#include </home/jenkins/workspace/orxonox_doxygen_trunk/src/modules/objects/controllers/TurretController.h>

Inheritance diagram for orxonox::TurretController:

Public Member Functions
	TurretController (Context *context)
	Sets default values for all variables. More...

virtual	~TurretController ()
	Destructor. More...

virtual void	tick (float dt)
	Does all the controlling of the turret. More...

Public Member Functions inherited from orxonox::ArtificialController
	ArtificialController (Context *context)

virtual	~ArtificialController ()

void	abandonTarget (Pawn *target)

void	addWaypoint (WorldEntity *waypoint)

virtual void	changedControllableEntity () override
	Gets called when ControllableEntity is being changed. More...

virtual void	doFire ()
	DoFire is called when a bot should shoot and decides which weapon is used and whether the bot shoots at all. More...

float	getAccuracy () const

float	getBotLevel () const

WorldEntity *	getWaypoint (unsigned int index) const

void	manageWaypoints ()
	Adds point of interest depending on context. More...

void	setAccuracy (float accuracy)

void	setBotLevel (float level=1.0f)

void	updatePointsOfInterest (std::string name, float distance)
	Adds first waypoint of type name to the waypoint stack, which is within the searchDistance. More...

virtual void	XMLPort (Element &xmlelement, XMLPort::Mode mode) override
	XML loading and saving. More...

Public Member Functions inherited from orxonox::FormationController
	FormationController (Context *context)

virtual	~FormationController ()

FormationController *	getController (void)

bool	getFormationFlight () const

FormationMode	getFormationMode () const

int	getFormationSize () const

FormationController *	getMaster (void)

bool	getPassive () const

FormationController *	getSlave (void)

virtual void	hit (Pawn *originator, btManifoldPoint &contactpoint, float damage) override

void	setFormationFlight (bool formation)

void	setFormationMode (FormationMode val)
	Sets the new mode. More...

void	setFormationSize (int size)

void	setNewMasterWithinFormation (FormationController *newMaster)

void	setPassive (bool passive)

Public Member Functions inherited from orxonox::Controller
	Controller (Context *context)

virtual	~Controller ()

ControllableEntity *	getControllableEntity () const

bool	getGodMode ()

PlayerInfo *	getPlayer () const

int	getTeam () const

void	setControllableEntity (ControllableEntity *entity)

void	setGodMode (bool mode)

void	setPlayer (PlayerInfo *player)

void	setTeam (int team)

Public Member Functions inherited from orxonox::BaseObject
	BaseObject (Context *context)
	Constructor: Registers the object in the BaseObject-list. More...

virtual	~BaseObject ()
	Destructor. More...

void	addEventListener (BaseObject *listener)
	Adds an object which listens to the events of this object. More...

void	addEventSource (BaseObject *source, const std::string &state)
	Adds a new event source for a specific state. More...

void	addTemplate (const std::string &name)
	Adds a Template to the object. More...

void	addTemplate (Template *temp)
	Adds a Template to the object. More...

virtual void	changedActivity ()
	This function gets called if the activity of the object changes. More...

virtual void	changedMainStateName ()
	This function gets called if the main state name of the object changes. More...

virtual void	changedName ()
	This function gets called if the name of the object changes. More...

virtual void	changedVisibility ()
	This function gets called if the visibility of the object changes. More...

void	fireEvent (const std::string &name="")
	Fires an event (without a state). More...

void	fireEvent (bool activate, const std::string &name="")
	Fires an event which activates or deactivates a state. More...

void	fireEvent (bool activate, BaseObject *originator, const std::string &name="")
	Fires an event which activates or deactivates a state with agiven originator (the object which triggered the event). More...

void	fireEvent (Event &event)
	Fires an event, using the Event struct. More...

BaseObject *	getCreator () const

BaseObject *	getEventListener (unsigned int index) const
	Returns an event listener with a given index. More...

BaseObject *	getEventSource (unsigned int index, const std::string &state) const
	Returns an eventsource with a given index. More...

const XMLFile *	getFile () const
	Returns a pointer to the XMLFile that loaded this object. More...

const std::string &	getFilename () const
	Returns the levelfile that loaded this object. More...

Gametype *	getGametype () const

Level *	getLevel () const

const std::string &	getLoaderIndentation () const
	Returns the indentation of the debug output in the Loader. More...

const std::string &	getMainStateName () const
	Returns the name of the main state. More...

const std::string &	getName () const
	Returns the name of the object. More...

Namespace *	getNamespace () const

const std::string &	getOldName () const
	Returns the old name of the object. More...

Scene *	getScene () const

virtual uint32_t	getSceneID () const

const std::set< Template * > &	getTemplates () const
	Returns the set of all aplied templates. More...

const mbool &	isActive () const
	Returns the state of the objects activity. More...

bool	isInitialized () const
	Returns if the object was initialized (passed the object registration). More...

const mbool &	isVisible () const
	Returns the state of the objects visibility. More...

virtual void	processEvent (Event &event)
	Processing an event by calling the right main state. More...

void	removeEventSource (BaseObject *source)
	Removes an eventsource (but doesn't unregister itself at the source). More...

void	setActive (bool bActive)
	Sets the state of the objects activity. More...

void	setCreator (BaseObject *creator)

void	setFile (const XMLFile *file)
	Sets a pointer to the xml file that loaded this object. More...

void	setGametype (const StrongOrWeakPtr< Gametype > &gametype)

void	setLevel (const StrongOrWeakPtr< Level > &level)

void	setLoaderIndentation (const std::string &indentation)
	Sets the indentation of the debug output in the Loader. More...

void	setMainState (bool state)
	Sets the main state of the object to a given boolean value. More...

void	setMainStateName (const std::string &name)
	Sets the name of the main state (used for event reactions). More...

void	setName (const std::string &name)
	Sets the name of the object. More...

void	setNamespace (const StrongOrWeakPtr< Namespace > &ns)

void	setScene (const StrongOrWeakPtr< Scene > &scene, uint32_t sceneID)

void	setVisible (bool bVisible)
	Sets the state of the objects visibility. More...

virtual void	XMLEventPort (Element &xmlelement, XMLPort::Mode mode)
	Defines the possible event states of this object and parses eventsources from an XML file. More...

Public Member Functions inherited from orxonox::OrxonoxClass
	OrxonoxClass ()

OrxonoxClass &	operator= (const OrxonoxClass &)=default

Public Member Functions inherited from orxonox::Configurable
	Configurable ()

void	setConfigValues ()
	Function to collect the SetConfigValue-macro calls. More...

Public Member Functions inherited from orxonox::Listable
	Listable ()
	Constructor: Allocates space in the element list. More...

	Listable (Context *context)
	Constructor: Allocates space in the element list and assigns the context. More...

virtual	~Listable ()
	Destructor: Removes the object from the object-lists. More...

Context *	getContext () const

void	setContext (Context *context)
	Changes the context. More...

void	unregisterObject ()
	Removes this object from the object-lists. More...

Public Member Functions inherited from orxonox::Identifiable
	Identifiable ()
	Constructor: Sets the default values. More...

virtual	~Identifiable ()

ORX_FORCEINLINE void *	getDerivedPointer (unsigned int classID)
	Returns a valid pointer of any derived type that is registered in the class hierarchy. More...

template<class T >
ORX_FORCEINLINE T *	getDerivedPointer (unsigned int classID)
	Version of getDerivedPointer with template. More...

template<class T >
ORX_FORCEINLINE const T *	getDerivedPointer (unsigned int classID) const
	Const version of getDerivedPointer with template. More...

Identifier *	getIdentifier () const
	Returns the Identifier of the object. More...

bool	isA (const Identifier *identifier)
	Returns true if the object's class is of the given type or a derivative. More...

template<class B >
bool	isA (const SubclassIdentifier< B > *identifier)
	Returns true if the object's class is of the given type or a derivative. More...

bool	isA (const Identifiable *object)
	Returns true if the object's class is of the given type or a derivative. More...

bool	isChildOf (const Identifier *identifier)
	Returns true if the object's class is a child of the given type. More...

template<class B >
bool	isChildOf (const SubclassIdentifier< B > *identifier)
	Returns true if the object's class is a child of the given type. More...

bool	isChildOf (const Identifiable *object)
	Returns true if the object's class is a child of the given type. More...

bool	isDirectChildOf (const Identifier *identifier)
	Returns true if the object's class is a direct child of the given type. More...

template<class B >
bool	isDirectChildOf (const SubclassIdentifier< B > *identifier)
	Returns true if the object's class is a direct child of the given type. More...

bool	isDirectChildOf (const Identifiable *object)
	Returns true if the object's class is a direct child of the given type. More...

bool	isDirectParentOf (const Identifier *identifier)
	Returns true if the object's class is a direct parent of the given type. More...

template<class B >
bool	isDirectParentOf (const SubclassIdentifier< B > *identifier)
	Returns true if the object's class is a direct parent of the given type. More...

bool	isDirectParentOf (const Identifiable *object)
	Returns true if the object's class is a direct child of the given type. More...

bool	isExactlyA (const Identifier *identifier)
	Returns true if the object's class is exactly of the given type. More...

template<class B >
bool	isExactlyA (const SubclassIdentifier< B > *identifier)
	Returns true if the object's class is exactly of the given type. More...

bool	isExactlyA (const Identifiable *object)
	Returns true if the object's class is exactly of the given type. More...

bool	isParentOf (const Identifier *identifier)
	Returns true if the object's class is a parent of the given type. More...

template<class B >
bool	isParentOf (const SubclassIdentifier< B > *identifier)
	Returns true if the object's class is a parent of the given type. More...

bool	isParentOf (const Identifiable *object)
	Returns true if the object's class is a parent of the given type. More...

Public Member Functions inherited from orxonox::Destroyable
	Destroyable ()
	Constructor: Sets the default values. More...

virtual	~Destroyable ()
	Destructor: Notifies all DestructionListener (for example weak pointers) that this object is being deleted. More...

void	destroy ()
	Deletes the object if no strong pointers point to this object. More...

void	destroyLater ()
	Works like destroy() but doesn't destroy the object until the current tick has ended. More...

unsigned int	getReferenceCount () const
	Returns the number of strong pointers that point to this object. More...

Public Member Functions inherited from orxonox::OrxonoxInterface
	OrxonoxInterface ()

Private Member Functions
bool	isLookingAtTargetNew (float angle) const
	Tests, if the turret is looking at the target, with a specified tolerance. More...

void	searchTarget ()
	Searches a valid target for the turret to aim at. More...

float	targetScore (Pawn *pawn, float distance) const
	Scores a pawn as a target, based on distance and health. More...

Private Attributes
bool	once_
	Flag for executing code in the tick function only once. More...

Additional Inherited Members
Public Types inherited from orxonox::FormationController
enum	FormationMode { NORMAL, DEFEND, ATTACK }
	Mode of the formation, behaviour of slaves Normal-normal behaviour Defend-just defend the master Attack-leave formation, attack every target. More...

Static Public Member Functions inherited from orxonox::ArtificialController
static void	setAllBotLevel (float level)

Static Public Member Functions inherited from orxonox::FormationController
static void	followme ()
	A human player gets followed by its nearest master. More...

static void	formationflight (const bool form)
	Activates / deactivates formationflight behaviour. More...

static void	formationsize (const int size)
	Sets maximal formation size. More...

static void	masteraction (const int action)
	Get all masters to do a "specific master action". More...

static void	passivebehaviour (const bool passive)
	Sets shooting behaviour of pawns. More...

Static Public Member Functions inherited from orxonox::BaseObject
static void	loadAllEventStates (Element &xmlelement, XMLPort::Mode mode, BaseObject object, Identifier identifier)
	Manually loads all event states, even if the class doesn't officially support them. More...

Protected Types inherited from orxonox::ArtificialController
enum	Mode { DEFAULT, ROCKET, DEFENCE, MOVING }

Protected Types inherited from orxonox::FormationController
enum	SpecificMasterAction { NONE, HOLD, SPIN, TURN180, FOLLOW }

enum	State { SLAVE, MASTER, FREE }

Protected Member Functions inherited from orxonox::ArtificialController
void	aimAtTarget ()

void	boostControl ()
	Manages boost. More...

int	getFiremode (std::string name)

bool	isCloseAtTarget (float distance) const

bool	isLookingAtTarget (float angle) const

void	setPreviousMode ()

void	setupWeapons ()
	Information gathering: Which weapons are ready to use? More...

Protected Member Functions inherited from orxonox::FormationController
void	absoluteMoveToPosition (const Vector3 &target)

void	commandSlaves ()
	Commands the slaves of a master into a formation. More...

void	copyOrientation (const Quaternion &orient)

void	copyTargetOrientation ()

void	follow ()
	Master follows target with adjusted speed. More...

void	followInit (Pawn *pawn, const bool always=false, const int secondsToFollow=100)
	Master begins to follow a pawn. More...

void	followRandomHumanInit ()
	Master begins to follow a randomly chosen human player of the same team. More...

bool	forcedFree ()
	Checks wether caller has been forced free, decrements time to stay forced free. More...

void	forceFreedom ()

void	forceFreeSlaves ()
	Master sets its slaves free for FREEDOM_COUNT seconds. More...

void	forgetTarget ()

void	freeSlaves ()
	Frees all slaves from a master. More...

void	loseMasterState ()

void	masterAttacked (Pawn *originator)
	if called, half of the formation will attack the originator More...

void	moveToPosition (const Vector3 &target)

void	moveToTargetPosition ()

virtual void	positionReached ()

void	removeFromFormation ()

void	searchNewMaster ()

void	searchNewTarget ()

void	searchRandomTargetPosition ()

void	setNewMasterWithinFormation ()
	Sets a new master within the formation. More...

void	setTarget (Pawn *target)

void	setTargetOrientation (const Quaternion &orient)

void	setTargetOrientation (Pawn *target)

void	setTargetPosition (const Vector3 &target)

void	specificMasterActionHold ()
	Used to continue a "specific master action" for a certain time and resuming normal behaviour after. More...

void	spin ()
	Execute the spin. More...

void	spinInit ()
	Master initializes a spin around its looking direction axis. More...

void	takeLeadOfFormation ()
	Call to take the lead of formation (if free, become slave of nearest formation, then, if Slave, become Master) More...

void	targetDied ()

void	turn180 ()
	Execute the 180 degree turn. More...

void	turn180Init ()
	Master initializes a 180 degree turn. More...

void	unregisterSlave ()
	Unregisters a slave from its master. More...

Protected Member Functions inherited from orxonox::BaseObject
void	addEventState (const std::string &name, EventState *container)
	Adds a new event-state to the object. More...

EventState *	getEventState (const std::string &name) const
	Returns the event-state with the given name. More...

Protected Member Functions inherited from orxonox::Destroyable
virtual void	preDestroy ()
	This virtual function is called if destroy() is called and no StrongPtr points to this object. More...

Protected Member Functions inherited from orxonox::Tickable
	Tickable ()
	Constructor: Registers the object in the Tickable-list. More...

Static Protected Member Functions inherited from orxonox::FormationController
static bool	sameTeam (ControllableEntity entity1, ControllableEntity entity2, Gametype *gametype)

Protected Attributes inherited from orxonox::ArtificialController
float	botlevel_

bool	bSetupWorked

size_t	currentWaypoint_

WorldEntity *	defaultWaypoint_

Mode	mode_

float	squaredaccuracy_

float	timeout_

std::vector< WeakPtr< WorldEntity > >	waypoints_

std::map< std::string, int >	weaponModes_

Protected Attributes inherited from orxonox::FormationController
bool	bHasTargetOrientation_

bool	bHasTargetPosition_

bool	bShooting_

bool	formationFlight_

FormationMode	formationMode_

int	freedomCount_

unsigned int	maxFormationSize_

FormationController *	myMaster_

bool	passive_

std::vector< FormationController * >	slaves_

SpecificMasterAction	specificMasterAction_

int	specificMasterActionHoldCount_

float	speedCounter_

State	state_

WeakPtr< Pawn >	target_

Quaternion	targetOrientation_

Vector3	targetPosition_

Protected Attributes inherited from orxonox::Controller
ControllableEntity *	controllableEntity_

PlayerInfo *	player_

int	team_

Protected Attributes inherited from orxonox::BaseObject
mbool	bActive_
	True = the object is active. More...

mbool	bVisible_
	True = the object is visible. More...

FunctorPtr	mainStateFunctor_

std::string	mainStateName_

std::string	name_
	The name of the object. More...

std::set< std::string >	networkTemplateNames_

std::string	oldName_
	The old name of the object. More...

Detailed Description

Controller for turrets.

Chooses a target, and makes the turret aim/shoot at it.

The controllableEntity gets casted to Turret, so this controller won't work for anything else.

Constructor & Destructor Documentation

orxonox::TurretController::TurretController ( Context * context )

Sets default values for all variables.

Parameters

context The context

orxonox::TurretController::~TurretController ( )

virtual

Destructor.

Nothing to see here.

Member Function Documentation

bool orxonox::TurretController::isLookingAtTargetNew ( float angle ) const

private

Tests, if the turret is looking at the target, with a specified tolerance.

This uses the world position as opposed to the local position in the old version.

Parameters

angle The tolerance, in radians

void orxonox::TurretController::searchTarget ( )

private

Searches a valid target for the turret to aim at.

Loops through all pawns and tests, if it is in range. Scores every pawn and chooses the best one (the one with the lowest score). If the turret has a parent, try to aim at the same target the parent has, if there is one.

See also: targetScore The function that scores the pawns.

float orxonox::TurretController::targetScore	(	Pawn *	pawn,
		float	distance
	)		const

private

Scores a pawn as a target, based on distance and health.

The more health and distance a pawn has, the higher the score. This means lower equals better.

Parameters

pawn	The pawn to score
distance	The distance. Can be squared or normed, doesn't matter as long as all are treated the same.

void orxonox::TurretController::tick ( float dt )

virtual

Does all the controlling of the turret.

If the turret has a parent, copies the team from there, if it's not already set. Other actions are: Search a target. If a target has been found, aim and shoot at it.

Reimplemented from orxonox::Tickable.

Member Data Documentation

bool orxonox::TurretController::once_

private

Flag for executing code in the tick function only once.

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

modules/objects/controllers/TurretController.h
modules/objects/controllers/TurretController.cc

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation