DUNE::Navigation::Ranging Class Reference

Detailed Description

Ranging is responsible to contain functions necessary to process ranging data (assuming a transceiver plus one (at least) transponder setup.

Author

José Braga.

Public Member Functions
	Ranging (void)
	~Ranging (void)
void	updateOrigin (const IMC::GpsFix *msg)
void	setup (const IMC::LblConfig *msg)
unsigned	getSize (void)
bool	exists (unsigned id)
void	getLocation (unsigned id, double *i, double *j, double *k)
double	getLat (unsigned id)
double	getLon (unsigned id)
double	getDepth (unsigned id)

Constructor & Destructor Documentation

DUNE::Navigation::Ranging::Ranging ( void  )

inline

Constructor.

DUNE::Navigation::Ranging::~Ranging ( void  )

inline

Destructor.

References DUNE::Memory::clear().

Member Function Documentation

bool DUNE::Navigation::Ranging::exists ( unsigned  id )

inline

See if specific transponder exists.

Parameters

[in]

id

transponder id.

Returns

true if it exists, false otherwise.

Referenced by DUNE::Navigation::BasicNavigation::consume(), and Navigation::General::LBL::Task::consume().

double DUNE::Navigation::Ranging::getDepth ( unsigned  id )

inline

Get depth of transponder.

Parameters

[in]

id

transponder id.

Returns

transponder depth.

References DUNE::Navigation::BasicTransponder::depth.

Referenced by Navigation::General::LBL::Task::consume().

double DUNE::Navigation::Ranging::getLat ( unsigned  id )

inline

Get latitude of transponder.

Parameters

[in]

id

transponder id.

Returns

transponder latitude.

References DUNE::Navigation::BasicTransponder::lat.

void DUNE::Navigation::Ranging::getLocation ( unsigned  id, double *  i, double *  j, double *  k  )

inline

Get 3D location of transponder.

Parameters

[in]	id	transponder id.
[out]	i	North displacement.
[out]	j	East displacement.
[out]	k	transponder depth.

References DUNE::Navigation::BasicTransponder::depth, DUNE::Navigation::BasicTransponder::x, and DUNE::Navigation::BasicTransponder::y.

Referenced by DUNE::Navigation::BasicNavigation::consume(), and Navigation::General::LBL::Task::setState().

double DUNE::Navigation::Ranging::getLon ( unsigned  id )

inline

Get longitude of transponder.

Parameters

[in]

id

transponder id.

Returns

transponder longitude.

References DUNE::Navigation::BasicTransponder::lon.

unsigned DUNE::Navigation::Ranging::getSize ( void  )

inline

Get size of acoustic setup.

Returns

size of setup.

Referenced by DUNE::Navigation::BasicNavigation::consume(), Navigation::General::LBL::Task::consume(), Navigation::AUV::Navigation::Task::consume(), Navigation::General::ROV::Task::onConsumeLblConfig(), Navigation::AUV::Navigation::Task::onConsumeLblConfig(), Navigation::General::ROV::Task::onUpdateParameters(), Navigation::AUV::Navigation::Task::onUpdateParameters(), Navigation::General::LBL::Task::setup(), and Navigation::General::LBL::Task::startFilter().

void DUNE::Navigation::Ranging::setup ( const IMC::LblConfig *  msg )

inline

Set new LBL configuration.

Parameters

[in]

msg

new LBL configuration.

References DUNE::IMC::LblConfig::beacons.

Referenced by DUNE::Navigation::BasicNavigation::consume(), and Navigation::General::LBL::Task::consume().

void DUNE::Navigation::Ranging::updateOrigin ( const IMC::GpsFix *  msg )

inline

Update setup navigation reference.

Parameters

[in]

msg

new navigation reference.

References DUNE::Memory::replace(), and DUNE::Navigation::BasicTransponder::update().

Referenced by DUNE::Navigation::BasicNavigation::consume(), DUNE::Navigation::BasicNavigation::setup(), and Navigation::General::LBL::Task::startFilter().

Collaboration diagram for DUNE::Navigation::Ranging: