DUNE::Plans::Progress Class Reference

Detailed Description

Utility class to estimate a plan's progress.

Static Public Member Functions
static bool	getPoint (const IMC::ManeuverControlState *mcs, unsigned &number)
static float	compute (const IMC::ManeuverControlState *mcs, const std::vector< float > &durations, float total_duration)
static float	compute (const IMC::FollowPath *maneuver, const IMC::ManeuverControlState *mcs, const std::vector< float > &durations, float total_duration)
static float	compute (const IMC::Rows *maneuver, const IMC::ManeuverControlState *mcs, const std::vector< float > &durations, float total_duration)
static float	compute (const IMC::Message *man, const IMC::ManeuverControlState *mcs, const std::vector< float > &durations, float total_duration)

Member Function Documentation

static float DUNE::Plans::Progress::compute ( const IMC::ManeuverControlState *  mcs, const std::vector< float > &  durations, float  total_duration  )

inlinestatic

Compute progress for multiple waypoint maneuver.

Parameters

[in]	mcs	pointer to ManeuverControlState message
[in]	durations	reference to durations vector
[in]	total_duration	full duration of the plan

Returns

time left in seconds

References DUNE::IMC::ManeuverControlState::eta, and getPoint().

Referenced by compute().

static float DUNE::Plans::Progress::compute ( const IMC::FollowPath *  maneuver, const IMC::ManeuverControlState *  mcs, const std::vector< float > &  durations, float  total_duration  )

inlinestatic

Compute progress of FollowPath maneuver.

Parameters

[in]	maneuver	pointer to maneuver message
[in]	mcs	pointer to ManeuverControlState message
[in]	durations	reference to durations vector
[in]	total_duration	full duration of the plan

Returns

time left in seconds

References compute().

static float DUNE::Plans::Progress::compute ( const IMC::Rows *  maneuver, const IMC::ManeuverControlState *  mcs, const std::vector< float > &  durations, float  total_duration  )

inlinestatic

Compute progress of Rows maneuver.

Parameters

[in]	maneuver	pointer to maneuver message
[in]	mcs	pointer to ManeuverControlState message
[in]	durations	reference to durations vector
[in]	total_duration	full duration of the plan

Returns

time left in seconds

References compute().

static float DUNE::Plans::Progress::compute ( const IMC::Message *  man, const IMC::ManeuverControlState *  mcs, const std::vector< float > &  durations, float  total_duration  )

inlinestatic

Compute a plan's progress from maneuver and ManeuverControlState.

Parameters

[in]	man	pointer to maneuver message
[in]	mcs	pointer to ManeuverControlState message
[in]	durations	pointer to vector of maneuver duration(s)
[in]	total_duration	full duration of the plan

Returns

progress of the whole plan

References compute(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::Message::getId(), and DUNE::Math::trimValue().

static bool DUNE::Plans::Progress::getPoint ( const IMC::ManeuverControlState *  mcs, unsigned &  number  )

inlinestatic

Get waypoint number out of info message.

Parameters

[in]	mcs	pointer to ManeuverControlState message
[out]	number	waypoint number

Returns

true if able to get number, false otherwise

References DUNE::IMC::ManeuverControlState::info, and DUNE::Utils::String::split().

Referenced by compute().

Collaboration diagram for DUNE::Plans::Progress: