DUNE: Uniform Navigational Environment
2016.09.0
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
void | consume (const IMC::FollowReference *msg) |
uint8_t | pathDifferences (const IMC::DesiredPath *msg1, const IMC::DesiredPath *msg2) |
bool | sameReference (const IMC::Reference *msg1, const IMC::Reference *msg2) |
void | consume (const IMC::Reference *msg) |
void | consume (const IMC::EstimatedState *msg) |
void | onPathControlState (const IMC::PathControlState *pcs) |
IMC::SpeedUnits | parseSpeedUnitsStr (std::string sunits_str) |
IMC::ZUnits | parseZUnitsStr (std::string zunits_str) |
void | guide (const IMC::PathControlState *pcs, IMC::Reference *ref, const IMC::EstimatedState *state) |
void | enableMovement (bool enable) |
Public Member Functions inherited from DUNE::IMC::Message | |
Message (void) | |
virtual | ~Message (void) |
virtual Message * | clone (void) const =0 |
virtual void | clear (void)=0 |
virtual int | validate (void) const =0 |
virtual const char * | getName (void) const =0 |
virtual uint16_t | getId (void) const =0 |
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 | getFixedSerializationSize (void) const |
virtual unsigned | getVariableSerializationSize (void) const |
void | toJSON (std::ostream &os) const |
void | toText (std::ostream &os) const |
virtual uint8_t * | serializeFields (uint8_t *bfr) const =0 |
virtual uint16_t | deserializeFields (const uint8_t *bfr, uint16_t len)=0 |
virtual uint16_t | reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0 |
virtual void | fieldsToJSON (std::ostream &os, unsigned indent_level) const |
bool | operator== (const Message &other) const |
bool | operator!= (const Message &other) const |
Public Attributes | |
IMC::FollowReference | m_spec |
IMC::Reference | m_cur_ref |
IMC::Reference | m_last_ref |
IMC::EstimatedState | m_estate |
IMC::PathControlState | m_pcs |
IMC::FollowRefState | m_fref_state |
bool | m_got_reference |
bool | m_moving |
double | m_last_ref_time |
Arguments | m_args |
IMC::DesiredPath | m_last_desired_path |
bool | m_path_sent |
Static Public Attributes | |
static const uint8_t | Z_CHANGED |
static const uint8_t | SPEED_CHANGED |
static const uint8_t | LOC_CHANGED |
static const uint8_t | RADIUS_CHANGED |
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) |
virtual bool | fieldsEqual (const Message &other) const |
Protected Attributes inherited from DUNE::IMC::Message | |
Header | m_header |
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References Maneuver::FollowReference::AUV::Arguments::default_speed, Maneuver::FollowReference::AUV::Arguments::default_speed_units, Maneuver::FollowReference::AUV::Arguments::default_z, Maneuver::FollowReference::AUV::Arguments::default_z_units, Maneuver::FollowReference::AUV::Arguments::horizontal_tolerance, Maneuver::FollowReference::AUV::Arguments::loitering_radius, m_args, m_got_reference, m_last_ref_time, m_moving, m_path_sent, Maneuver::FollowReference::AUV::Arguments::vehicle_type, and Maneuver::FollowReference::AUV::Arguments::vertical_tolerance.
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References m_fref_state, m_got_reference, m_last_desired_path, m_last_ref, m_last_ref_time, m_moving, m_path_sent, and m_spec.
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Consume Reference messages and generate DesiredPath messages accordingly Whenever a new Reference is received from a valid source, a new desired_path gets commanded to the vehicle.
msg | the Reference message to be processed |
References guide(), m_cur_ref, m_estate, m_fref_state, m_got_reference, m_last_ref, m_last_ref_time, m_pcs, and m_spec.
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References m_estate, m_fref_state, m_last_ref_time, and m_spec.
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Function for enabling and disabling the control loops.
References m_last_desired_path, m_moving, and m_path_sent.
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References Maneuver::FollowReference::AUV::Arguments::horizontal_tolerance, Maneuver::FollowReference::AUV::Arguments::loitering_radius, m_args, m_fref_state, m_last_ref, sameReference(), Maneuver::FollowReference::AUV::Arguments::vehicle_type, and Maneuver::FollowReference::AUV::Arguments::vertical_tolerance.
Referenced by consume().
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References m_pcs.
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References LOC_CHANGED, RADIUS_CHANGED, SPEED_CHANGED, and Z_CHANGED.
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Referenced by guide().
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Referenced by pathDifferences().
Arguments Maneuver::FollowReference::AUV::Task::m_args |
IMC::Reference Maneuver::FollowReference::AUV::Task::m_cur_ref |
Store latest received reference.
Referenced by consume().
IMC::EstimatedState Maneuver::FollowReference::AUV::Task::m_estate |
Estimated state.
Referenced by consume().
IMC::FollowRefState Maneuver::FollowReference::AUV::Task::m_fref_state |
bool Maneuver::FollowReference::AUV::Task::m_got_reference |
IMC::DesiredPath Maneuver::FollowReference::AUV::Task::m_last_desired_path |
Referenced by consume(), and enableMovement().
IMC::Reference Maneuver::FollowReference::AUV::Task::m_last_ref |
double Maneuver::FollowReference::AUV::Task::m_last_ref_time |
bool Maneuver::FollowReference::AUV::Task::m_moving |
Are we moving or idle (floating)
Referenced by consume(), enableMovement(), and Task().
bool Maneuver::FollowReference::AUV::Task::m_path_sent |
Referenced by consume(), enableMovement(), and Task().
IMC::PathControlState Maneuver::FollowReference::AUV::Task::m_pcs |
Path Control state.
Referenced by consume(), and onPathControlState().
IMC::FollowReference Maneuver::FollowReference::AUV::Task::m_spec |
Store maneuver specification.
Referenced by consume().
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Referenced by pathDifferences().
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Referenced by pathDifferences().
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Referenced by pathDifferences().