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

void	onUpdateParameters (void)

void	onEntityResolution (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	consume (const IMC::LeaderState *msg)

void	consume (const IMC::PlanControl *msg)

void	consume (const IMC::IndicatedSpeed *msg)

void	consume (const IMC::EstimatedStreamVelocity *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	dispatchAlias (IMC::Message *msg)

void	dispatchLeader (IMC::Message *msg)

void	checkActivCtrlCond ()

void	setLeaderState (const IMC::LeaderState *leader_state)

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 unsigned int &ind_uav, const double &d_time_step, Matrix vd_cmd, const bool b_debug, FormMonitor form_monitor)

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

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) 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::EstimatedState	m_estate_leader

double	m_clock_diff

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

Math::MovingAverage< fp64_t > *	m_wind_avg_x

Math::MovingAverage< fp64_t > *	m_wind_avg_y

Math::MovingAverage< fp64_t > *	m_wind_avg_z

double	m_g

Matrix	m_uav_ctrl

IMC::DesiredRoll	m_bank_cmd

IMC::DesiredSpeed	m_airspeed_cmd

IMC::DesiredZ	m_altitude_cmd

double	m_tas_cmd_leader

double	m_alt_cmd_leader

double	m_bank_lim

IMC::FormationControlParams	m_formation_ctrl_params

bool	m_param_init

double	m_k_longitudinal

double	m_k_lateral

double	m_k_boundary

double	m_k_leader

double	m_k_deconfliction

double	m_flow_accel_max

double	m_safe_dist

double	m_deconfliction_offset

double	m_acc_safety_marg

double	m_accel_lim_x

IMC::FormationEvaluation	m_formation_eval

double	m_dist_min_abs

double	m_dist_min_mean

double	m_err_mean

double	m_mean_time

double	m_mean_time_start

bool	m_mean_first

unsigned int	m_uav_n

unsigned int	m_uav_ind

Matrix	m_formation_pos

Systems	m_uav_id

bool	m_ctrl_active

bool	m_team_plan_init

bool	m_team_leader_init

bool	m_team_state_init

bool	m_valid_airspeed

double	m_frequency

double	m_timestep_sim

double	m_timestep_ctrl

IMC::LeaderState	m_init_leader

bool	m_debug

FormMonitor *	m_form_monitor

std::map< uint32_t, Systems >	m_filtered_sys

std::map< uint32_t, Entities >	m_filtered_ent

uint32_t	m_alias_id

uint32_t	m_leader_id

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)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (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 , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

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	onReportEntityState (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

Member Function Documentation

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

inline

References DUNE::Tasks::Task::isActive(), m_ctrl_active, m_last_time_trace, m_team_leader_init, m_team_plan_init, m_team_state_init, m_uav_n, m_valid_airspeed, and DUNE::Tasks::Task::spew().

Referenced by consume().

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

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), m_alias_id, DUNE::Tasks::Task::resolveSystemId(), setLeaderState(), and DUNE::Tasks::Task::trace().

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

inline

References DUNE::Tasks::Task::getSystemId(), m_bank_lim, m_init_leader, m_llh_ref_pos, m_team_plan_init, m_uav_ind, m_uav_state, m_wind, DUNE::Tasks::Task::resolveSystemId(), setLeaderState(), DUNE::Tasks::Task::trace(), and DUNE::Math::trimValue().

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

inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_airspeed, m_uav_ctrl, m_uav_ind, m_valid_airspeed, and DUNE::Tasks::Task::trace().

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

inline

References m_wind, m_wind_avg_x, m_wind_avg_y, and m_wind_avg_z.

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

inline

References DUNE::Tasks::Task::getSystemId(), m_uav_accel, m_uav_ind, and DUNE::Math::Matrix::set().

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

inline

References DUNE::Simulation::UAVSimulation::commandBank(), DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::isActive(), m_bank_lim, m_filtered_ent, m_filtered_sys, m_model, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), and DUNE::Math::trimValue().

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

inline

References DUNE::Simulation::UAVSimulation::commandAirspeed(), DUNE::Tasks::Task::isActive(), m_args, m_filtered_ent, m_filtered_sys, m_model, m_tas_cmd_leader, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::tas_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::tas_min, DUNE::Tasks::Task::trace(), and DUNE::Math::trimValue().

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

inline

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_min, DUNE::Simulation::UAVSimulation::commandAlt(), DUNE::Tasks::Task::isActive(), m_alt_cmd_leader, m_args, m_filtered_ent, m_filtered_sys, m_llh_ref_pos, m_model, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), and DUNE::Math::trimValue().

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

inline

void Maneuver::VehicleFormation::FormCollAvoid::Task::dispatchAlias ( IMC::Message * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_alias_id.

Referenced by consume(), and onUpdateParameters().

void Maneuver::VehicleFormation::FormCollAvoid::Task::dispatchLeader ( IMC::Message * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_leader_id.

Referenced by teamPeriodicUpdate().

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

inline

Referenced by consume(), and teamPeriodicUpdate().

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

inline

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

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_bank, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_speed, Maneuver::VehicleFormation::FormCollAvoid::Arguments::cmd_src, DUNE::Simulation::UAVSimulation::command(), DUNE::Tasks::Task::debug(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::default_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::default_speed, m_airspeed, m_airspeed_cmd, m_alt_cmd_leader, m_altitude_cmd, m_args, m_filtered_ent, m_filtered_sys, m_llh_ref_pos, m_model, m_position, m_tas_cmd_leader, m_team_leader_init, m_velocity, onUpdateParameters(), DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemName(), and DUNE::Simulation::UAVSimulation.

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.

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

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

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.

Referenced by onEntityResolution().

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(), and setLeaderState().

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

inline

References DUNE::Tasks::Task::debug(), DUNE::Math::Angles::degrees(), DUNE::Math::Matrix::get(), m_bank_lim, m_estate_leader, m_init_leader, m_last_state_estim, m_llh_ref_pos, m_model, m_team_leader_init, m_uav_state, DUNE::Simulation::UAVSimulation::m_wind, positionReframing(), DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::setPosition(), DUNE::Simulation::UAVSimulation::setVelocity(), DUNE::Math::trimValue(), and DUNE::Math::Matrix::vertCat().

Referenced by consume().

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::Tasks::Task::getSystemName(), DUNE::Tasks::Task::isActive(), m_clock_diff, m_last_time_trace, DUNE::Tasks::Task::spew(), and teamPeriodicUpdate().

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

inline

Update team simulated state for standard time periods.

References dispatchLeader(), formationControl(), DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getAirspeed(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Simulation::UAVSimulation::getVelocity(), m_debug, m_estate_leader, m_form_monitor, m_last_simctrl_update, m_last_state_estim, m_model, m_models, m_position, m_timestep_ctrl, m_timestep_sim, m_uav_accel, m_uav_ctrl, m_uav_n, m_uav_state, m_velocity, m_wind, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Matrix::norm_2(), DUNE::Math::Matrix::set(), teamUnevenUpdate(), DUNE::Math::Matrix::toDCM(), DUNE::Math::transpose(), 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_g, m_last_state_estim, m_model, m_models, m_uav_accel, m_uav_ind, m_uav_n, m_uav_state, DUNE::Math::Matrix::set(), and DUNE::Simulation::UAVSimulation::update().

Referenced by consume(), and teamPeriodicUpdate().

Member Data Documentation

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_acc_safety_marg

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_accel_lim_x

Referenced by formationControl(), and onUpdateParameters().

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

Referenced by consume(), and onEntityResolution().

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

Referenced by consume(), and onEntityResolution().

uint32_t Maneuver::VehicleFormation::FormCollAvoid::Task::m_alias_id

Referenced by consume(), dispatchAlias(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_alt_cmd_leader

Leader commanded altitude.

Referenced by consume(), onEntityResolution(), and onUpdateParameters().

IMC::DesiredZ Maneuver::VehicleFormation::FormCollAvoid::Task::m_altitude_cmd

Referenced by consume(), and onEntityResolution().

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

Task arguments.

Referenced by consume(), formationControl(), onEntityResolution(), onUpdateParameters(), and Task().

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

Vehicle commands.

Referenced by consume().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_bank_lim

Command limits.

Referenced by consume(), formationControl(), onUpdateParameters(), and setLeaderState().

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

Simulation and control time variables.

Referenced by consume(), and task().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_ctrl_active

Process logic control variables.

Referenced by checkActivCtrlCond(), and consume().

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

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

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_deconfliction_offset

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_dist_min_abs

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_dist_min_mean

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_err_mean

Referenced by consume(), and onUpdateParameters().

IMC::EstimatedState Maneuver::VehicleFormation::FormCollAvoid::Task::m_estate_leader

Leader's estimated state.

Referenced by setLeaderState(), and teamPeriodicUpdate().

std::map<uint32_t, Entities> Maneuver::VehicleFormation::FormCollAvoid::Task::m_filtered_ent

List of entities allowed to define a command.

Referenced by consume(), and onEntityResolution().

std::map<uint32_t, Systems> Maneuver::VehicleFormation::FormCollAvoid::Task::m_filtered_sys

List of systems allowed to define a command.

Referenced by consume(), and onEntityResolution().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_flow_accel_max

Referenced by formationControl(), and onUpdateParameters().

FormMonitor* Maneuver::VehicleFormation::FormCollAvoid::Task::m_form_monitor

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

IMC::FormationControlParams Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_ctrl_params

Controller parameters.

Referenced by onUpdateParameters().

IMC::FormationEvaluation Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_eval

Controller evaluation data.

Referenced by onUpdateParameters().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_pos

Referenced by formationControl(), and onUpdateParameters().

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

Simulation process frequency.

Referenced by onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_g

Referenced by formationControl(), and teamUnevenUpdate().

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

Leader initial state.

Referenced by consume(), and setLeaderState().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_boundary

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_deconfliction

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_lateral

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_leader

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_longitudinal

Referenced by formationControl(), and onUpdateParameters().

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

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

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

Referenced by consume(), onUpdateParameters(), setLeaderState(), 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

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

Referenced by checkActivCtrlCond(), and task().

uint32_t Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_id

Referenced by dispatchLeader(), and onUpdateParameters().

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

Vehicle's referential position (Latitude, Longitude, and height).

Referenced by consume(), onEntityResolution(), and setLeaderState().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_mean_first

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_mean_time

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_mean_time_start

Referenced by consume().

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

Leader vehicle model.

Referenced by consume(), onEntityResolution(), onUpdateParameters(), setLeaderState(), teamPeriodicUpdate(), and teamUnevenUpdate().

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

Simulated vehicles' models.

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

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_param_init

Referenced by onUpdateParameters().

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

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

Referenced by onEntityResolution(), onUpdateParameters(), and teamPeriodicUpdate().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_safe_dist

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_tas_cmd_leader

Leader commanded true airspeed.

Referenced by consume(), formationControl(), onEntityResolution(), and onUpdateParameters().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_team_leader_init

Referenced by checkActivCtrlCond(), onEntityResolution(), and setLeaderState().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_team_plan_init

Referenced by checkActivCtrlCond(), and consume().

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

Referenced by checkActivCtrlCond(), consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_ctrl

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

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_sim

Referenced by onUpdateParameters(), and teamPeriodicUpdate().

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

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

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

System command variables.

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

Systems Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_id

Referenced by consume(), and onUpdateParameters().

unsigned int Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_ind

Referenced by consume(), formationControl(), onUpdateParameters(), and teamUnevenUpdate().

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

Number of team vehicles.

Referenced by checkActivCtrlCond(), consume(), formationControl(), onUpdateParameters(), teamPeriodicUpdate(), and teamUnevenUpdate().

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

System state variables.

Referenced by consume(), onUpdateParameters(), setLeaderState(), teamPeriodicUpdate(), and teamUnevenUpdate().

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

Referenced by checkActivCtrlCond(), and consume().

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

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

Referenced by onEntityResolution(), onUpdateParameters(), and teamPeriodicUpdate().

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

Environment variables.

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

Math::MovingAverage<fp64_t>* Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind_avg_x

Referenced by consume().

Math::MovingAverage<fp64_t>* Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind_avg_y

Referenced by consume().

Math::MovingAverage<fp64_t>* Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind_avg_z

Referenced by consume().

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

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation