Maneuver::VehicleFormation::FormCollAvoid::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityResolution (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onRequestActivation (void)
void	onRequestDeactivation (void)
void	consume (const IMC::LeaderState *msg)
void	consume (const IMC::Formation *msg)
void	consume (const IMC::PlanControl *msg)
void	consume (const IMC::IndicatedSpeed *msg)
void	consume (const IMC::EstimatedStreamVelocity *msg)
void	consume (const IMC::Acceleration *msg)
void	consume (const IMC::DesiredRoll *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::EstimatedState *msg)
void	task (void)
void	dispatchAlias (IMC::Message *msg)
void	dispatchLeader (IMC::Message *msg)
bool	isControlActive (void)
void	setLeaderState (const IMC::LeaderState *leader_state)
void	leaderOutput (void)
Matrix	matrixRotRbody2gnd (float roll, float pitch)
template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >
void	positionReframing (const Ta lat1, const Ta lon1, const Tb hei1, const Tc lat2, const Tc lon2, const Td hei2, Te *n, Te *e, Te *d)
void	teamPeriodicUpdate (const double &d_time)
void	teamUnevenUpdate (const double &d_time)
void	formationControl (const Matrix &md_uav_state, const Matrix &md_vehicle_accel, const unsigned int &ind_uav, const double &d_time_step, Matrix *vd_cmd, const bool b_debug, FormMonitor *form_monitor)
void	dispatchFormationParameters (void)
void	formationEvaluation (void)
void	printState (const std::string what, const Matrix pos, const Matrix vel)
Public Member Functions inherited from DUNE::Tasks::Periodic
	Periodic (const std::string &name, Context &ctx)
virtual	~Periodic (void)
void	setFrequency (double freq)
double	getFrequency (void) const
double	getRunTime (void) const
unsigned	getRunCount (void) const
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
virtual	~Task (void)
const char *	getName (void) const
const char *	getSystemName (void) const
unsigned int	getSystemId (void) const
unsigned int	getEntityId (void) const
unsigned int	resolveEntity (const std::string &label) const
std::string	resolveEntity (unsigned int id) const
DebugLevel	getDebugLevel (void) const
uint16_t	getActivationTime (void) const
uint16_t	getDeactivationTime (void) const
unsigned int	resolveSystemName (const std::string &name) const
const char *	resolveSystemId (unsigned int id) const
void	loadConfig (void)
void	setPriority (unsigned int value)
unsigned int	getPriority (void) const
void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2
void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)
void	dispatch (IMC::Message &msg, unsigned int flags=0)
void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)
void	receive (const IMC::Message *msg)
void	reserveEntities (void)
void	resolveEntities (void)
void	acquireResources (void)
void	releaseResources (void)
void	initializeResources (void)
void	updateParameters (bool act_deact=true)
void	writeParamsXML (std::ostream &os) const
const char *	getEntityLabel (void) const
void	setEntityLabel (const std::string &label)
Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)
virtual	~AbstractTask (void)
Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)
virtual	~Thread (void)
int	getProcessorUsage (void)
Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)
virtual	~Runnable (void)
void	start (void)
void	stop (void)
void	join (void)
void	stopAndJoin (void)
void	setPriority (Scheduler::Policy policy, unsigned priority)
unsigned	getPriority (void)
State	getState (void)
bool	isCreated (void)
bool	isStopping (void)
bool	isRunning (void)
bool	isStarting (void)
bool	isDead (void)

Public Attributes
Arguments	m_args
bool	m_param_update_first
std::vector< UAVSimulation * >	m_models
UAVSimulation *	m_model
double	m_llh_ref_pos [3]
Matrix	m_position
Matrix	m_velocity
IMC::EstimatedState	m_estate_leader
Matrix	m_last_state_update
Matrix	m_last_state_estim
Matrix	m_last_simctrl_update
double	m_last_leader_output
double	m_last_time_verb_task
double	m_last_time_verb_ctrlactiv
double	m_last_time_verb_leadertrace
double	m_last_time_verb_leaderspew
double	m_last_time_verb_formctrl
double	m_timestep_trace
double	m_timestep_spew
Matrix	m_vehicle_state
Matrix	m_vehicle_accel
double	m_airspeed
Matrix	m_wind
Math::MovingAverage< fp64_t > *	m_wind_avg_x
Math::MovingAverage< fp64_t > *	m_wind_avg_y
Math::MovingAverage< fp64_t > *	m_wind_avg_z
double	m_g
Matrix	m_uav_ctrl
IMC::DesiredRoll	m_bank_cmd
IMC::DesiredSpeed	m_airspeed_cmd
IMC::DesiredZ	m_altitude_cmd
double	m_speed_cmd_leader
uint8_t	m_speed_units_leader
double	m_alt_cmd_leader
uint8_t	m_alt_units_leader
double	m_bank_lim
double	m_speed_min
double	m_speed_max
double	m_alt_min
double	m_alt_max
double	m_leader_bank_lim
double	m_leader_speed_min
double	m_leader_speed_max
double	m_leader_alt_min
double	m_leader_alt_max
IMC::FormationControlParams	m_formation_ctrl_params
double	m_k_longitudinal
double	m_k_lateral
double	m_k_boundary
double	m_k_leader
double	m_k_deconfliction
double	m_flow_accel_max
double	m_safe_dist
double	m_deconfliction_offset
double	m_acc_safety_marg
double	m_accel_lim_x
IMC::FormationEvaluation	m_formation_eval
double	m_dist_min_abs
double	m_dist_min_mean
double	m_err_mean
double	m_mean_time
double	m_mean_time_start
bool	m_mean_first
unsigned int	m_uav_n
unsigned int	m_uav_ind
Systems	m_uav_id
Systems	m_uav_id_last
std::vector< std::string >	m_formation_systems
unsigned int	m_formation_frame
Matrix	m_formation_pos
IMC::PlanControl	m_current_plan
bool	m_ctrl_active
bool	m_team_plan_init
bool	m_team_leader_init
bool	m_team_state_init
bool	m_valid_airspeed
std::vector< bool >	m_vehicle_state_flag
double	m_frequency
double	m_timestep_sim
double	m_timestep_ctrl
double	m_timestep_leader
IMC::LeaderState	m_init_leader
bool	m_debug
FormMonitor *	m_form_monitor
std::map< uint32_t, Systems >	m_filtered_sys
std::map< uint32_t, Entities >	m_filtered_ent
uint32_t	m_alias_id
uint32_t	m_leader_id

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)
void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)
IMC::EntityState::StateEnum	getEntityState (void) const
unsigned int	reserveEntity (const std::string &label)
template<typename E >
E *	reserveEntity (const std::string &label)
bool	stopping (void)
bool	isActive (void) const
bool	isActivating (void) const
bool	isDeactivating (void) const
void	waitForMessages (double timeout)
void	consumeMessages (void)
template<typename T >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)
template<typename T >
bool	paramChanged (T &var)
void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)
void	setParamSectionEditor (const std::string &name)
template<typename M , typename T >
void	bind (T *task_obj, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)
template<typename T , typename M >
void	bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)
void	requestActivation (void)
void	requestDeactivation (void)
void	activate (void)
void	activationFailed (const std::string &reason)
void	deactivate (void)
void	deactivationFailed (const std::string &reason)
virtual bool	onWriteParamsXML (std::ostream &os) const
virtual void	onEntityReservation (void)
virtual void	onReportEntityState (void)
virtual void	onResourceInitialization (void)
virtual void	onActivation (void)
virtual void	onDeactivation (void)
virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)
virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)
virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)
Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)
void	stopImpl (void)
void	joinImpl (void)
void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)
unsigned	getPriorityImpl (void)
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Maneuver::VehicleFormation::FormCollAvoid::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::acc_safety_marg, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::bank_lim, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_bank, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_speed, Maneuver::VehicleFormation::FormCollAvoid::Arguments::cmd_src, Maneuver::VehicleFormation::FormCollAvoid::Arguments::ctrl_frequency, Maneuver::VehicleFormation::FormCollAvoid::Arguments::debug, Maneuver::VehicleFormation::FormCollAvoid::Arguments::deconfliction_offset, Maneuver::VehicleFormation::FormCollAvoid::Arguments::default_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::default_speed, DUNE::Tasks::Parameter::defaultValue(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::flow_accel_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_boundary, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_deconfliction, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_lateral, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_leader, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_longitudinal, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_accel_x, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_bank_rate, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_vert_slope, Maneuver::VehicleFormation::FormCollAvoid::Arguments::leader_alias, Maneuver::VehicleFormation::FormCollAvoid::Arguments::leader_frequency, m_args, DUNE::Math::min(), DUNE::Tasks::Task::param(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::safe_dist, Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_frequency, Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_type, Maneuver::VehicleFormation::FormCollAvoid::Arguments::speed_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::speed_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::src_alias, and Maneuver::VehicleFormation::FormCollAvoid::Arguments::wind_average_window.

Member Function Documentation

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::LeaderState *  msg )

inline

References DUNE::Tasks::Task::debug(), and setLeaderState().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::Formation *  msg )

inline

References DUNE::Tasks::Task::debug(), dispatchLeader(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::isActive(), m_current_plan, m_formation_frame, m_formation_pos, m_formation_systems, m_leader_alt_max, m_leader_alt_min, m_leader_bank_lim, m_leader_id, m_leader_speed_max, m_leader_speed_min, m_uav_id, m_uav_ind, m_uav_n, onUpdateParameters(), DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), DUNE::Math::Matrix::resizeAndKeep(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::war(), and DUNE::Math::Matrix::~Matrix().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::PlanControl *  msg )

inline

References DUNE::Tasks::Task::isActive(), m_current_plan, and DUNE::Tasks::Task::requestDeactivation().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::IndicatedSpeed *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_uav_ctrl, m_uav_ind, m_valid_airspeed, and DUNE::Tasks::Task::spew().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::EstimatedStreamVelocity *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), m_wind, m_wind_avg_x, m_wind_avg_y, and m_wind_avg_z.

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::Acceleration *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), m_uav_ind, m_vehicle_accel, and DUNE::Math::Matrix::set().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::DesiredRoll *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandBank(), DUNE::Math::Angles::degrees(), DUNE::Simulation::UAVSimulation::getBankCmd(), DUNE::Tasks::Task::isActive(), m_filtered_ent, m_filtered_sys, m_leader_bank_lim, m_model, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), DUNE::Math::trimValue(), and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandAirspeed(), DUNE::Tasks::Task::isActive(), m_filtered_ent, m_filtered_sys, m_leader_speed_max, m_leader_speed_min, m_model, m_speed_cmd_leader, m_speed_units_leader, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), DUNE::Math::trimValue(), and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::DesiredZ *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandAlt(), DUNE::Tasks::Task::isActive(), m_alt_cmd_leader, m_alt_units_leader, m_filtered_ent, m_filtered_sys, m_leader_alt_max, m_leader_alt_min, m_llh_ref_pos, m_model, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), DUNE::Math::trimValue(), and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::FormCollAvoid::Task::consume ( const IMC::EstimatedState *  msg )

inline

References Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ax_cmd, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ax_des, Maneuver::VehicleFormation::FormCollAvoid::RelState::ctrl_imp, dispatchAlias(), Maneuver::VehicleFormation::FormCollAvoid::RelState::dist, Maneuver::VehicleFormation::FormCollAvoid::RelState::err, Maneuver::VehicleFormation::FormCollAvoid::RelState::err_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::err_y, Maneuver::VehicleFormation::FormCollAvoid::RelState::err_z, formationControl(), DUNE::Math::Matrix::get(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), isControlActive(), m_airspeed_cmd, m_alias_id, m_alt_units_leader, m_altitude_cmd, m_bank_cmd, m_debug, m_dist_min_abs, m_dist_min_mean, m_err_mean, m_form_monitor, m_formation_pos, m_last_simctrl_update, m_last_state_estim, m_last_state_update, m_llh_ref_pos, m_mean_first, m_mean_time, m_mean_time_start, m_models, m_timestep_ctrl, m_uav_ctrl, m_uav_id, m_uav_ind, m_uav_n, m_vehicle_accel, m_vehicle_state, m_vehicle_state_flag, m_wind, DUNE::Math::Matrix::norm_2(), positionReframing(), Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_y, Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_z, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::rel_state, DUNE::Tasks::Task::resolveSystemId(), Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vx, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vy, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vz, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_y, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_z, Maneuver::VehicleFormation::FormCollAvoid::RelState::s_id, DUNE::Math::Matrix::set(), DUNE::Tasks::Task::spew(), Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_y, Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_z, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_y, teamPeriodicUpdate(), teamUnevenUpdate(), Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_y, Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_z, and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::FormCollAvoid::Task::dispatchAlias ( IMC::Message *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_alias_id.

Referenced by consume(), dispatchFormationParameters(), and formationEvaluation().

void Maneuver::VehicleFormation::FormCollAvoid::Task::dispatchFormationParameters ( void  )

inline

References dispatchAlias(), m_acc_safety_marg, m_accel_lim_x, m_deconfliction_offset, m_flow_accel_max, m_formation_ctrl_params, m_k_boundary, m_k_deconfliction, m_k_lateral, m_k_leader, m_k_longitudinal, and m_safe_dist.

Referenced by onRequestActivation(), and onUpdateParameters().

void Maneuver::VehicleFormation::FormCollAvoid::Task::dispatchLeader ( IMC::Message *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_leader_id.

Referenced by consume(), leaderOutput(), and onRequestActivation().

void Maneuver::VehicleFormation::FormCollAvoid::Task::formationControl ( const Matrix &  md_uav_state, const Matrix &  md_vehicle_accel, const unsigned int &  ind_uav, const double &  d_time_step, Matrix *  vd_cmd, const bool  b_debug, FormMonitor *  form_monitor  )

inline

References Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ax_cmd, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ax_des, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ay_cmd, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ay_des, DUNE::Math::Matrix::column(), Maneuver::VehicleFormation::FormCollAvoid::RelState::dist, Maneuver::VehicleFormation::FormCollAvoid::RelState::err, Maneuver::VehicleFormation::FormCollAvoid::RelState::err_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::err_y, DUNE::Math::Matrix::get(), m_acc_safety_marg, m_accel_lim_x, m_alt_max, m_alt_min, m_bank_lim, m_deconfliction_offset, m_flow_accel_max, m_formation_frame, m_formation_pos, m_formation_systems, m_g, m_k_boundary, m_k_deconfliction, m_k_lateral, m_k_leader, m_k_longitudinal, m_safe_dist, m_speed_cmd_leader, m_speed_max, m_speed_min, m_uav_n, m_wind, DUNE::Math::Matrix::norm_2(), Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::rel_dir_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::rel_state, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vx, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_vy, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::rf_err_y, DUNE::Math::Matrix::row(), Maneuver::VehicleFormation::FormCollAvoid::RelState::s_id, DUNE::Math::Matrix::set(), Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::ss_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::ss_y, DUNE::Math::sum(), Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_fdbk_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::surf_unkn_y, DUNE::Math::transpose(), DUNE::Math::trimValue(), Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_x, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_x, Maneuver::VehicleFormation::FormCollAvoid::RelState::virt_err_y, Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::virt_err_y, and DUNE::Tasks::Task::war().

Referenced by consume(), and teamPeriodicUpdate().

void Maneuver::VehicleFormation::FormCollAvoid::Task::formationEvaluation ( void  )

inline

References dispatchAlias(), m_dist_min_abs, m_dist_min_mean, m_err_mean, m_formation_eval, and m_mean_time.

Referenced by onRequestDeactivation(), and onUpdateParameters().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::isControlActive ( void  )

inline

References DUNE::Tasks::Task::activate(), DUNE::Tasks::Task::deactivate(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isDeactivating(), m_ctrl_active, m_last_time_verb_ctrlactiv, m_team_leader_init, m_team_state_init, m_timestep_trace, m_uav_n, m_valid_airspeed, m_vehicle_state_flag, and DUNE::Tasks::Task::war().

Referenced by consume(), onRequestActivation(), onRequestDeactivation(), and task().

void Maneuver::VehicleFormation::FormCollAvoid::Task::leaderOutput ( void  )

inline

References dispatchLeader(), DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getAirspeed(), m_debug, m_estate_leader, m_last_leader_output, m_model, m_position, m_vehicle_accel, m_velocity, m_wind, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Matrix::norm_2(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::transpose().

Referenced by setLeaderState(), and teamPeriodicUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::matrixRotRbody2gnd ( float  roll, float  pitch  )

inline

void Maneuver::VehicleFormation::FormCollAvoid::Task::onEntityResolution ( void  )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::cmd_src, DUNE::Tasks::Task::debug(), m_args, m_current_plan, m_filtered_ent, m_filtered_sys, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::FormCollAvoid::Task::onRequestActivation ( void  )

inlinevirtual

Called when an external activation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References dispatchFormationParameters(), dispatchLeader(), DUNE::Tasks::Task::inf(), isControlActive(), m_current_plan, m_debug, m_team_leader_init, and DUNE::Tasks::Task::spew().

Referenced by setLeaderState().

void Maneuver::VehicleFormation::FormCollAvoid::Task::onRequestDeactivation ( void  )

inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References formationEvaluation(), isControlActive(), m_debug, m_mean_first, m_team_leader_init, and DUNE::Tasks::Task::spew().

void Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition ( void  )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceRelease ( void  )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

void Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Maneuver::VehicleFormation::FormCollAvoid::Arguments::acc_safety_marg, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::alt_min, Maneuver::VehicleFormation::FormCollAvoid::Arguments::bank_lim, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_bank, Maneuver::VehicleFormation::FormCollAvoid::Arguments::c_speed, DUNE::Simulation::UAVSimulation::command(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::ctrl_frequency, Maneuver::VehicleFormation::FormCollAvoid::Arguments::debug, DUNE::Tasks::Task::debug(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::deconfliction_offset, Maneuver::VehicleFormation::FormCollAvoid::Arguments::default_alt, Maneuver::VehicleFormation::FormCollAvoid::Arguments::default_speed, dispatchFormationParameters(), DUNE::Tasks::Task::err(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::flow_accel_max, formationEvaluation(), DUNE::Math::Matrix::get(), DUNE::Tasks::Periodic::getFrequency(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_boundary, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_deconfliction, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_lateral, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_leader, Maneuver::VehicleFormation::FormCollAvoid::Arguments::k_longitudinal, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_accel_x, Maneuver::VehicleFormation::FormCollAvoid::Arguments::l_bank_rate, Maneuver::VehicleFormation::FormCollAvoid::Arguments::leader_alias, Maneuver::VehicleFormation::FormCollAvoid::Arguments::leader_frequency, m_acc_safety_marg, m_accel_lim_x, m_airspeed, m_airspeed_cmd, m_alias_id, m_alt_cmd_leader, m_alt_max, m_alt_min, m_altitude_cmd, m_args, m_bank_lim, m_debug, m_deconfliction_offset, m_flow_accel_max, m_form_monitor, m_formation_pos, m_frequency, m_k_boundary, m_k_deconfliction, m_k_lateral, m_k_leader, m_k_longitudinal, m_last_simctrl_update, m_last_state_estim, m_last_state_update, m_leader_alt_max, m_leader_alt_min, m_leader_bank_lim, m_leader_id, m_leader_speed_max, m_leader_speed_min, m_llh_ref_pos, m_mean_first, m_model, m_models, m_param_update_first, m_position, m_safe_dist, DUNE::Simulation::UAVSimulation::m_sim_type, m_speed_cmd_leader, m_speed_max, m_speed_min, m_team_state_init, m_timestep_ctrl, m_timestep_leader, m_timestep_sim, m_uav_ctrl, m_uav_id, m_uav_id_last, m_uav_ind, m_uav_n, m_vehicle_accel, m_vehicle_state, m_vehicle_state_flag, m_velocity, m_wind_avg_x, m_wind_avg_y, m_wind_avg_z, DUNE::Math::Matrix, DUNE::Tasks::Task::paramChanged(), DUNE::Math::Angles::radians(), Maneuver::VehicleFormation::FormCollAvoid::FormMonitor::rel_state, DUNE::Math::Matrix::resizeAndKeep(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::resolveSystemName(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::safe_dist, DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::setAccelLim(), DUNE::Simulation::UAVSimulation::setBankRateLim(), DUNE::Simulation::UAVSimulation::setCtrl(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_frequency, Maneuver::VehicleFormation::FormCollAvoid::Arguments::sim_type, Maneuver::VehicleFormation::FormCollAvoid::Arguments::speed_max, Maneuver::VehicleFormation::FormCollAvoid::Arguments::speed_min, DUNE::Tasks::Task::spew(), Maneuver::VehicleFormation::FormCollAvoid::Arguments::src_alias, DUNE::Simulation::UAVSimulation, DUNE::Math::Matrix::vertCat(), DUNE::Tasks::Task::war(), and Maneuver::VehicleFormation::FormCollAvoid::Arguments::wind_average_window.

Referenced by consume().

template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >

void Maneuver::VehicleFormation::FormCollAvoid::Task::positionReframing ( const Ta  lat1, const Ta  lon1, const Tb  hei1, const Tc  lat2, const Tc  lon2, const Td  hei2, Te *  n, Te *  e, Te *  d  )

inline

Adjust offset position from a reference frame to a new reference frame.

Parameters

[in]	lat1	new reference latitude (rad).
[in]	lon1	new reference longitude (rad).
[in]	hei1	new reference height (m).
[in]	lat2	old reference latitude (rad).
[in]	lon2	old reference longitude (rad).
[in]	hei2	old reference height (m).
[in,out]	n	North offset (m).
[in,out]	e	East offset (m).
[in,out]	d	Down offset (m).

Referenced by consume(), and setLeaderState().

void Maneuver::VehicleFormation::FormCollAvoid::Task::printState ( const std::string  what, const Matrix  pos, const Matrix  vel  )

inline

References DUNE::Tasks::Task::inf().

void Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState ( const IMC::LeaderState *  leader_state )

inline

References DUNE::Math::Angles::degrees(), DUNE::Math::Matrix::get(), DUNE::Tasks::Task::isActivating(), leaderOutput(), m_estate_leader, m_init_leader, m_last_state_estim, m_leader_bank_lim, m_llh_ref_pos, m_model, m_position, m_team_leader_init, m_vehicle_state, m_velocity, DUNE::Simulation::UAVSimulation::m_wind, onRequestActivation(), positionReframing(), DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::setPosition(), DUNE::Simulation::UAVSimulation::setVelocity(), DUNE::Tasks::Task::trace(), DUNE::Math::trimValue(), and DUNE::Math::Matrix::vertCat().

Referenced by consume().

void Maneuver::VehicleFormation::FormCollAvoid::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::getSystemName(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), isControlActive(), m_last_time_verb_task, m_timestep_trace, DUNE::Tasks::Task::spew(), teamPeriodicUpdate(), and DUNE::Tasks::Task::trace().

void Maneuver::VehicleFormation::FormCollAvoid::Task::teamPeriodicUpdate ( const double &  d_time )

inline

Update team simulated state for standard time periods.

References formationControl(), DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Simulation::UAVSimulation::getVelocity(), leaderOutput(), m_form_monitor, m_last_leader_output, m_last_simctrl_update, m_last_state_estim, m_model, m_models, m_position, m_team_leader_init, m_timestep_ctrl, m_timestep_leader, m_timestep_sim, m_uav_ctrl, m_uav_n, m_vehicle_accel, m_vehicle_state, m_vehicle_state_flag, m_velocity, DUNE::Math::Matrix::set(), DUNE::Tasks::Task::spew(), teamUnevenUpdate(), DUNE::Simulation::UAVSimulation::update(), and DUNE::Tasks::Task::war().

Referenced by consume(), and task().

void Maneuver::VehicleFormation::FormCollAvoid::Task::teamUnevenUpdate ( const double &  d_time )

inline

Update team simulated state for uneven time periods.

References DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Simulation::UAVSimulation::getVelocity(), m_g, m_last_state_estim, m_model, m_models, m_team_leader_init, m_uav_ind, m_uav_n, m_vehicle_accel, m_vehicle_state, m_vehicle_state_flag, DUNE::Math::Matrix::set(), DUNE::Tasks::Task::spew(), and DUNE::Simulation::UAVSimulation::update().

Referenced by consume(), and teamPeriodicUpdate().

Member Data Documentation

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_acc_safety_marg

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_accel_lim_x

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_airspeed

Referenced by onUpdateParameters().

IMC::DesiredSpeed Maneuver::VehicleFormation::FormCollAvoid::Task::m_airspeed_cmd

Referenced by consume(), and onUpdateParameters().

uint32_t Maneuver::VehicleFormation::FormCollAvoid::Task::m_alias_id

Referenced by consume(), dispatchAlias(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_alt_cmd_leader

Leader commanded altitude.

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_alt_max

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_alt_min

Referenced by formationControl(), and onUpdateParameters().

uint8_t Maneuver::VehicleFormation::FormCollAvoid::Task::m_alt_units_leader

Referenced by consume().

IMC::DesiredZ Maneuver::VehicleFormation::FormCollAvoid::Task::m_altitude_cmd

Referenced by consume(), and onUpdateParameters().

Arguments Maneuver::VehicleFormation::FormCollAvoid::Task::m_args

Task arguments.

Referenced by onEntityResolution(), onUpdateParameters(), and Task().

IMC::DesiredRoll Maneuver::VehicleFormation::FormCollAvoid::Task::m_bank_cmd

Vehicle commands.

Referenced by consume().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_bank_lim

Vehicle command limits.

Referenced by formationControl(), and onUpdateParameters().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_ctrl_active

Process logic control variables.

Referenced by isControlActive().

IMC::PlanControl Maneuver::VehicleFormation::FormCollAvoid::Task::m_current_plan

Referenced by consume(), onEntityResolution(), and onRequestActivation().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_debug

Referenced by consume(), leaderOutput(), onRequestActivation(), onRequestDeactivation(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_deconfliction_offset

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_dist_min_abs

Referenced by consume(), and formationEvaluation().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_dist_min_mean

Referenced by consume(), and formationEvaluation().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_err_mean

Referenced by consume(), and formationEvaluation().

IMC::EstimatedState Maneuver::VehicleFormation::FormCollAvoid::Task::m_estate_leader

Leader's estimated state.

Referenced by leaderOutput(), and setLeaderState().

std::map<uint32_t, Entities> Maneuver::VehicleFormation::FormCollAvoid::Task::m_filtered_ent

List of entities allowed to define a command.

Referenced by consume(), and onEntityResolution().

std::map<uint32_t, Systems> Maneuver::VehicleFormation::FormCollAvoid::Task::m_filtered_sys

List of systems allowed to define a command.

Referenced by consume(), and onEntityResolution().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_flow_accel_max

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

FormMonitor* Maneuver::VehicleFormation::FormCollAvoid::Task::m_form_monitor

Referenced by consume(), onUpdateParameters(), and teamPeriodicUpdate().

IMC::FormationControlParams Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_ctrl_params

Controller parameters.

Referenced by dispatchFormationParameters().

IMC::FormationEvaluation Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_eval

Controller evaluation data.

Referenced by formationEvaluation().

unsigned int Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_frame

Referenced by consume(), and formationControl().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_pos

Referenced by consume(), formationControl(), and onUpdateParameters().

std::vector<std::string> Maneuver::VehicleFormation::FormCollAvoid::Task::m_formation_systems

Referenced by consume(), and formationControl().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_frequency

Simulation process frequency.

Referenced by onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_g

Referenced by formationControl(), and teamUnevenUpdate().

IMC::LeaderState Maneuver::VehicleFormation::FormCollAvoid::Task::m_init_leader

Leader initial state.

Referenced by setLeaderState().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_boundary

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_deconfliction

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_lateral

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_leader

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_k_longitudinal

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_leader_output

Referenced by leaderOutput(), and teamPeriodicUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_simctrl_update

Referenced by consume(), onUpdateParameters(), and teamPeriodicUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_state_estim

Referenced by consume(), onUpdateParameters(), setLeaderState(), teamPeriodicUpdate(), and teamUnevenUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_state_update

Synchronization, simulation and control time variables.

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_verb_ctrlactiv

Referenced by isControlActive().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_verb_formctrl

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_verb_leaderspew

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_verb_leadertrace

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_last_time_verb_task

Last time debug information was shown.

Referenced by task().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_alt_max

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_alt_min

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_bank_lim

Leader command limits.

Referenced by consume(), onUpdateParameters(), and setLeaderState().

uint32_t Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_id

Referenced by consume(), dispatchLeader(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_speed_max

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_leader_speed_min

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_llh_ref_pos[3]

Vehicle's referential position (Latitude, Longitude, and height).

Referenced by consume(), onUpdateParameters(), and setLeaderState().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_mean_first

Referenced by consume(), onRequestDeactivation(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_mean_time

Referenced by consume(), and formationEvaluation().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_mean_time_start

Referenced by consume().

UAVSimulation* Maneuver::VehicleFormation::FormCollAvoid::Task::m_model

Leader vehicle model.

Referenced by consume(), leaderOutput(), onUpdateParameters(), setLeaderState(), teamPeriodicUpdate(), and teamUnevenUpdate().

std::vector<UAVSimulation*> Maneuver::VehicleFormation::FormCollAvoid::Task::m_models

Simulated vehicles' models.

Referenced by consume(), onUpdateParameters(), teamPeriodicUpdate(), and teamUnevenUpdate().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_param_update_first

Referenced by onUpdateParameters().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_position

Leader's simulated position (X,Y,Z,phi,theta,psi).

Referenced by leaderOutput(), onUpdateParameters(), setLeaderState(), and teamPeriodicUpdate().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_safe_dist

Referenced by dispatchFormationParameters(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_speed_cmd_leader

Leader commanded true airspeed.

Referenced by consume(), formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_speed_max

Referenced by formationControl(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_speed_min

Referenced by formationControl(), and onUpdateParameters().

uint8_t Maneuver::VehicleFormation::FormCollAvoid::Task::m_speed_units_leader

Referenced by consume().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_team_leader_init

Referenced by isControlActive(), onRequestActivation(), onRequestDeactivation(), setLeaderState(), teamPeriodicUpdate(), and teamUnevenUpdate().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_team_plan_init

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_team_state_init

Referenced by isControlActive(), and onUpdateParameters().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_ctrl

Referenced by consume(), onUpdateParameters(), and teamPeriodicUpdate().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_leader

Referenced by onUpdateParameters(), and teamPeriodicUpdate().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_sim

Referenced by onUpdateParameters(), and teamPeriodicUpdate().

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_spew

double Maneuver::VehicleFormation::FormCollAvoid::Task::m_timestep_trace

Referenced by isControlActive(), and task().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_ctrl

System command variables.

Referenced by consume(), onUpdateParameters(), and teamPeriodicUpdate().

Systems Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_id

Referenced by consume(), and onUpdateParameters().

Systems Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_id_last

Referenced by onUpdateParameters().

unsigned int Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_ind

Referenced by consume(), onUpdateParameters(), and teamUnevenUpdate().

unsigned int Maneuver::VehicleFormation::FormCollAvoid::Task::m_uav_n

Formation configuration.

Referenced by consume(), formationControl(), isControlActive(), onUpdateParameters(), teamPeriodicUpdate(), and teamUnevenUpdate().

bool Maneuver::VehicleFormation::FormCollAvoid::Task::m_valid_airspeed

Referenced by consume(), and isControlActive().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_vehicle_accel

Referenced by consume(), leaderOutput(), onUpdateParameters(), teamPeriodicUpdate(), and teamUnevenUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_vehicle_state

System state variables.

Referenced by consume(), onUpdateParameters(), setLeaderState(), teamPeriodicUpdate(), and teamUnevenUpdate().

std::vector<bool> Maneuver::VehicleFormation::FormCollAvoid::Task::m_vehicle_state_flag

Referenced by consume(), isControlActive(), onUpdateParameters(), teamPeriodicUpdate(), and teamUnevenUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_velocity

Leader's simulated velocity (u,v,w,p,q,r).

Referenced by leaderOutput(), onUpdateParameters(), setLeaderState(), and teamPeriodicUpdate().

Matrix Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind

Environment variables.

Referenced by consume(), formationControl(), and leaderOutput().

Math::MovingAverage<fp64_t>* Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind_avg_x

Referenced by consume(), and onUpdateParameters().

Math::MovingAverage<fp64_t>* Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind_avg_y

Referenced by consume(), and onUpdateParameters().

Math::MovingAverage<fp64_t>* Maneuver::VehicleFormation::FormCollAvoid::Task::m_wind_avg_z

Referenced by consume(), and onUpdateParameters().

Collaboration diagram for Maneuver::VehicleFormation::FormCollAvoid::Task: