Simulators::VSIM::Task Struct Reference

Detailed Description

Simulator task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::ServoPosition *msg)
void	consume (const IMC::SetThrusterActuation *msg)
void	task (void)

Public Attributes
Simulators::VSIM::Vehicle *	m_vehicle
Simulators::VSIM::World *	m_world
IMC::SimulatedState	m_sstate
double	m_start_time
double	m_last_time
Arguments	m_args

Constructor & Destructor Documentation

Simulators::VSIM::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References m_args, Simulators::VSIM::Arguments::wx, and Simulators::VSIM::Arguments::wy.

Member Function Documentation

void Simulators::VSIM::Task::consume ( const IMC::GpsFix *  msg )

inline

References m_sstate, m_start_time, m_vehicle, Simulators::VSIM::Object::setOrientation(), and Simulators::VSIM::Object::setPosition().

void Simulators::VSIM::Task::consume ( const IMC::ServoPosition *  msg )

inline

References m_vehicle, and Simulators::VSIM::UUV::updateFin().

void Simulators::VSIM::Task::consume ( const IMC::SetThrusterActuation *  msg )

inline

References m_vehicle, and Simulators::VSIM::Vehicle::updateEngine().

void Simulators::VSIM::Task::onResourceInitialization ( void  )

inline

Initialize resources and add vehicle to the world.

References Simulators::VSIM::World::addVehicle(), m_vehicle, m_world, Simulators::VSIM::Factory::produceVehicle(), Simulators::VSIM::Factory::produceWorld(), and Simulators::VSIM::World::setTimeStep().

void Simulators::VSIM::Task::onResourceRelease ( void  )

inline

Release allocated resources.

References m_vehicle, and m_world.

void Simulators::VSIM::Task::task ( void  )

inline

References Simulators::VSIM::Object::getAngularVelocity(), Simulators::VSIM::Object::getLinearVelocity(), Simulators::VSIM::Object::getOrientation(), Simulators::VSIM::Object::getPosition(), m_args, m_sstate, m_start_time, m_vehicle, m_world, Simulators::VSIM::World::takeStep(), Simulators::VSIM::Arguments::wx, and Simulators::VSIM::Arguments::wy.

Member Data Documentation

Arguments Simulators::VSIM::Task::m_args

Task arguments.

Referenced by Task(), and task().

double Simulators::VSIM::Task::m_last_time

Last step time.

IMC::SimulatedState Simulators::VSIM::Task::m_sstate

Simulated position (X,Y,Z).

Referenced by consume(), and task().

double Simulators::VSIM::Task::m_start_time

Start time.

Referenced by consume(), and task().

Simulators::VSIM::Vehicle* Simulators::VSIM::Task::m_vehicle

Simulation vehicle.

Referenced by consume(), onResourceInitialization(), onResourceRelease(), and task().

Simulators::VSIM::World* Simulators::VSIM::Task::m_world

Simulation world.

Referenced by onResourceInitialization(), onResourceRelease(), and task().

Collaboration diagram for Simulators::VSIM::Task: