Maneuver::Multiplexer::YoYo Class Reference

Detailed Description

Yoyo maneuver.

Public Member Functions
	YoYo (Maneuvers::Maneuver *task, YoYoArgs *args)
	~YoYo (void)
void	onStart (const IMC::YoYo *maneuver)
void	onPathControlState (const IMC::PathControlState *pcs)
void	onEstimatedState (const IMC::EstimatedState *msg)
void	onBrake (const IMC::Brake *msg)
void	update (double depth, double alt, double theta)
Public Member Functions inherited from Maneuver::Multiplexer::MuxedManeuver< IMC::YoYo, YoYoArgs >
	MuxedManeuver (Maneuvers::Maneuver *task, YoYoArgs *args)
	MuxedManeuver (Maneuvers::Maneuver *task)
virtual	~MuxedManeuver (void)
void	start (const IMC::Maneuver *maneuver)
Public Member Functions inherited from Maneuver::Multiplexer::AbstractMux
	AbstractMux (Maneuvers::Maneuver *task)
virtual	~AbstractMux (void)
virtual void	onStateReport (void)
virtual void	onVehicleMedium (const IMC::VehicleMedium *msg)
virtual void	onGpsFix (const IMC::GpsFix *msg)

Additional Inherited Members
Protected Attributes inherited from Maneuver::Multiplexer::MuxedManeuver< IMC::YoYo, YoYoArgs >
YoYoArgs *	m_args
Protected Attributes inherited from Maneuver::Multiplexer::AbstractMux
Maneuvers::Maneuver *	m_task

Constructor & Destructor Documentation

Maneuver::Multiplexer::YoYo::YoYo ( Maneuvers::Maneuver *  task, YoYoArgs *  args  )

inline

Default constructor.

Parameters

[in]	task	pointer to Maneuver task
[in]	args	yoyo arguments

Maneuver::Multiplexer::YoYo::~YoYo ( void  )

inline

Destructor.

Member Function Documentation

void Maneuver::Multiplexer::YoYo::onBrake ( const IMC::Brake *  msg )

inlinevirtual

On Brake message.

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References DUNE::Control::YoYoMotion::startedBraking().

void Maneuver::Multiplexer::YoYo::onEstimatedState ( const IMC::EstimatedState *  msg )

inlinevirtual

On EstimatedState message.

Parameters

[in]

msg

EstimatedState message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References Maneuver::Multiplexer::AbstractMux::m_task, and update().

void Maneuver::Multiplexer::YoYo::onPathControlState ( const IMC::PathControlState *  pcs )

inlinevirtual

On PathControlState message.

Parameters

[in]

pcs

pointer to PathControlState message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References Maneuver::Multiplexer::YoYoArgs::check_errors, Maneuver::Multiplexer::MuxedManeuver< IMC::YoYo, YoYoArgs >::m_args, Maneuver::Multiplexer::AbstractMux::m_task, Maneuver::Multiplexer::YoYoArgs::u_course, and Maneuver::Multiplexer::YoYoArgs::u_ctrack.

void Maneuver::Multiplexer::YoYo::onStart ( const IMC::YoYo *  maneuver )

inlinevirtual

Start maneuver function.

Parameters

[in]

maneuver

yoyo maneuver message

Implements Maneuver::Multiplexer::MuxedManeuver< IMC::YoYo, YoYoArgs >.

References Maneuver::Multiplexer::MuxedManeuver< IMC::YoYo, YoYoArgs >::m_args, Maneuver::Multiplexer::AbstractMux::m_task, Maneuver::Multiplexer::YoYoArgs::max_depth, Maneuver::Multiplexer::YoYoArgs::min_alt, and Maneuver::Multiplexer::YoYoArgs::variation.

void Maneuver::Multiplexer::YoYo::update ( double  depth, double  alt, double  theta  )

inline

update the maneuver with a depth or altitude value a negative value will be interpreted as an altitude

Parameters

[in]	depth	current depth position
[in]	alt	current altitude position
[in]	theta	current pitch angle

References Maneuver::Multiplexer::AbstractMux::m_task, DUNE::Control::YoYoMotion::stabilize(), and DUNE::Control::YoYoMotion::update().

Referenced by onEstimatedState().

Collaboration diagram for Maneuver::Multiplexer::YoYo: