Public Member Functions
	SlopeData (unsigned fsamples, float min_range, float safe_pitch, float slope_hyst)

	~SlopeData (void)

void	reset (void)

void	onDistance (const IMC::Distance *msg, const IMC::EstimatedState &state, IMC::ControlParcel &cparcel)

float	updateSlopeTop (const IMC::EstimatedState &state)

float	getFRange (void) const

float	getSlope (void) const

float	getDistanceToSlope (void) const

bool	isRangeLow (void) const

bool	isTooSteep (void)

bool	isTopCleared (void) const

bool	isSurface (const IMC::EstimatedState &state) const

bool	isSlopeIncreasing (void) const

void	renderSlopeInvalid (void)

Constructor & Destructor Documentation

DUNE::Control::SlopeData::SlopeData	(	unsigned	fsamples,
		float	min_range,
		float	safe_pitch,
		float	slope_hyst
	)

inline

Constructor.

Parameters

[in]	fsamples	number of samples for forward range moving average
[in]	min_range	minimum admissible forward range for bottom tracking
[in]	safe_pitch	max admissible pitch angle to perform bottom tracking
[in]	slope_hyst	slope angle hysteresis value for safeness detection

DUNE::Control::SlopeData::~SlopeData ( void )

inline

Deconstructor.

References DUNE::Memory::clear().

Member Function Documentation

float DUNE::Control::SlopeData::getDistanceToSlope ( void ) const

inline

Get distance to slope top.

Returns: current distance to slope top

float DUNE::Control::SlopeData::getFRange ( void ) const

inline

Get forward range.

Returns: forward range

float DUNE::Control::SlopeData::getSlope ( void ) const

inline

Get current slope angle.

Returns: current slope angle

bool DUNE::Control::SlopeData::isRangeLow ( void ) const

inline

Test if forward range is too low.

Returns: true if forward range is low

bool DUNE::Control::SlopeData::isSlopeIncreasing ( void ) const

inline

Test if slope is increasing.

Returns: true if slope is increasing

bool DUNE::Control::SlopeData::isSurface ( const IMC::EstimatedState & state ) const

inline

Test if forward range could be the surface.

Parameters

[in] state EstimatedState info

Returns: true if the reading is probably the surface

References DUNE::IMC::EstimatedState::depth, and DUNE::IMC::EstimatedState::theta.

bool DUNE::Control::SlopeData::isTooSteep ( void )

inline

Test if slope is too steep.

Returns: true if slope is too steep

bool DUNE::Control::SlopeData::isTopCleared ( void ) const

inline

Test if top is no longer an issue check if distance to slope top is increasing of if distance to slope top is very short.

Returns: true if cleared

void DUNE::Control::SlopeData::onDistance	(	const IMC::Distance *	msg,
		const IMC::EstimatedState &	state,
		IMC::ControlParcel &	cparcel
	)

inline

Consume a Distance message.

Parameters

[in]	msg	sonar distance message
[in]	state	estimatedstate message
[in]	cparcel	control parcel message

References DUNE::IMC::Distance::beam_config, DUNE::IMC::Distance::DV_VALID, DUNE::IMC::Message::getSourceEntity(), DUNE::IMC::Distance::location, DUNE::IMC::Distance::validity, and DUNE::IMC::Distance::value.

Referenced by DUNE::Control::BottomTracker::onDistance().

void DUNE::Control::SlopeData::renderSlopeInvalid ( void )

inline

Flag slope top as invalid.

void DUNE::Control::SlopeData::reset ( void )

inline

Reset the object.

Referenced by DUNE::Control::BottomTracker::reset().

float DUNE::Control::SlopeData::updateSlopeTop ( const IMC::EstimatedState & state )

inline

Update slope top.

Parameters

[in] state estimatedstate message

Returns: distance to slope's top

Collaboration diagram for DUNE::Control::SlopeData:

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation