DUNE::IMC::NavigationData Class Reference

Detailed Description

Navigation Data.

Public Member Functions
	NavigationData (void)
Message *	clone (void) const
void	clear (void)
bool	fieldsEqual (const Message &msg__) const
int	validate (void) const
uint8_t *	serializeFields (uint8_t *bfr__) const
uint16_t	deserializeFields (const uint8_t *bfr__, uint16_t size__)
uint16_t	reverseDeserializeFields (const uint8_t *bfr__, uint16_t size__)
uint16_t	getId (void) const
const char *	getName (void) const
unsigned	getFixedSerializationSize (void) const
void	fieldsToJSON (std::ostream &os__, unsigned nindent__) const
Public Member Functions inherited from DUNE::IMC::Message
	Message (void)
virtual	~Message (void)
double	setTimeStamp (double ts)
double	setTimeStamp (void)
double	getTimeStamp (void) const
uint16_t	getSource (void) const
void	setSource (uint16_t src)
uint8_t	getSourceEntity (void) const
void	setSourceEntity (uint8_t src_ent)
uint16_t	getDestination (void) const
void	setDestination (uint16_t dst)
uint8_t	getDestinationEntity (void) const
void	setDestinationEntity (uint8_t dst_ent)
virtual uint16_t	getSubId (void) const
virtual void	setSubId (uint16_t subid)
virtual fp64_t	getValueFP (void) const
virtual void	setValueFP (fp64_t val)
unsigned	getSerializationSize (void) const
unsigned	getPayloadSerializationSize (void) const
virtual unsigned	getVariableSerializationSize (void) const
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Static Public Member Functions
static uint16_t	getIdStatic (void)

Public Attributes
fp32_t	bias_psi
fp32_t	bias_r
fp32_t	cog
fp32_t	cyaw
fp32_t	lbl_rej_level
fp32_t	gps_rej_level
fp32_t	custom_x
fp32_t	custom_y
fp32_t	custom_z

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)
virtual void	setSourceNested (uint16_t value)
virtual void	setSourceEntityNested (uint8_t value)
virtual void	setDestinationNested (uint16_t value)
virtual void	setDestinationEntityNested (uint8_t value)
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

DUNE::IMC::NavigationData::NavigationData

(

void

)

References clear(), DUNE::IMC::Message::m_header, and DUNE::IMC::Header::mgid.

Referenced by clone().

Member Function Documentation

void DUNE::IMC::NavigationData::clear ( void  )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References bias_psi, bias_r, cog, custom_x, custom_y, custom_z, cyaw, gps_rej_level, and lbl_rej_level.

Referenced by NavigationData().

Message* DUNE::IMC::NavigationData::clone ( void  ) const

inlinevirtual

Retrieve a copy of the message.

Returns

message copy.

Implements DUNE::IMC::Message.

References NavigationData().

uint16_t DUNE::IMC::NavigationData::deserializeFields ( const uint8_t *  bfr, uint16_t  len  )

virtual

Deserialize message fields from a packet.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns

number of bytes processed.

Implements DUNE::IMC::Message.

References bias_psi, bias_r, cog, custom_x, custom_y, custom_z, cyaw, DUNE::IMC::deserialize(), gps_rej_level, and lbl_rej_level.

bool DUNE::IMC::NavigationData::fieldsEqual ( const Message &  other ) const

virtual

Compare fields for equality.

Parameters

[in]

other

message to compare.

Returns

true if fields are equal, false otherwise.

Reimplemented from DUNE::IMC::Message.

References bias_psi, bias_r, cog, custom_x, custom_y, custom_z, cyaw, gps_rej_level, and lbl_rej_level.

void DUNE::IMC::NavigationData::fieldsToJSON ( std::ostream &  os, unsigned  indent_level  ) const

virtual

Output the message fields (excluding header) in JSON format.

Parameters

os	output stream.
indent_level	number of indentation spaces.

Reimplemented from DUNE::IMC::Message.

References bias_psi, bias_r, cog, custom_x, custom_y, custom_z, cyaw, gps_rej_level, lbl_rej_level, and DUNE::IMC::toJSON().

unsigned DUNE::IMC::NavigationData::getFixedSerializationSize ( void  ) const

inlinevirtual

Get the fixed amount of bytes required to properly serialize this message (variable length fields are not included).

Returns

amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

uint16_t DUNE::IMC::NavigationData::getId ( void  ) const

inlinevirtual

Retrieve message's identification number.

Returns

message's identification number.

Implements DUNE::IMC::Message.

References getIdStatic().

static uint16_t DUNE::IMC::NavigationData::getIdStatic ( void  )

inlinestatic

Referenced by getId().

const char* DUNE::IMC::NavigationData::getName ( void  ) const

inlinevirtual

Retrieve message's name.

Returns

message's name.

Implements DUNE::IMC::Message.

uint16_t DUNE::IMC::NavigationData::reverseDeserializeFields ( const uint8_t *  bfr, uint16_t  len  )

virtual

Deserialize message fields from a packet, swapping the byte order.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns

number of bytes processed.

Implements DUNE::IMC::Message.

References bias_psi, bias_r, cog, custom_x, custom_y, custom_z, cyaw, gps_rej_level, lbl_rej_level, and DUNE::IMC::reverseDeserialize().

uint8_t * DUNE::IMC::NavigationData::serializeFields ( uint8_t *  bfr__ ) const

virtual

Implements DUNE::IMC::Message.

References bias_psi, bias_r, cog, custom_x, custom_y, custom_z, cyaw, gps_rej_level, lbl_rej_level, and DUNE::IMC::serialize().

int DUNE::IMC::NavigationData::validate ( void  ) const

virtual

Validate the message's contents.

Returns

negative value in case of a valid message or a positive value indicating the position of the invalid message field.

Implements DUNE::IMC::Message.

Member Data Documentation

fp32_t DUNE::IMC::NavigationData::bias_psi

Yaw Bias.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::bias_r

Gyro. Yaw Rate Bias.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::cog

Course Over Ground.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::custom_x

Variance - Custom Variable X.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::custom_y

Variance - Custom Variable Y.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::custom_z

Variance - Custom Variable Z.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::cyaw

Continuous Yaw.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::gps_rej_level

LBL Rejection Filter Level.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::NavigationData::lbl_rej_level

GPS Rejection Filter Level.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), DUNE::Navigation::BasicNavigation::runKalmanLBL(), and serializeFields().

Collaboration diagram for DUNE::IMC::NavigationData: