Detailed Description

Abstract base class for vehicle formation maneuver tasks.

Classes
struct	Participant

struct	TPoint

Public Member Functions
	VehicleFormation (const std::string &name, Tasks::Context &ctx)

virtual	~VehicleFormation (void)

virtual void	onUpdateParameters (void)

void	consume (const IMC::VehicleFormation *msg)

virtual void	onInit (const IMC::VehicleFormation *msg)

void	consume (const IMC::RemoteState *msg)

virtual void	onUpdate (int index, const IMC::RemoteState &rstate)=0

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::PathControlState *msg)

virtual void	onPathCompletion (void)=0

virtual void	step (const IMC::EstimatedState &state)=0

void	onManeuverDeactivation (void)

virtual void	onReset (void)

TPoint	point (int t_index, int f_index=-1) const

size_t	trajectory_points (void) const

size_t	participants () const

const Participant &	participant (int index) const

const Participant &	self (void)

int	formation_index (void) const

int	formation_index (int addr) const

double	controlPeriod (void) const

bool	isApproaching (void) const

void	desiredPath (const TPoint &start, const TPoint &end, double radius=-1)

void	desiredSpeed (double value, uint8_t speed_units)

void	toLocalCoordinates (double lat, double lon, double x, double y)

Public Member Functions inherited from DUNE::IMC::Message
	Message (void)

virtual	~Message (void)

virtual Message *	clone (void) const =0

virtual void	clear (void)=0

virtual int	validate (void) const =0

virtual const char *	getName (void) const =0

virtual uint16_t	getId (void) const =0

double	setTimeStamp (double ts)

double	setTimeStamp (void)

double	getTimeStamp (void) const

uint16_t	getSource (void) const

void	setSource (uint16_t src)

uint8_t	getSourceEntity (void) const

void	setSourceEntity (uint8_t src_ent)

uint16_t	getDestination (void) const

void	setDestination (uint16_t dst)

uint8_t	getDestinationEntity (void) const

void	setDestinationEntity (uint8_t dst_ent)

virtual uint16_t	getSubId (void) const

virtual void	setSubId (uint16_t subid)

virtual fp64_t	getValueFP (void) const

virtual void	setValueFP (fp64_t val)

unsigned	getSerializationSize (void) const

unsigned	getPayloadSerializationSize (void) const

virtual unsigned	getFixedSerializationSize (void) const

virtual unsigned	getVariableSerializationSize (void) const

void	toJSON (std::ostream &os) const

void	toText (std::ostream &os) const

virtual uint8_t *	serializeFields (uint8_t *bfr) const =0

virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0

virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0

virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const

bool	operator== (const Message &other) const

bool	operator!= (const Message &other) const

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)

virtual void	setSourceNested (uint16_t value)

virtual void	setSourceEntityNested (uint8_t value)

virtual void	setDestinationNested (uint16_t value)

virtual void	setDestinationEntityNested (uint8_t value)

virtual bool	fieldsEqual (const Message &other) const

Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

DUNE::Maneuvers::VehicleFormation::VehicleFormation	(	const std::string &	name,
		Tasks::Context &	ctx
	)

Constructor.

Parameters

name	name.
ctx	context.

DUNE::Maneuvers::VehicleFormation::~VehicleFormation ( void )

virtual

Destructor.

Member Function Documentation

void DUNE::Maneuvers::VehicleFormation::consume ( const IMC::VehicleFormation * msg )

Consumer for IMC::VehicleFormation message.

Parameters

msg	vehicle formation message

References DUNE::IMC::CL_PATH, DUNE::Coordinates::displace(), DUNE::Coordinates::WGS84::displace(), DUNE::IMC::VehicleFormation::lat, DUNE::IMC::VehicleFormation::lon, DUNE::IMC::VehicleFormation::speed, DUNE::IMC::VehicleFormation::speed_units, DUNE::Coordinates::toPolar(), DUNE::Maneuvers::VehicleFormation::TPoint::x, DUNE::Maneuvers::VehicleFormation::TPoint::y, DUNE::Maneuvers::VehicleFormation::Participant::z, and DUNE::IMC::VehicleFormation::z.

void DUNE::Maneuvers::VehicleFormation::consume ( const IMC::RemoteState * msg )

Consumer for IMC::RemoteState message.

Parameters

msg message

References DUNE::IMC::Message::getSource().

void DUNE::Maneuvers::VehicleFormation::consume ( const IMC::EstimatedState * msg )

Consumer for IMC::EstimatedState message.

Parameters

msg message

References DUNE::IMC::Message::getTimeStamp(), DUNE::IMC::EstimatedState::lat, and DUNE::IMC::EstimatedState::lon.

void DUNE::Maneuvers::VehicleFormation::consume ( const IMC::PathControlState * msg )

Consumer for IMC::PathControlState message.

Parameters

msg	path control state message

References DUNE::IMC::PathControlState::FL_NEAR, and DUNE::IMC::PathControlState::flags.

double DUNE::Maneuvers::VehicleFormation::controlPeriod ( void ) const

inline

Get control step period.

Returns: control step period.

void DUNE::Maneuvers::VehicleFormation::desiredPath	(	const TPoint &	start,
		const TPoint &	end,
		double	radius = `-1`
	)

References DUNE::Coordinates::WGS84::displace(), DUNE::Maneuvers::VehicleFormation::TPoint::x, DUNE::Maneuvers::VehicleFormation::TPoint::y, and DUNE::Maneuvers::VehicleFormation::TPoint::z.

void DUNE::Maneuvers::VehicleFormation::desiredSpeed	(	double	value,
		uint8_t	speed_units
	)

References DUNE::IMC::VehicleFormation::speed, DUNE::IMC::DesiredSpeed::speed_units, and DUNE::IMC::DesiredSpeed::value.

int DUNE::Maneuvers::VehicleFormation::formation_index ( void ) const

inline

Get index of local vehicle in formation.

Returns: formation index.

int DUNE::Maneuvers::VehicleFormation::formation_index ( int addr ) const

inline

Get index of given IMC address in formation.

Returns: formation index.

bool DUNE::Maneuvers::VehicleFormation::isApproaching ( void ) const

inline

Check if maneuver is still in approach stage (i.e.

moving to the initial point).

Returns: true if maneuver is in approach state, false otherwise.

virtual void DUNE::Maneuvers::VehicleFormation::onInit ( const IMC::VehicleFormation * msg )

inlinevirtual

Method invoked on maneuver startup.

By default the base class implementation does nothing.

Parameters

msg	vehicle formation message

void DUNE::Maneuvers::VehicleFormation::onManeuverDeactivation ( void )

Method called upon maneuver deactivation.

virtual void DUNE::Maneuvers::VehicleFormation::onPathCompletion ( void )

pure virtual

Abstract method called upon path completion.

This will not be called in approach stage (see isApproaching()).

virtual void DUNE::Maneuvers::VehicleFormation::onReset ( void )

inlinevirtual

Method invoked on maneuver reset.

By default the base class implementation does nothing.

virtual void DUNE::Maneuvers::VehicleFormation::onUpdate	(	int	index,
		const IMC::RemoteState &	rstate
	)

pure virtual

Abstract method invoked upon a remote state update.

Parameters

index	formation index of remote vehicle
rstate	state of remote vehicle

void DUNE::Maneuvers::VehicleFormation::onUpdateParameters ( void )

virtual

const Participant& DUNE::Maneuvers::VehicleFormation::participant ( int index ) const

inline

Get configuration of a vehicle in formation.

Parameters

index formation index

Returns: participant data for specified formation index

size_t DUNE::Maneuvers::VehicleFormation::participants ( ) const

inline

Get number of participants in formation.

Returns: number of participants in formation

VehicleFormation::TPoint DUNE::Maneuvers::VehicleFormation::point	(	int	t_index,
		int	f_index = `-1`
	)		const

Get a point in the trajectory.

Parameters

t_index	index of point
f_index	formation index (vehicle)

Returns: corresponding traj. point, optionally displaced by formation index offsets

References DUNE::Coordinates::displace(), DUNE::Coordinates::getBearing(), DUNE::Coordinates::toPolar(), DUNE::Maneuvers::VehicleFormation::TPoint::z, and DUNE::Maneuvers::VehicleFormation::Participant::z.

const Participant& DUNE::Maneuvers::VehicleFormation::self ( void )

inline

Get configuration of local vehicle in formation.

Returns: participant data for local vehicle

virtual void DUNE::Maneuvers::VehicleFormation::step ( const IMC::EstimatedState & state )

pure virtual

Abstract method invoked for trajectory control.

This will be invoked periodically according to the control step period (see controlPeriod()) after the initial approach stage has concluded (see isApproaching()).

void DUNE::Maneuvers::VehicleFormation::toLocalCoordinates	(	double	lat,
		double	lon,
		double *	x,
		double *	y
	)

References DUNE::Coordinates::WGS84::displacement().

size_t DUNE::Maneuvers::VehicleFormation::trajectory_points ( void ) const

inline

Get number of points in the trajetory.

Collaboration diagram for DUNE::Maneuvers::VehicleFormation:

Detailed Description

Classes

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation