const
LCreal	getCmdRollRate () const
const osg::Vec3 &	getLocation () const
const osg::Matrix &	getMatrix () const
void	getAzimuthLimits (LCreal const leftLim, LCreal const rightLim) const
void	getElevationLimits (LCreal const lowerLim, LCreal const upperLim) const
void	getRollLimits (LCreal const lowerLim, LCreal const upperLim) const
void	getMaxRates (LCreal const azMaxRate, LCreal const ezMaxRate, LCreal *const rollMaxRate) const
virtual unsigned int	processPlayersOfInterest (Basic::LcPairStream *const poi)
bool	isTerrainOccultingEnabled () const
virtual bool	setTerrainOccultingEnabled (const bool flg)
virtual bool	setServoMode (const ServoMode m)
virtual bool	setPosition (const LCreal azim, const LCreal elev)
virtual bool	setPosition (const LCreal azim, const LCreal elev, const LCreal roll)
virtual bool	setMaxRates (const LCreal azMaxRate, const LCreal ezMaxRate)
virtual bool	setMaxRates (const LCreal azMaxRate, const LCreal ezMaxRate, const LCreal rollMaxRate)
virtual bool	setCmdPos (const osg::Vec2 &p)
virtual bool	setCmdPos (const osg::Vec3 &p)
virtual bool	setCmdPos (const LCreal az, const LCreal el, const LCreal roll=0)
virtual bool	setCmdRate (const osg::Vec2 &r)
virtual bool	setCmdRate (const osg::Vec3 &r)
virtual bool	setCmdRate (const LCreal azRate, const LCreal elRate)
virtual bool	setCmdRate (const LCreal azRate, const LCreal elRate, const LCreal rollRate)
virtual bool	setAzimuthLimits (const LCreal leftLim, const LCreal rightLim)
virtual bool	setElevationLimits (const LCreal lowerLim, const LCreal upperLim)
virtual bool	setRollLimits (const LCreal lowerLim, const LCreal upperLim)
virtual bool	setLocation (const LCreal x, const LCreal y, const LCreal z)
virtual bool	setFastSlewMode (const bool flg)
virtual bool	onRfEmissionEvent (Emission *const)
virtual bool	setSlotType (const Basic::LcString *const msg)
virtual bool	setSlotLocation (const Basic::LcList *const msg)
virtual bool	setSlotPosition (const Basic::LcList *const msg)
virtual bool	setSlotPosAzimuth (const Basic::LcAngle *const msg)
virtual bool	setSlotPosElevation (const Basic::LcAngle *const msg)
virtual bool	setSlotPosRoll (const Basic::LcAngle *const msg)
virtual bool	setSlotAzimuthLimits (const Basic::LcList *const msg)
virtual bool	setSlotAzimuthLimitLeft (const Basic::LcAngle *const msg)
virtual bool	setSlotAzimuthLimitRight (const Basic::LcAngle *const msg)
virtual bool	setSlotElevationLimits (const Basic::LcList *const msg)
virtual bool	setSlotElevationLower (const Basic::LcAngle *const msg)
virtual bool	setSlotElevationUpper (const Basic::LcAngle *const msg)
virtual bool	setSlotRollLimits (const Basic::LcList *const msg)
virtual bool	setSlotRollLimitLower (const Basic::LcAngle *const msg)
virtual bool	setSlotRollLimitUpper (const Basic::LcAngle *const msg)
virtual bool	setSlotMaxRates (const Basic::LcList *const msg)
virtual bool	setSlotMaxRateAzimuth (const Basic::LcAngle *const msg)
virtual bool	setSlotMaxRateElevation (const Basic::LcAngle *const msg)
virtual bool	setSlotMaxRateRoll (const Basic::LcAngle *const msg)
virtual bool	setSlotCmdPos (const Basic::LcList *const msg)
virtual bool	setSlotCmdPosAzimuth (const Basic::LcAngle *const msg)
virtual bool	setSlotCmdPosElevation (const Basic::LcAngle *const msg)
virtual bool	setSlotCmdPosRoll (const Basic::LcAngle *const msg)
virtual bool	setSlotCmdRate (const Basic::LcList *const msg)
virtual bool	setSlotCmdRateAzimuth (const Basic::LcAngle *const msg)
virtual bool	setSlotCmdRateElevation (const Basic::LcAngle *const msg)
virtual bool	setSlotCmdRateRoll (const Basic::LcAngle *const msg)
virtual bool	setSlotTerrainOcculting (const Basic::LcNumber *const msg)
virtual bool	event (const int event, Basic::LcObject *const obj=0)
virtual void	reset ()
Static Public Member Functions
static void	limitVec (osg::Vec2 &vec, const osg::Vec2 &lim)
static void	limitVec (osg::Vec3 &vec, const osg::Vec3 &lim)
static void	limitVec (osg::Vec2 &vec, const osg::Vec2 &ll, const osg::Vec2 &ul)
static void	limitVec (osg::Vec3 &vec, const osg::Vec3 &ll, const osg::Vec3 &ul)
Static Public Attributes
static const unsigned int	MAX_TARGETS = 1000
Protected Member Functions
virtual void	servoController (const LCreal dt=0.0)
virtual bool	setType (const Type rt)
virtual void	updateMatrix ()
Tdb *	getCurrentTDB ()
virtual void	dynamics (const LCreal dt)
Private Attributes
Type	type
ServoMode	servoMode
bool	fastSlew
osg::Matrix	mm
osg::Vec3	pos
osg::Vec3	rate
osg::Vec3	cmdPos
osg::Vec3	cmdRate
osg::Vec3	location
bool	atLimit
osg::Vec3	maxRate
osg::Vec3	lowLimits
osg::Vec3	highLimits
osg::Vec3	initPos
osg::Vec3	initCmdPos
osg::Vec3	initCmdRate
bool	terrainOcculting
Tdb *	tdb [3]
Static Private Attributes
static const LCreal	defaultTolerance
Classes
class	Tdb
	as seen by this gimbal (seeker/antenna) More...

Detailed Description

Generic class for all gimbals, antennas, seekers, etc

    Notes:
      The matrix (see below) is a composite of this gimbal's angles and
      all of parent gimbals' angles. Therefore, this matrix transforms
      a vector to our player's coordinate system and not to a parent gimbal's
      coordinate system.

    Form name: Gimbal

    Slots:

       type              (Basic::LcString)  Physical gimbal type: "mechanical" or "electronic"

       location          (Basic::LcList)    Relative location vector (meters) [ x y z ]

       initPosition      (Basic::LcList)    Initial positon vector (radians) [ az el roll ]
       initPosAzimuth    (Basic::LcAngle)   Initial azimuth positon
       initPosElevation  (Basic::LcAngle)   Initial elevation positon
       "initPosRoll      (Basic::LcAngle)   Initial roll positon

       azimuthLimits     (Basic::LcList)    Lower & upper azimuth limits (radians) [ left right ][ range: -pi to pi; else unlimited ]
       azimuthLimitLeft  (Basic::LcAngle)   Left azimuth limit[ range: -pi to pi; else unlimited ]
       azimuthLimitRight (Basic::LcAngle)   Right azimuth limit[ range: -pi to pi; else unlimited ]
       elevationLimits   (Basic::LcList)    Lower & upper elevation limits (radians) [ lower upper ][ range: -pi to pi; else unlimited ]

       elevationLimitLower (Basic::LcAngle) Lower elevation limit[ range: -pi to pi; else unlimited ]
       elevationLimitUpper (Basic::LcAngle) Upper elevation limit[ range: -pi to pi; else unlimited ]

       rollLimits        (Basic::LcAngle)   Roll limit vector (radians) [ lower upper ][ range: -pi to pi; else unlimited ]
       rollLimitLower    (Basic::LcAngle)   Lower roll limit[ range: -pi to pi; else unlimited ]
       rollLimitUpper    (Basic::LcAngle)   Upper roll limit[ range: -pi to pi; else unlimited ]

       maxRates          (Basic::LcList)    Max mechanical rate vector (rad/sec) [ az el roll ]
       maxRateAzimuth    (Basic::LcAngle)   Max "mechanical" azimuth rate    (Basic::LcAngle/sec)
       maxRateElevation  (Basic::LcAngle)   Max "mechanical" elevation rate  (Basic::LcAngle/sec)
       maxRateRoll       (Basic::LcAngle)   Max "mechanical" roll rate       (Basic::LcAngle/sec)

       commandPosition   (Basic::LcList)    Commanded position vector (radians) [ az el roll ] (sets POSITION_SERVO)
       commandPosAzimuth (Basic::LcAngle)   Commanded azimtuh position    (sets POSITION_SERVO)
       commandPosElevation (Basic::LcAngle) Commanded elevation position  (sets POSITION_SERVO)
       commandPosRoll    (Basic::LcAngle)   Commanded roll position       (sets POSITION_SERVO)

       commandRates      (Basic::LcList)    Commanded rate vector (rad/sec) [ az el roll ] (sets RATE_SERVO)
       commandRateAzimuth (Basic::LcAngle)  Commanded azimuth rate     (Basic::LcAngle/sec) (sets RATE_SERVO)
       commandRateElevation (Basic::LcAngle) Commanded elevation rate  (Basic::LcAngle/sec) (sets RATE_SERVO)
       commandRateRoll   (Basic::LcAngle)   Commanded roll rate        (Basic::LcAngle/sec) (sets RATE_SERVO)

       terrainOcculting  (Basic::LcNumber)  Target terrain occulting enabled flag (default: false)

    Events:
       RF_EMISSION       (Emission)  Default handler: Pass emissions to subcomponents.
    /pre>

Member Enumeration Documentation

enum Eaagles::Simulation::Gimbal::Type

Servo type.

Enumerator:

INVALID
ANY
NAVAID
WAYPOINT
AIRPORT
RUNWAY
ILS
MECHANICAL	Mechanical gimbal.
ELECTRONIC	Electronic servo (e.g., phased array).

enum Eaagles::Simulation::Gimbal::ServoMode

Servo Mode.

Enumerator:

FREEZE_SERVO	Servo is frozen.
RATE_SERVO	Rate servo.
POSITION_SERVO	Position servo.

anonymous enum

Position/velocy vector indexes.

Enumerator:

AZ_IDX	Azimuth index.
ELEV_IDX	Elevation index.
ROLL_IDX	Roll index.

Constructor & Destructor Documentation

Eaagles::Simulation::Gimbal::Gimbal ( )

Public section.

Member Function Documentation

bool Eaagles::Simulation::Gimbal::isGimbalType ( const Type tt ) const [inline]

Returns 'true' if servo is of type 'tt'.

Type Eaagles::Simulation::Gimbal::getGimbalType ( ) const [inline]

Returns the type of servo: { MECHANICAL, ELECTRONIC }.

ServoMode Eaagles::Simulation::Gimbal::getServoMode ( ) const [inline]

Returns the servo mode: { FREEZE_SERVO, RATE_SERVO, POSITION_SERVO }.

const osg::Vec3& Eaagles::Simulation::Gimbal::getPosition ( ) const [inline]

Returns the current position vector [ az el roll ] (radians).

LCreal Eaagles::Simulation::Gimbal::getAzimuth ( ) const [inline]

Returns current azimuth position (rad).

LCreal Eaagles::Simulation::Gimbal::getElevation ( ) const [inline]

Returns current elevation position (rad).

LCreal Eaagles::Simulation::Gimbal::getRoll ( ) const [inline]

Returns current roll position (rad).

LCreal Eaagles::Simulation::Gimbal::getAzimuthD ( ) const

Returns current azimuth position (deg).

LCreal Eaagles::Simulation::Gimbal::getElevationD ( ) const

Returns current elevation position (deg).

LCreal Eaagles::Simulation::Gimbal::getRollD ( ) const

Returns current roll position (deg).

bool Eaagles::Simulation::Gimbal::isPositioned ( const LCreal tol = -1 ) const [virtual]

Returns true if the gimbal position is at the commanded position, with a position tolerance of 'tol' radians. The default tolerance is 1/10th of a degree.

bool Eaagles::Simulation::Gimbal::isAtLimits ( ) const [virtual]

Returns true if the gimbal is at a 'phyisical' limit.

const osg::Vec3& Eaagles::Simulation::Gimbal::getRates ( ) const [inline]

Returns the current rate vector (rad/sec).

LCreal Eaagles::Simulation::Gimbal::getAzimuthRate ( ) const [inline]

Returns current azimuth rate (rad/sec).

LCreal Eaagles::Simulation::Gimbal::getElevationRate ( ) const [inline]

Returns current elevation rate (rad/sec).

LCreal Eaagles::Simulation::Gimbal::getRollRate ( ) const [inline]

Returns current roll rate (rad/sec).

bool Eaagles::Simulation::Gimbal::isFastSlewMode ( ) const [inline]

Returns true if the servo is the 'fast' slewing mode.

bool Eaagles::Simulation::Gimbal::isSlowSlewMode ( ) const [inline]

Returns true if the servo is the 'slow' slewing mode.

const osg::Vec3& Eaagles::Simulation::Gimbal::getCmdPosition ( ) const [inline]

Returns the commanded position vector [ az el roll ] (radians).

LCreal Eaagles::Simulation::Gimbal::getCmdAz ( ) const [inline]

Returns commanded azimuth position (rad).

LCreal Eaagles::Simulation::Gimbal::getCmdElev ( ) const [inline]

Returns commanded elevation position (rad).

LCreal Eaagles::Simulation::Gimbal::getCmdRoll ( ) const [inline]

Returns commanded roll position (rad).

const osg::Vec3& Eaagles::Simulation::Gimbal::getCmdRates ( ) const [inline]

Returns the current rate vector (rad/sec).

Returns the commanded position vector (radians)

LCreal Eaagles::Simulation::Gimbal::getCmdAzRate ( ) const [inline]

Returns commanded azimuth rate (rad/sec).

LCreal Eaagles::Simulation::Gimbal::getCmdElevRate ( ) const [inline]

Returns commanded elevation rate (rad/sec).

LCreal Eaagles::Simulation::Gimbal::getCmdRollRate ( ) const [inline]

Returns commanded roll rate (rad/sec).

const osg::Vec3& Eaagles::Simulation::Gimbal::getLocation ( ) const [inline]

Returns the location vector of the gimbal on it's parent container (meters).

const osg::Matrix& Eaagles::Simulation::Gimbal::getMatrix ( ) const [inline]

Returns the gimbal's rotational matrix. Used to transform a vector between the gimbal's and player's coordinate systems. (see note above)

void Eaagles::Simulation::Gimbal::getAzimuthLimits	(	LCreal *const	leftLim,
		LCreal *const	rightLim
	)			const

Get the 'physical' gimbals limits (radians) Returns the physical azimuth limits (rad)

void Eaagles::Simulation::Gimbal::getElevationLimits	(	LCreal *const	lowerLim,
		LCreal *const	upperLim
	)			const

Returns the physical elevation limits (rad).

void Eaagles::Simulation::Gimbal::getRollLimits	(	LCreal *const	lowerLim,
		LCreal *const	upperLim
	)			const

Returns the physical roll limits (rad).

void Eaagles::Simulation::Gimbal::getMaxRates	(	LCreal *const	azMaxRate,
		LCreal *const	ezMaxRate,
		LCreal *const	rollMaxRate
	)			const

Returns the maximum mechanical rates (rad/sec).

unsigned int Eaagles::Simulation::Gimbal::processPlayersOfInterest ( Basic::LcPairStream *const poi ) [virtual]

Process the Players-Of-Interest (POI) list.

bool Eaagles::Simulation::Gimbal::isTerrainOccultingEnabled ( ) const [inline]

Target terrain occulting enabled flag.

bool Eaagles::Simulation::Gimbal::setTerrainOccultingEnabled ( const bool flg ) [virtual]

Sets the target terrain occulting enabled flag.

bool Eaagles::Simulation::Gimbal::setServoMode ( const ServoMode m ) [virtual]

Sets the servo mode: { FREEZE_SERVO, RATE_SERVO, POSITION_SERVO } Returns false if the mode could not be changed

bool Eaagles::Simulation::Gimbal::setPosition	(	const LCreal	azim,
		const LCreal	elev
	)			`[virtual]`

These functions set the gimbal/servo position (radians) Return 'true' if successfull Sets the current az & el positions (rad)

bool Eaagles::Simulation::Gimbal::setPosition	(	const LCreal	azim,
		const LCreal	elev,
		const LCreal	roll
	)			`[virtual]`

Sets the current az, el and roll positions (rad).

bool Eaagles::Simulation::Gimbal::setMaxRates	(	const LCreal	azMaxRate,
		const LCreal	ezMaxRate
	)			`[virtual]`

These functions set the maximum gimbal/servo rate (rad/sec) Return 'true' if successfull

bool Eaagles::Simulation::Gimbal::setMaxRates	(	const LCreal	azMaxRate,
		const LCreal	ezMaxRate,
		const LCreal	rollMaxRate
	)			`[virtual]`

bool Eaagles::Simulation::Gimbal::setCmdPos ( const osg::Vec2 & p ) [virtual]

Sets the commanded position vector (rad).

These functions set the commanded position (rad) Return 'true' if successfull

bool Eaagles::Simulation::Gimbal::setCmdPos ( const osg::Vec3 & p ) [virtual]

Sets the commanded position vector (rad).

bool Eaagles::Simulation::Gimbal::setCmdPos	(	const LCreal	az,
		const LCreal	el,
		const LCreal	roll = `0`
	)			`[virtual]`

Sets the commanded az, el and roll positions (rad).

bool Eaagles::Simulation::Gimbal::setCmdRate ( const osg::Vec2 & r ) [virtual]

These functions set the commanded rates (rad/sec) Return 'true' if successfull Sets the commanded rate vector (rad/sec)

bool Eaagles::Simulation::Gimbal::setCmdRate ( const osg::Vec3 & r ) [virtual]

Sets the commanded rate vector (rad/sec).

bool Eaagles::Simulation::Gimbal::setCmdRate	(	const LCreal	azRate,
		const LCreal	elRate
	)			`[virtual]`

Sets the commanded az & el rates (rad/sec).

bool Eaagles::Simulation::Gimbal::setCmdRate	(	const LCreal	azRate,
		const LCreal	elRate,
		const LCreal	rollRate
	)			`[virtual]`

Sets the commanded az, el and roll rates (rad/sec).

bool Eaagles::Simulation::Gimbal::setAzimuthLimits	(	const LCreal	leftLim,
		const LCreal	rightLim
	)			`[virtual]`

These functions set the azimuth, elevation and roll limits (radians) Return 'true' if successfull Sets the mechanical azimuth limits (rad)

bool Eaagles::Simulation::Gimbal::setElevationLimits	(	const LCreal	lowerLim,
		const LCreal	upperLim
	)			`[virtual]`

Sets the mechanical elevation limits (rad).

bool Eaagles::Simulation::Gimbal::setRollLimits	(	const LCreal	lowerLim,
		const LCreal	upperLim
	)			`[virtual]`

Sets the mechanical roll limits (rad).

bool Eaagles::Simulation::Gimbal::setLocation	(	const LCreal	x,
		const LCreal	y,
		const LCreal	z
	)			`[virtual]`

(e.g., Player or another Gimbal)

Sets the location of the gimbal on it's parent container (meters)

bool Eaagles::Simulation::Gimbal::setFastSlewMode ( const bool flg ) [virtual]

Sets the servo 'fast' or 'slow' slewing mode.

bool Eaagles::Simulation::Gimbal::onRfEmissionEvent ( Emission * const ) [virtual]

Event handler(s) Handles R/F emission events

bool Eaagles::Simulation::Gimbal::setSlotType ( const Basic::LcString *const msg ) [virtual]

Slot functions Physical gimbal type: "mechanical" or "electronic"

bool Eaagles::Simulation::Gimbal::setSlotLocation ( const Basic::LcList *const msg ) [virtual]

Relative location vector (meters) [ x y z ].

bool Eaagles::Simulation::Gimbal::setSlotPosition ( const Basic::LcList *const msg ) [virtual]

Initial positon vector (radians) [ az el roll ].

bool Eaagles::Simulation::Gimbal::setSlotPosAzimuth ( const Basic::LcAngle *const msg ) [virtual]

Initial azimuth positon.

bool Eaagles::Simulation::Gimbal::setSlotPosElevation ( const Basic::LcAngle *const msg ) [virtual]

Initial elevation positon.

bool Eaagles::Simulation::Gimbal::setSlotPosRoll ( const Basic::LcAngle *const msg ) [virtual]

Initial roll positon.

bool Eaagles::Simulation::Gimbal::setSlotAzimuthLimits ( const Basic::LcList *const msg ) [virtual]

Azimuth limit vector (radians) [ left right ].

bool Eaagles::Simulation::Gimbal::setSlotAzimuthLimitLeft ( const Basic::LcAngle *const msg ) [virtual]

Left azimuth limit.

bool Eaagles::Simulation::Gimbal::setSlotAzimuthLimitRight ( const Basic::LcAngle *const msg ) [virtual]

Right azimuth limit.

bool Eaagles::Simulation::Gimbal::setSlotElevationLimits ( const Basic::LcList *const msg ) [virtual]

Elevation limit vector (radians) [ lower upper ].

bool Eaagles::Simulation::Gimbal::setSlotElevationLower ( const Basic::LcAngle *const msg ) [virtual]

Lower elevation limit.

bool Eaagles::Simulation::Gimbal::setSlotElevationUpper ( const Basic::LcAngle *const msg ) [virtual]

Upper elevation limit.

bool Eaagles::Simulation::Gimbal::setSlotRollLimits ( const Basic::LcList *const msg ) [virtual]

Roll limit vector (radians) [ lower upper ].

bool Eaagles::Simulation::Gimbal::setSlotRollLimitLower ( const Basic::LcAngle *const msg ) [virtual]

Lower roll limit.

bool Eaagles::Simulation::Gimbal::setSlotRollLimitUpper ( const Basic::LcAngle *const msg ) [virtual]

Upper roll limit.

bool Eaagles::Simulation::Gimbal::setSlotMaxRates ( const Basic::LcList *const msg ) [virtual]

Max "mechanical" rate vector (rad/sec) [ az el roll ].

bool Eaagles::Simulation::Gimbal::setSlotMaxRateAzimuth ( const Basic::LcAngle *const msg ) [virtual]

Max "mechanical" azimuth rate (Basic::LcAngle/sec).

bool Eaagles::Simulation::Gimbal::setSlotMaxRateElevation ( const Basic::LcAngle *const msg ) [virtual]

Max "mechanical" elevation rate (Basic::LcAngle/sec).

bool Eaagles::Simulation::Gimbal::setSlotMaxRateRoll ( const Basic::LcAngle *const msg ) [virtual]

Max "mechanical" roll rate (Basic::LcAngle/sec).

bool Eaagles::Simulation::Gimbal::setSlotCmdPos ( const Basic::LcList *const msg ) [virtual]

Commanded position vector [ az el roll ] (sets POSITION_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdPosAzimuth ( const Basic::LcAngle *const msg ) [virtual]

Commanded azimtuh position (sets POSITION_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdPosElevation ( const Basic::LcAngle *const msg ) [virtual]

Commanded elevation position (sets POSITION_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdPosRoll ( const Basic::LcAngle *const msg ) [virtual]

Commanded roll position (sets POSITION_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdRate ( const Basic::LcList *const msg ) [virtual]

Commanded rate vector (rad/sec) [ az el roll ] (sets RATE_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdRateAzimuth ( const Basic::LcAngle *const msg ) [virtual]

Commanded azimuth rate (sets RATE_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdRateElevation ( const Basic::LcAngle *const msg ) [virtual]

Commanded elevation rate (sets RATE_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotCmdRateRoll ( const Basic::LcAngle *const msg ) [virtual]

Commanded roll rate (sets RATE_SERVO).

bool Eaagles::Simulation::Gimbal::setSlotTerrainOcculting ( const Basic::LcNumber *const msg ) [virtual]

Enable target terrain occulting (default: false).

void Eaagles::Simulation::Gimbal::limitVec	(	osg::Vec2 &	vec,
		const osg::Vec2 &	lim
	)			`[static]`

Symmetrical and asymmetrical limit checks.

void Eaagles::Simulation::Gimbal::limitVec	(	osg::Vec3 &	vec,
		const osg::Vec3 &	lim
	)			`[static]`

void Eaagles::Simulation::Gimbal::limitVec	(	osg::Vec2 &	vec,
		const osg::Vec2 &	ll,
		const osg::Vec2 &	ul
	)			`[static]`

void Eaagles::Simulation::Gimbal::limitVec	(	osg::Vec3 &	vec,
		const osg::Vec3 &	ll,
		const osg::Vec3 &	ul
	)			`[static]`

virtual bool Eaagles::Simulation::Gimbal::event	(	const int	event,
		Basic::LcObject *const	obj = `0`
	)			`[virtual]`

Component Interface.

Reimplemented from Eaagles::Simulation::System.

void Eaagles::Simulation::Gimbal::reset ( ) [virtual]

Reinitialize this component to its state at the beginning of the simulation.

Reimplemented from Eaagles::Simulation::System.

void Eaagles::Simulation::Gimbal::servoController ( const LCreal dt = 0.0 ) [protected, virtual]

bool Eaagles::Simulation::Gimbal::setType ( const Type rt ) [protected, virtual]

void Eaagles::Simulation::Gimbal::updateMatrix ( ) [protected, virtual]

Gimbal::Tdb * Eaagles::Simulation::Gimbal::getCurrentTDB ( ) [protected]

Get (and switches as need) the current TDB (pre-ref()).

void Eaagles::Simulation::Gimbal::dynamics ( const LCreal dt ) [protected, virtual]

System Interface -- Callbacks by phase.

Reimplemented from Eaagles::Simulation::System.

Member Data Documentation

const unsigned int Eaagles::Simulation::Gimbal::MAX_TARGETS = 1000 [static]

Max number of target players.

Basic::LcList Basic::LcAngle Basic::LcAngle Basic::LcAngle Basic::LcList Basic::LcAngle Basic::LcAngle Basic::LcList Basic::LcAngle Basic::LcList Basic::LcAngle Basic::LcList Basic::LcAngle Basic::LcNumber const LCreal Eaagles::Simulation::Gimbal::defaultTolerance [static, private]

Type Eaagles::Simulation::Gimbal::type [private]

Mechanical or Electronic gimbal (affects maxRates).

ServoMode Eaagles::Simulation::Gimbal::servoMode [private]

Gimbal's servo mode.

bool Eaagles::Simulation::Gimbal::fastSlew [private]

Fast slewing mode: tell us if we are slewing fast (true) or scanning (slewing slow (false)).

osg::Matrix Eaagles::Simulation::Gimbal::mm [private]

Transformation matrix (to/from the player's coordinate system).

osg::Vec3 Eaagles::Simulation::Gimbal::pos [private]

Current gimbal position (rad).

osg::Vec3 Eaagles::Simulation::Gimbal::rate [private]

Current velocity (rad/sec).

osg::Vec3 Eaagles::Simulation::Gimbal::cmdPos [private]

Commanded position (rad).

osg::Vec3 Eaagles::Simulation::Gimbal::cmdRate [private]

Commanded rate (rad/sec).

osg::Vec3 Eaagles::Simulation::Gimbal::location [private]

Gimbal's location on parent (meters).

bool Eaagles::Simulation::Gimbal::atLimit [private]

Gimbal is at a limit.

osg::Vec3 Eaagles::Simulation::Gimbal::maxRate [private]

Max mechanical rate of gimbal (rad/sec).

osg::Vec3 Eaagles::Simulation::Gimbal::lowLimits [private]

left/lower gimbal limits (rad)

osg::Vec3 Eaagles::Simulation::Gimbal::highLimits [private]

right/upper gimbal limits (rad)

osg::Vec3 Eaagles::Simulation::Gimbal::initPos [private]

Initial gimbal position (rad).

osg::Vec3 Eaagles::Simulation::Gimbal::initCmdPos [private]

Initial commanded position (rad).

osg::Vec3 Eaagles::Simulation::Gimbal::initCmdRate [private]

Initial commanded rate (rad/sec).

bool Eaagles::Simulation::Gimbal::terrainOcculting [private]

Target terrain occulting enabled flag.

Tdb* Eaagles::Simulation::Gimbal::tdb[3] [private]

Two TDB objects rotate between the following tdb[0] => Current TDB (In use by time-critical thread) tdb[1] => New TDB (just processed by processPlayersOfInterest()) tdb[2] => Free TDB (can be use by processPlayersOfInterest())

Generated on Tue Dec 19 16:28:10 2006 for Eaagles by

1.5.0

Eaagles::Simulation::Gimbal Class Reference

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

Static Private Attributes

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Detailed Description

Member Enumeration Documentation

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