DUNE::Navigation::StreamEstimator Class Reference

Detailed Description

StreamEstimator is responsible to estimate the stream of the liquid fluid surrounding a underwater or surface vehicle.

Author

José Braga.

Public Member Functions
	StreamEstimator (void)
bool	consume (const IMC::EstimatedState state, const IMC::GpsFix *gps, IMC::EstimatedStreamVelocity &stream)
void	consume (const IMC::Rpm *msg)

Constructor & Destructor Documentation

DUNE::Navigation::StreamEstimator::StreamEstimator ( void  )

inline

Constructor.

References DUNE::Time::Counter< T >::setTop().

Member Function Documentation

bool DUNE::Navigation::StreamEstimator::consume ( const IMC::EstimatedState  state, const IMC::GpsFix *  gps, IMC::EstimatedStreamVelocity &  stream  )

inline

Received GpsFix estimate.

Parameters

[in]	msg	new GpsFix.
[out]	stream	Estimated stream velocity.

References DUNE::Math::MovingAverage< T >::clear(), DUNE::Coordinates::WGS84::displacement(), DUNE::Coordinates::WGS84::distance(), DUNE::IMC::Message::getTimeStamp(), DUNE::IMC::GpsFix::lat, DUNE::IMC::GpsFix::lon, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), DUNE::Math::MovingAverage< T >::sampleSize(), DUNE::Coordinates::toWGS84(), DUNE::Math::MovingAverage< T >::update(), DUNE::IMC::EstimatedStreamVelocity::x, and DUNE::IMC::EstimatedStreamVelocity::y.

Referenced by DUNE::Navigation::BasicNavigation::consume().

void DUNE::Navigation::StreamEstimator::consume ( const IMC::Rpm *  msg )

inline

Received new RPM reading.

Parameters

[in]

msg

new Rpm.

References DUNE::Math::MovingAverage< T >::clear(), DUNE::Time::Counter< T >::reset(), and DUNE::IMC::Rpm::value.

Collaboration diagram for DUNE::Navigation::StreamEstimator: