Maneuver::VehicleFormation::FormCollAvoid::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	consume (const IMC::LeaderState *msg)
void	consume (const IMC::IndicatedSpeed *msg)
void	consume (const IMC::EstimatedStreamVelocity *msg)
void	consume (const IMC::SimulatedState *msg)
void	consume (const IMC::Acceleration *msg)
void	consume (const IMC::DesiredRoll *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::EstimatedState *msg)
void	task (void)
void	checkParameters (void)
void	setLeaderState (const IMC::LeaderState *msg)
Matrix	matrixRotRbody2gnd (float roll, float pitch)
template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >
void	positionReframing (const Ta lat1, const Ta lon1, const Tb hei1, const Tc lat2, const Tc lon2, const Td hei2, Te *n, Te *e, Te *d)
void	teamPeriodicUpdate (const double &d_time)
void	teamUnevenUpdate (const double &d_time)
void	formationControl (const Matrix &md_uav_state, const Matrix &md_uav_accel, const int &ind_uav, const double &d_time_step, Matrix *vd_cmd, const bool b_debug)
Public Member Functions inherited from DUNE::Tasks::Periodic
	Periodic (const std::string &name, Context &ctx)
virtual	~Periodic (void)
void	setFrequency (double freq)
double	getFrequency (void) const
double	getRunTime (void) const
unsigned	getRunCount (void) const
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
virtual	~Task (void)
const char *	getName (void) const
const char *	getSystemName (void) const
unsigned int	getSystemId (void) const
unsigned int	getEntityId (void) const
uint16_t	getActivationTime (void) const
uint16_t	getDeactivationTime (void) const
unsigned int	resolveSystemName (const std::string &name) const
const char *	resolveSystemId (unsigned int id) const
void	loadConfig (void)
void	setPriority (unsigned int value)
unsigned int	getPriority (void) const
void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2
void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)
void	dispatch (IMC::Message &msg, unsigned int flags=0)
void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)
void	receive (const IMC::Message *msg)
void	reserveEntities (void)
void	resolveEntities (void)
void	acquireResources (void)
void	releaseResources (void)
void	initializeResources (void)
void	updateParameters (bool act_deact=true)
void	writeParamsXML (std::ostream &os) const
Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)
virtual	~AbstractTask (void)
Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)
virtual	~Thread (void)
int	getProcessorUsage (void)
Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)
virtual	~Runnable (void)
void	start (void)
void	stop (void)
void	join (void)
void	stopAndJoin (void)
void	setPriority (Scheduler::Policy policy, unsigned priority)
State	getState (void)
bool	isCreated (void)
bool	isStopping (void)
bool	isRunning (void)
bool	isStarting (void)
bool	isDead (void)

Public Attributes
Arguments	m_args
std::vector< UAVSimulation * >	m_models
UAVSimulation *	m_model
double	m_llh_ref_pos [3]
Matrix	m_position
Matrix	m_velocity
IMC::SimulatedState	m_sstate
double	m_clock_diff
double	m_last_leader_update
double	m_last_ctrl_update
Matrix	m_last_state_estim
Matrix	m_last_simctrl_update
double	m_last_time_debug
double	m_last_time_trace
double	m_last_time_spew
Matrix	m_uav_state
Matrix	m_uav_accel
double	m_airspeed
Matrix	m_wind
Matrix	m_uav_ctrl
IMC::DesiredRoll	m_bank_cmd
IMC::DesiredSpeed	m_airspeed_cmd
int	m_uav_n
bool	m_team_state_init
bool	m_valid_airspeed
double	m_frequency
IMC::LeaderState	m_init_leader
bool	m_init_leader_set
bool	m_debug

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Member Functions inherited from DUNE::Tasks::Task
const char *	getEntityLabel (void) const
void	setEntityLabel (const std::string &label)
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)
void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)
IMC::EntityState::StateEnum	getEntityState (void) const
unsigned int	reserveEntity (const std::string &label)
unsigned int	resolveEntity (const std::string &label) const
std::string	resolveEntity (unsigned int id) const
bool	stopping (void)
bool	isActive (void) const
void	waitForMessages (double timeout)
void	consumeMessages (void)
template<typename T >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)
template<typename T >
bool	paramChanged (T &var)
void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)
void	setParamSectionEditor (const std::string &name)
template<typename M , typename T >
void	bind (T *task_obj, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)
template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)
void	requestActivation (void)
void	requestDeactivation (void)
void	activate (void)
void	activationFailed (const std::string &reason)
void	deactivate (void)
void	deactivationFailed (const std::string &reason)
virtual void	onEntityReservation (void)
virtual void	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceRelease (void)
virtual void	onResourceInitialization (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (void)
virtual void	onActivation (void)
virtual void	onDeactivation (void)
Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)
void	stopImpl (void)
void	joinImpl (void)
void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

Constructor & Destructor Documentation

Maneuver::VehicleFormation::FormCollAvoid::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::acc_safety_marg, Maneuver::VehicleFormation::FormCollAvoid::Arguments::accel_lim_x, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::bank_lim, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_bank, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_speed, Maneuver::VehicleFormation::FormCollAvoid::Arguments::ctrl_frequency, Maneuver::VehicleFormation::FormCollAvoid::Arguments::debug, Maneuver::VehicleFormation::FormCollAvoid::Arguments::deconfliction_offset, DUNE::Tasks::Parameter::defaultValue(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::flow_accel_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::formation_frame, Maneuver::VehicleFormation::FormCollAvoid::Arguments::formation_pos, Maneuver::VehicleFormation::FormCollAvoid::Arguments::gaccel, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_lat, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_lon, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_roll, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_speed, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_yaw, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_boundary, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_deconfliction, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_lateral, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_leader, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_longitudinal, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_bank_rate, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_lon_accel, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_vert_slope, m_args, DUNE::Math::min(), DUNE::Tasks::Task::param(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::plan, DUNE::Math::Angles::radians(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::safe_dist, Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_type, Maneuver::VehicleFormation::FormCollAvoid::Arguments::tas_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::tas_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind, and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_n.

Member Function Documentation

void Maneuver::VehicleFormation::FormCollAvoid::Task::checkParameters ( void  )

inline

References DUNE::Math::Matrix::columns(), DUNE::Tasks::Task::err(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::formation_pos, m_args, m_uav_n, DUNE::Math::Matrix::resizeAndKeep(), DUNE::Math::Matrix::rows(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_n, and DUNE::Tasks::Task::war().

Referenced by onResourceAcquisition(), and onUpdateParameters().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::LeaderState *  msg )

inline

References DUNE::Tasks::Task::debug(), m_args, setLeaderState(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::IndicatedSpeed *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), m_airspeed, m_args, m_uav_ctrl, m_valid_airspeed, DUNE::Tasks::Task::trace(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::EstimatedStreamVelocity *  msg )

inline

References m_wind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::SimulatedState *  msg )

inline

References DUNE::Simulation::UAVSimulation::command(), DUNE::Math::Matrix::get(), DUNE::Tasks::Task::isActive(), m_args, m_last_state_estim, m_llh_ref_pos, m_model, m_uav_n, m_uav_state, m_valid_airspeed, m_wind, DUNE::Math::Matrix::norm_2(), positionReframing(), DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::setPosition(), DUNE::Simulation::UAVSimulation::setVelocity(), DUNE::Math::Matrix::toDCM(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind, and DUNE::Math::Matrix::vertCat().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::Acceleration *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), m_args, m_uav_accel, DUNE::Math::Matrix::set(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::DesiredRoll *  msg )

inline

References DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_args, DUNE::Simulation::UAVSimulation::m_bank_cmd, m_model, DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::trace(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), DUNE::Simulation::UAVSimulation::m_airspeed_cmd, m_args, m_model, DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::trace(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::DesiredZ *  msg )

inline

References DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), DUNE::Simulation::UAVSimulation::m_altitude_cmd, m_args, m_model, m_position, DUNE::Tasks::Task::resolveSystemId(), DUNE::Simulation::UAVSimulation::setPosition(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_type, DUNE::Tasks::Task::trace(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Simulation::UAVSimulation::command(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::ctrl_frequency, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), formationControl(), DUNE::Math::Matrix::get(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_airspeed_cmd, m_args, m_bank_cmd, m_clock_diff, m_debug, m_last_ctrl_update, m_last_simctrl_update, m_last_state_estim, m_llh_ref_pos, m_models, m_team_state_init, m_uav_accel, m_uav_ctrl, m_uav_n, m_uav_state, m_valid_airspeed, positionReframing(), DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::setPosition(), DUNE::Simulation::UAVSimulation::setVelocity(), teamPeriodicUpdate(), teamUnevenUpdate(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind, and DUNE::Math::Matrix::vertCat().

void Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl ( const Matrix &  md_uav_state, const Matrix &  md_uav_accel, const int &  ind_uav, const double &  d_time_step, Matrix *  vd_cmd, const bool  b_debug  )

inline

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::acc_safety_marg, Maneuver::VehicleFormation::FormCollAvoid::Arguments::accel_lim_x, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::bank_lim, DUNE::Math::Matrix::column(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::deconfliction_offset, Maneuver::VehicleFormation::FormCollAvoid::Arguments::flow_accel_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::formation_frame, Maneuver::VehicleFormation::FormCollAvoid::Arguments::formation_pos, Maneuver::VehicleFormation::FormCollAvoid::Arguments::gaccel, DUNE::Math::Matrix::get(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_boundary, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_deconfliction, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_lateral, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_leader, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_longitudinal, m_args, m_last_time_spew, m_uav_n, m_wind, DUNE::Math::Matrix::norm_2(), DUNE::Math::Matrix::row(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::safe_dist, DUNE::Math::Matrix::set(), DUNE::Tasks::Task::spew(), DUNE::Math::sum(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::tas_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::tas_min, DUNE::Math::transpose(), DUNE::Math::trimValue(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind.

Referenced by consume(), and teamPeriodicUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::matrixRotRbody2gnd ( float  roll, float  pitch  )

inline

void Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition ( void  )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_bank, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_speed, checkParameters(), DUNE::Simulation::UAVSimulation::command(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::debug, DUNE::Tasks::Task::debug(), DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::dispatch(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::formation_pos, DUNE::Math::Matrix::get(), DUNE::Tasks::Periodic::getFrequency(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_lat, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_lon, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_roll, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_speed, Maneuver::VehicleFormation::FormCollAvoid::Arguments::init_yaw, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_bank_rate, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_lon_accel, m_airspeed, m_airspeed_cmd, m_args, m_debug, m_frequency, m_init_leader, m_last_ctrl_update, m_last_leader_update, m_last_simctrl_update, m_last_state_estim, m_llh_ref_pos, m_model, m_models, m_position, DUNE::Simulation::UAVSimulation::m_sim_type, m_uav_ctrl, m_uav_n, m_uav_state, m_velocity, m_wind, DUNE::Math::Matrix, Maneuver::VehicleFormation::FormCollAvoid::Arguments::plan, DUNE::Math::Angles::radians(), DUNE::Simulation::UAVSimulation::setAccelLim(), DUNE::Simulation::UAVSimulation::setBankRateLim(), setLeaderState(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_type, DUNE::Tasks::Task::spew(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind, DUNE::Simulation::UAVSimulation, and DUNE::Math::Matrix::vertCat().

void Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References checkParameters().

template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >

void Maneuver::VehicleFormation::FormCollAvoid::Task::positionReframing ( const Ta  lat1, const Ta  lon1, const Tb  hei1, const Tc  lat2, const Tc  lon2, const Td  hei2, Te *  n, Te *  e, Te *  d  )

inline

Adjust offset position from a reference frame to a new reference frame.

Parameters

[in]	lat1	new reference latitude (rad).
[in]	lon1	new reference longitude (rad).
[in]	hei1	new reference height (m).
[in]	lat2	old reference latitude (rad).
[in]	lon2	old reference longitude (rad).
[in]	hei2	old reference height (m).
[in,out]	n	North offset (m).
[in,out]	e	East offset (m).
[in,out]	d	Down offset (m).

Referenced by consume().

void Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState ( const IMC::LeaderState *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_last_leader_update, m_model, m_position, m_sstate, m_velocity, m_wind, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Tasks::Task::requestActivation(), DUNE::Simulation::UAVSimulation::setPosition(), and DUNE::Simulation::UAVSimulation::setVelocity().

Referenced by consume(), and onResourceAcquisition().

void Maneuver::VehicleFormation::FormCollAvoid::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::dispatch(), DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getAirspeed(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::getSystemName(), DUNE::Simulation::UAVSimulation::getVelocity(), DUNE::Tasks::Task::isActive(), DUNE::Simulation::UAVSimulation::m_airspeed_cmd, m_args, DUNE::Simulation::UAVSimulation::m_bank_cmd, m_clock_diff, m_init_leader, m_last_leader_update, m_last_time_spew, m_model, m_position, m_sstate, m_velocity, m_wind, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Tasks::Task::spew(), teamPeriodicUpdate(), DUNE::Math::Matrix::toDCM(), DUNE::Math::transpose(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::uav_ind, and DUNE::Simulation::UAVSimulation::update().

void Maneuver::VehicleFormation::FormCollAvoid::Task::teamPeriodicUpdate ( const double &  d_time )

inline

Update team simulated state for standard time periods.

References DUNE::Simulation::UAVSimulation::command(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::ctrl_frequency, formationControl(), DUNE::Math::Matrix::get(), m_args, m_frequency, m_last_simctrl_update, m_last_state_estim, m_model, m_models, m_uav_ctrl, m_uav_n, m_uav_state, DUNE::Math::Matrix::set(), teamUnevenUpdate(), and DUNE::Simulation::UAVSimulation::update().

Referenced by consume(), and task().

void Maneuver::VehicleFormation::FormCollAvoid::Task::teamUnevenUpdate ( const double &  d_time )

inline

Update team simulated state for uneven time periods.

References DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Simulation::UAVSimulation::getVelocity(), m_last_state_estim, m_model, m_models, m_uav_n, m_uav_state, DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::update(), and DUNE::Math::Matrix::vertCat().

Referenced by consume(), and teamPeriodicUpdate().

Member Data Documentation

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_airspeed

Referenced by consume(), and onResourceAcquisition().

IMC::DesiredSpeed Maneuver::VehicleFormation::FormCollAvoid::Task::m_airspeed_cmd

Referenced by consume(), and onResourceAcquisition().

Arguments Maneuver::VehicleFormation::FormCollAvoid::Task::m_args

Task arguments.

Referenced by checkParameters(), consume(), formationControl(), onResourceAcquisition(), Task(), task(), and teamPeriodicUpdate().

IMC::DesiredRoll Maneuver::VehicleFormation::FormCollAvoid::Task::m_bank_cmd

Vehicle commands.

Referenced by consume().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_clock_diff

Simulation and control time variables.

Referenced by consume(), and task().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_debug

Referenced by consume(), and onResourceAcquisition().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_frequency

Simulation process frequency.

Referenced by onResourceAcquisition(), and teamPeriodicUpdate().

IMC::LeaderState Maneuver::VehicleFormation::FormCollAvoid::Task::m_init_leader

Leader initial state.

Referenced by onResourceAcquisition(), and task().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_init_leader_set

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_ctrl_update

Referenced by consume(), and onResourceAcquisition().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_leader_update

Referenced by onResourceAcquisition(), setLeaderState(), and task().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_simctrl_update

Referenced by consume(), onResourceAcquisition(), and teamPeriodicUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_state_estim

Referenced by consume(), onResourceAcquisition(), teamPeriodicUpdate(), and teamUnevenUpdate().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_debug

Last time debug information was shown.

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_spew

Referenced by formationControl(), and task().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_trace

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_llh_ref_pos[3]

Vehicls's referencial position (Latitude, Longitude, and height).

Referenced by consume(), and onResourceAcquisition().

UAVSimulation* Maneuver::VehicleFormation::FormCollAvoid::Task::m_model

Leader vehicle model.

Referenced by consume(), onResourceAcquisition(), setLeaderState(), task(), teamPeriodicUpdate(), and teamUnevenUpdate().

std::vector<UAVSimulation*> Maneuver::VehicleFormation::FormCollAvoid::Task::m_models

Simulated vehicles' models.

Referenced by consume(), onResourceAcquisition(), teamPeriodicUpdate(), and teamUnevenUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_position

Leader's simulated position (X,Y,Z,phi,theta,psi).

Referenced by consume(), onResourceAcquisition(), setLeaderState(), and task().

IMC::SimulatedState Maneuver::VehicleFormation::FormCollAvoid::Task::m_sstate

Leader's simulated state.

Referenced by setLeaderState(), and task().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_team_state_init

Process logic control variables.

Referenced by consume().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_accel

Referenced by consume().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_ctrl

System command variables.

Referenced by consume(), onResourceAcquisition(), and teamPeriodicUpdate().

int Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_n

Number of team vehicles.

Referenced by checkParameters(), consume(), formationControl(), onResourceAcquisition(), teamPeriodicUpdate(), and teamUnevenUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_state

System state variables.

Referenced by consume(), onResourceAcquisition(), teamPeriodicUpdate(), and teamUnevenUpdate().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_valid_airspeed

Referenced by consume().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_velocity

Leader's simulated velocity (u,v,w,p,q,r).

Referenced by onResourceAcquisition(), setLeaderState(), and task().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind

Referenced by consume(), formationControl(), onResourceAcquisition(), setLeaderState(), and task().

Collaboration diagram for Maneuver::VehicleFormation::FormCollAvoid::Task: