Simulators::Environment::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onEntityReservation (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::SimulatedState *msg)
void	task (void)
void	updateBottomDistance (void)
double	depthAt (double x, double y)
void	updateForwardDistance (void)
double	forwardRange (double psi_offset=0.0)
double	bottomIntersection (void)

Public Attributes
IMC::Distance	m_bd
IMC::Distance	m_fd
IMC::SimulatedState	m_sstate
double	m_a_n
double	m_a_e
double	m_b_n
double	m_b_e
Random::Generator *	m_prng
QuadTree *	m_qtree
double	m_ref_lat
double	m_ref_lon
double	m_off_n
double	m_off_e
PencilBeam *	m_pb
Arguments	m_args

Constructor & Destructor Documentation

Simulators::Environment::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Simulators::Environment::Arguments::bd_std_dev, Simulators::Environment::Arguments::bottom_orientation, Simulators::Environment::Arguments::bottom_position, Simulators::Environment::Arguments::bottom_width, Simulators::Environment::Arguments::fd_std_dev, Simulators::Environment::Arguments::forward_orientation, Simulators::Environment::Arguments::forward_position, Simulators::Environment::Arguments::forward_width, Simulators::Environment::Arguments::interp_radius, Simulators::Environment::Arguments::intersect_method, Simulators::Environment::Arguments::label_bd, Simulators::Environment::Arguments::label_fd, Simulators::Environment::Arguments::location, m_args, Simulators::Environment::Arguments::max_range, Simulators::Environment::Arguments::min_range, Simulators::Environment::Arguments::oob_depth, Simulators::Environment::Arguments::pb, Simulators::Environment::Arguments::pencil_beam, Simulators::Environment::Arguments::pier, Simulators::Environment::Arguments::prng_seed, Simulators::Environment::Arguments::prng_type, Simulators::Environment::PencilBeam::PBArguments::sector_width, Simulators::Environment::Arguments::simulate_bd, Simulators::Environment::Arguments::simulate_fd, Simulators::Environment::Arguments::simulate_pier, Simulators::Environment::PencilBeam::PBArguments::step_size, Simulators::Environment::Arguments::tide, and Simulators::Environment::PencilBeam::PBArguments::time_step.

Member Function Documentation

double Simulators::Environment::Task::bottomIntersection ( void  )

inline

Compute the depths of c_forward_points in front of the vehicle Use connections between these points as line segments and intersect them with lower beam part of the echo sounder.

Returns

range after intersection

References depthAt(), Simulators::Environment::Arguments::forward_width, DUNE::Math::lineSegmentIntersect(), m_args, m_off_e, m_off_n, m_sstate, and Simulators::Environment::Arguments::max_range.

Referenced by forwardRange().

void Simulators::Environment::Task::consume ( const IMC::GpsFix *  msg )

inline

References m_a_e, m_a_n, m_args, m_b_e, m_b_n, m_off_e, m_off_n, m_ref_lat, m_ref_lon, and Simulators::Environment::Arguments::pier.

void Simulators::Environment::Task::consume ( const IMC::SimulatedState *  msg )

inline

References m_sstate.

double Simulators::Environment::Task::depthAt ( double  x, double  y  )

inline

Compute depth at a certian (x, y) position.

Parameters

[in]	x	coordinate of position
[in]	y	coordinate of position

Returns

depth at specified point

References Simulators::Environment::Point::distance(), Simulators::Environment::Arguments::interp_radius, m_args, m_qtree, Simulators::Environment::Arguments::oob_depth, Simulators::Environment::QuadTree::search(), and Simulators::Environment::Arguments::tide.

Referenced by bottomIntersection(), and updateBottomDistance().

double Simulators::Environment::Task::forwardRange ( double  psi_offset = 0.0 )

inline

Compute the forward range seen by the FLS according to obstacles and bottom.

Returns

forward range at current position

References bottomIntersection(), Simulators::Environment::Arguments::intersect_method, DUNE::Math::lineSegmentIntersect(), m_a_e, m_a_n, m_args, m_b_e, m_b_n, m_bd, m_sstate, Simulators::Environment::Arguments::max_range, Simulators::Environment::Arguments::pencil_beam, and Simulators::Environment::Arguments::simulate_pier.

Referenced by updateForwardDistance().

void Simulators::Environment::Task::onEntityReservation ( void  )

inline

References Simulators::Environment::Arguments::label_bd, Simulators::Environment::Arguments::label_fd, m_args, m_bd, and m_fd.

void Simulators::Environment::Task::onResourceAcquisition ( void  )

inline

References m_args, m_pb, m_prng, Simulators::Environment::Arguments::pb, Simulators::Environment::Arguments::prng_seed, and Simulators::Environment::Arguments::prng_type.

void Simulators::Environment::Task::onResourceInitialization ( void  )

inline

References Simulators::Environment::Arguments::bottom_orientation, Simulators::Environment::Arguments::bottom_position, Simulators::Environment::Arguments::bottom_width, Simulators::Environment::Bounds::cover(), Simulators::Environment::Arguments::forward_orientation, Simulators::Environment::Arguments::forward_position, Simulators::Environment::Arguments::forward_width, DUNE::Parsers::Config::get(), Simulators::Environment::Arguments::location, m_args, m_bd, m_fd, m_qtree, m_ref_lat, m_ref_lon, DUNE::Utils::String::split(), Simulators::Environment::QuadTree::Item::value, Simulators::Environment::QuadTree::Item::x, and Simulators::Environment::QuadTree::Item::y.

void Simulators::Environment::Task::onResourceRelease ( void  )

inline

References m_pb, m_prng, and m_qtree.

void Simulators::Environment::Task::onUpdateParameters ( void  )

inline

References Simulators::Environment::Arguments::bottom_orientation, Simulators::Environment::Arguments::bottom_width, Simulators::Environment::Arguments::forward_orientation, Simulators::Environment::Arguments::forward_width, m_args, m_pb, Simulators::Environment::Arguments::pb, Simulators::Environment::Arguments::pier, Simulators::Environment::PencilBeam::PBArguments::sector_width, Simulators::Environment::PencilBeam::PBArguments::step_size, and Simulators::Environment::PencilBeam::PBArguments::time_step.

void Simulators::Environment::Task::task ( void  )

inline

References m_args, Simulators::Environment::Arguments::simulate_bd, Simulators::Environment::Arguments::simulate_fd, updateBottomDistance(), and updateForwardDistance().

void Simulators::Environment::Task::updateBottomDistance ( void  )

inline

Update bottom distance value with bathymetry.

References Simulators::Environment::Arguments::bd_std_dev, depthAt(), DUNE::Math::Random::Generator::gaussian(), m_args, m_bd, m_off_e, m_off_n, m_prng, and m_sstate.

Referenced by task().

void Simulators::Environment::Task::updateForwardDistance ( void  )

inline

Update forward distance value taking into account obstacles and the bottom.

References Simulators::Environment::Arguments::fd_std_dev, forwardRange(), DUNE::Math::Random::Generator::gaussian(), Simulators::Environment::PencilBeam::isValid(), m_args, m_fd, m_pb, m_prng, m_sstate, Simulators::Environment::Arguments::max_range, Simulators::Environment::Arguments::min_range, Simulators::Environment::Arguments::pencil_beam, DUNE::Math::trimValue(), and Simulators::Environment::PencilBeam::update().

Referenced by task().

Member Data Documentation

double Simulators::Environment::Task::m_a_e

Referenced by consume(), and forwardRange().

double Simulators::Environment::Task::m_a_n

Pier points offsets point A north, A east, B north ...

Referenced by consume(), and forwardRange().

Arguments Simulators::Environment::Task::m_args

Task Arguments.

Referenced by bottomIntersection(), consume(), depthAt(), forwardRange(), onEntityReservation(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), Task(), task(), updateBottomDistance(), and updateForwardDistance().

double Simulators::Environment::Task::m_b_e

Referenced by consume(), and forwardRange().

double Simulators::Environment::Task::m_b_n

Referenced by consume(), and forwardRange().

IMC::Distance Simulators::Environment::Task::m_bd

Bottom distance message.

Referenced by forwardRange(), onEntityReservation(), onResourceInitialization(), and updateBottomDistance().

IMC::Distance Simulators::Environment::Task::m_fd

Forward distance message.

Referenced by onEntityReservation(), onResourceInitialization(), and updateForwardDistance().

double Simulators::Environment::Task::m_off_e

Referenced by bottomIntersection(), consume(), and updateBottomDistance().

double Simulators::Environment::Task::m_off_n

NE offsets in regard to navigational reference.

Referenced by bottomIntersection(), consume(), and updateBottomDistance().

PencilBeam* Simulators::Environment::Task::m_pb

Pencil beam object.

Referenced by onResourceAcquisition(), onResourceRelease(), onUpdateParameters(), and updateForwardDistance().

Random::Generator* Simulators::Environment::Task::m_prng

PRNG handle.

Referenced by onResourceAcquisition(), onResourceRelease(), updateBottomDistance(), and updateForwardDistance().

QuadTree* Simulators::Environment::Task::m_qtree

The tree.

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

double Simulators::Environment::Task::m_ref_lat

Reference latitude and longitude for data points.

Referenced by consume(), and onResourceInitialization().

double Simulators::Environment::Task::m_ref_lon

Referenced by consume(), and onResourceInitialization().

IMC::SimulatedState Simulators::Environment::Task::m_sstate

Current position.

Referenced by bottomIntersection(), consume(), forwardRange(), updateBottomDistance(), and updateForwardDistance().

Collaboration diagram for Simulators::Environment::Task: