DUNE: Uniform Navigational Environment
2016.09.0
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
void | onUpdateParameters (void) |
void | onResourceInitialization (void) |
void | onResourceRelease (void) |
void | consume (const IMC::EstimatedState *msg) |
void | consume (const IMC::EulerAngles *msg) |
void | consume (const IMC::GpsFix *msg) |
void | consume (const IMC::LblConfig *msg) |
void | consume (const IMC::LblRange *msg) |
void | setup (void) |
void | startFilter (const IMC::GpsFix *msg) |
void | reset (unsigned index) |
void | setState (unsigned index) |
void | onMain (void) |
Public Attributes | |
double | m_last_n |
double | m_last_e |
float | m_last_depth |
double | m_yaw |
DUNE::Navigation::Ranging | m_ranging |
IMC::GpsFix * | m_origin |
IMC::LblEstimate * | m_estimate [DUNE::Navigation::c_max_transponders] |
uint16_t | m_gps_val_bits |
Time::Counter< double > | m_time_without_gps |
std::vector< MovingAverage < double > > | m_north_avg |
std::vector< MovingAverage < double > > | m_east_avg |
KalmanFilter | m_kal |
Arguments | m_args |
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References Navigation::General::LBL::Arguments::covariance, Navigation::General::LBL::Arguments::error, Navigation::General::LBL::Arguments::gps_timeout, m_args, m_estimate, m_gps_val_bits, m_last_depth, m_last_e, m_last_n, m_yaw, Navigation::General::LBL::Arguments::max_hacc, Navigation::General::LBL::Arguments::mnoise, Navigation::General::LBL::Arguments::offset, Navigation::General::LBL::Arguments::pnoise, Navigation::General::LBL::Arguments::samples, and Navigation::General::LBL::Arguments::std.
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References m_kal, and m_last_depth.
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References m_yaw.
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References m_args, m_gps_val_bits, m_last_e, m_last_n, m_origin, m_time_without_gps, Navigation::General::LBL::Arguments::max_hacc, and startFilter().
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References m_estimate, m_ranging, DUNE::Navigation::Ranging::setup(), and setup().
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References Navigation::General::LBL::Arguments::error, DUNE::Navigation::Ranging::exists(), DUNE::Navigation::Ranging::getDepth(), DUNE::Navigation::Ranging::getSize(), m_args, m_east_avg, m_estimate, m_kal, m_last_depth, m_last_e, m_last_n, m_north_avg, m_origin, m_ranging, m_time_without_gps, m_yaw, Navigation::General::LBL::Arguments::offset, reset(), Navigation::General::LBL::Arguments::samples, DUNE::Navigation::Ranging::setup(), and Navigation::General::LBL::Arguments::std.
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References m_estimate, and m_origin.
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References Navigation::General::LBL::Arguments::gps_timeout, m_args, and m_time_without_gps.
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Reset moving averages and Kalman state.
[in] | index | state index. |
References m_east_avg, m_north_avg, and setState().
Referenced by consume().
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Reset moving averages and Kalman state.
[in] | index | state index. |
References DUNE::Navigation::Ranging::getLocation(), m_kal, and m_ranging.
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Setup filter.
References Navigation::General::LBL::Arguments::covariance, DUNE::Navigation::Ranging::getSize(), m_args, m_east_avg, m_kal, m_north_avg, m_ranging, Navigation::General::LBL::Arguments::mnoise, Navigation::General::LBL::Arguments::pnoise, Navigation::General::LBL::Arguments::samples, and setState().
Referenced by consume(), and startFilter().
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Start filtering.
[in] | msg | GPS fix to serve as navigation origin. |
References DUNE::Navigation::Ranging::getSize(), m_last_e, m_last_n, m_origin, m_ranging, setup(), and DUNE::Navigation::Ranging::updateOrigin().
Referenced by consume().
Arguments Navigation::General::LBL::Task::m_args |
Task arguments.
Referenced by consume(), onUpdateParameters(), setup(), and Task().
std::vector<MovingAverage<double> > Navigation::General::LBL::Task::m_east_avg |
IMC::LblEstimate* Navigation::General::LBL::Task::m_estimate[DUNE::Navigation::c_max_transponders] |
LBL position estimates.
Referenced by consume(), onResourceRelease(), and Task().
uint16_t Navigation::General::LBL::Task::m_gps_val_bits |
KalmanFilter Navigation::General::LBL::Task::m_kal |
Kalman Filter matrices.
Referenced by consume(), setState(), and setup().
float Navigation::General::LBL::Task::m_last_depth |
double Navigation::General::LBL::Task::m_last_e |
Last East reference displacement.
Referenced by consume(), startFilter(), and Task().
double Navigation::General::LBL::Task::m_last_n |
Last North reference displacement.
Referenced by consume(), startFilter(), and Task().
std::vector<MovingAverage<double> > Navigation::General::LBL::Task::m_north_avg |
IMC::GpsFix* Navigation::General::LBL::Task::m_origin |
Navigation origin.
Referenced by consume(), onResourceRelease(), and startFilter().
DUNE::Navigation::Ranging Navigation::General::LBL::Task::m_ranging |
LBL beacon information.
Referenced by consume(), setState(), setup(), and startFilter().
Time::Counter<double> Navigation::General::LBL::Task::m_time_without_gps |
Time without GPS sensor readings deadline.
Referenced by consume(), and onUpdateParameters().