Monitors::Collisions::Task Struct Reference

Detailed Description

Collisions task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onEntityResolution (void)
void	onResourceRelease (void)
void	consume (const IMC::Acceleration *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::Brake *msg)
void	consume (const IMC::Rpm *msg)
void	consume (const IMC::VehicleMedium *msg)
bool	ignoreCollision (void)
void	collided (void)
void	onMain (void)

Public Attributes
MovingAverage< double > *	m_avg_x_innov
MovingAverage< double > *	m_avg_z_innov
MovingAverage< double > *	m_avg_x_abs
MovingAverage< double > *	m_avg_z_abs
Time::Counter< double >	m_twindow
Time::Counter< double >	m_treport
IMC::Collision	m_collision
IMC::VehicleMedium	m_vm
unsigned	m_device_eid
float	m_depth
bool	m_braking
int	m_rpms
Arguments	m_args

Constructor & Destructor Documentation

Monitors::Collisions::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Monitors::Collisions::Arguments::avg_samples_abs, Monitors::Collisions::Arguments::avg_samples_innov, Monitors::Collisions::Arguments::elabel_device, Monitors::Collisions::Arguments::frequency, Monitors::Collisions::Arguments::k_std, m_args, Monitors::Collisions::Arguments::max_x, Monitors::Collisions::Arguments::max_z, Monitors::Collisions::Arguments::min_depth, Monitors::Collisions::Arguments::min_std, and Monitors::Collisions::Arguments::t_error.

Member Function Documentation

void Monitors::Collisions::Task::collided ( void  )

inline

This routine is called when a collision is detected.

References ignoreCollision(), m_collision, m_treport, and m_twindow.

Referenced by consume().

void Monitors::Collisions::Task::consume ( const IMC::Acceleration *  msg )

inline

References collided(), Monitors::Collisions::Arguments::k_std, m_args, m_avg_x_abs, m_avg_x_innov, m_avg_z_abs, m_avg_z_innov, m_collision, m_device_eid, m_vm, Monitors::Collisions::Arguments::max_x, Monitors::Collisions::Arguments::max_z, Monitors::Collisions::Arguments::min_std, DUNE::Math::MovingAverage< T >::stdev(), and DUNE::Math::MovingAverage< T >::update().

void Monitors::Collisions::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_depth.

void Monitors::Collisions::Task::consume ( const IMC::Brake *  msg )

inline

References m_braking.

void Monitors::Collisions::Task::consume ( const IMC::Rpm *  msg )

inline

References m_rpms.

void Monitors::Collisions::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References m_vm.

bool Monitors::Collisions::Task::ignoreCollision ( void  )

inline

Check if the collision should be ignored.

Returns

true if collision should be ignored

References m_args, m_braking, m_depth, m_rpms, and Monitors::Collisions::Arguments::min_depth.

Referenced by collided().

void Monitors::Collisions::Task::onEntityResolution ( void  )

inline

References Monitors::Collisions::Arguments::elabel_device, m_args, and m_device_eid.

void Monitors::Collisions::Task::onMain ( void  )

inline

References m_twindow.

void Monitors::Collisions::Task::onResourceInitialization ( void  )

inline

References Monitors::Collisions::Arguments::avg_samples_abs, Monitors::Collisions::Arguments::avg_samples_innov, m_args, m_avg_x_abs, m_avg_x_innov, m_avg_z_abs, and m_avg_z_innov.

void Monitors::Collisions::Task::onResourceRelease ( void  )

inline

References m_avg_x_abs, m_avg_x_innov, m_avg_z_abs, and m_avg_z_innov.

void Monitors::Collisions::Task::onUpdateParameters ( void  )

inline

References Monitors::Collisions::Arguments::frequency, m_args, m_treport, m_twindow, Monitors::Collisions::Arguments::max_x, Monitors::Collisions::Arguments::max_z, and Monitors::Collisions::Arguments::t_error.

Member Data Documentation

Arguments Monitors::Collisions::Task::m_args

Task arguments.

Referenced by consume(), ignoreCollision(), onEntityResolution(), onResourceInitialization(), onUpdateParameters(), and Task().

MovingAverage<double>* Monitors::Collisions::Task::m_avg_x_abs

Accelerations along x-axis moving average for absolute limits threshold checking.

Referenced by consume(), onResourceInitialization(), and onResourceRelease().

MovingAverage<double>* Monitors::Collisions::Task::m_avg_x_innov

Accelerations along x-axis moving average for innovation limits threshold checking.

Referenced by consume(), onResourceInitialization(), and onResourceRelease().

MovingAverage<double>* Monitors::Collisions::Task::m_avg_z_abs

Accelerations along z-axis moving average for absolute limits threshold checking.

Referenced by consume(), onResourceInitialization(), and onResourceRelease().

MovingAverage<double>* Monitors::Collisions::Task::m_avg_z_innov

Accelerations along z-axis moving average for innovation limits threshold checking.

Referenced by consume(), onResourceInitialization(), and onResourceRelease().

bool Monitors::Collisions::Task::m_braking

True if braking.

Referenced by consume(), and ignoreCollision().

IMC::Collision Monitors::Collisions::Task::m_collision

Collision detected.

Referenced by collided(), and consume().

float Monitors::Collisions::Task::m_depth

Depth value.

Referenced by consume(), and ignoreCollision().

unsigned Monitors::Collisions::Task::m_device_eid

Device entity id.

Referenced by consume(), and onEntityResolution().

int Monitors::Collisions::Task::m_rpms

Motor's rpms.

Referenced by consume(), and ignoreCollision().

Time::Counter<double> Monitors::Collisions::Task::m_treport

Collision message report period.

Referenced by collided(), and onUpdateParameters().

Time::Counter<double> Monitors::Collisions::Task::m_twindow

Time window to remain in error mode after colliding.

Referenced by collided(), onMain(), and onUpdateParameters().

IMC::VehicleMedium Monitors::Collisions::Task::m_vm

Vehicle Medium.

Referenced by consume().

Collaboration diagram for Monitors::Collisions::Task: