Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	onEntityResolution (void)

void	onReportEntityState (void)

void	consume (const IMC::EntityActivationState *msg)

bool	setup (void)

void	reset (void)

double	getBiasedHeading (void)

void	onConsumeLblConfig (void)

void	updateKalmanGpsParameters (double hacc)

void	runKalmanGPS (double x, double y)

void	runKalmanUSBL (double x, double y)

void	getSpeedOutputStates (unsigned u, unsigned v)

unsigned	getNumberOutputs (void)

void	task (void)

void	sendDeActiveIMU (void)

void	startSpeedModel (Parsers::Config *config)

double	getRpmToMs (double rpm)

void	setTransition (Matrix &A)

void	resetKalman (void)

void	logData (void)

Public Member Functions inherited from DUNE::Navigation::BasicNavigation
	BasicNavigation (const std::string &name, Tasks::Context &ctx)

virtual	~BasicNavigation (void)

void	consume (const IMC::Acceleration *msg)

void	consume (const IMC::AngularVelocity *msg)

void	consume (const IMC::DataSanity *msg)

void	consume (const IMC::Distance *msg)

void	consume (const IMC::Depth *msg)

void	consume (const IMC::DepthOffset *msg)

void	consume (const IMC::EulerAngles *msg)

void	consume (const IMC::EulerAnglesDelta *msg)

void	consume (const IMC::GpsFix *msg)

void	consume (const IMC::GroundVelocity *msg)

void	consume (const IMC::LblConfig *msg)

void	consume (const IMC::LblRange *msg)

void	consume (const IMC::Rpm *msg)

void	consume (const IMC::UsblFixExtended *msg)

void	consume (const IMC::WaterVelocity *msg)

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
bool	m_gps_reading

bool	m_usbl_reading

MovingAverage< double > *	m_avg_speed

Arguments	m_args

int	m_heading_buffer

const Plans::SpeedModel *	m_speed_model

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Member Functions inherited from DUNE::Navigation::BasicNavigation
double	getDepth (void) const

double	getAltitude (void)

double	getAcceleration (unsigned axis) const

double	getAngularVelocity (unsigned axis) const

double	getHeadingRate (void)

double	getEuler (unsigned axis) const

double	getEulerDelta (unsigned axis) const

float	getEulerDeltaTimestep (void) const

bool	gotDepthReadings (void) const

bool	gotEulerReadings (void) const

bool	gotAngularReadings (void) const

bool	gotAccelerationReadings (void) const

unsigned	getAhrsId (void) const

double	getLblRejectionValue (double exp_range) const

bool	rejectLbl (void) const

double	getTimeStep (void)

void	updateEuler (float filter)

void	updateEulerDelta (float filter)

void	updateAngularVelocities (float filter)

void	updateAcceleration (float filter)

void	updateDepth (float filter)

virtual void	runKalmanLBL (int beacon, float range, double dx, double dy, double exp_range)

virtual void	runKalmanDVL (void)

void	onDispatchNavigation (void)

bool	isActive (void)

void	reportToBus (void)

void	updateBuffers (float filter)

void	resetAcceleration (void)

void	resetAngularVelocity (void)

void	resetDepth (void)

void	resetEulerAngles (void)

void	resetEulerAnglesDelta (void)

void	checkUncertainty (bool abort=true)

void	checkDeclination (double lat, double lon, double height)

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)

Entities::BasicEntity *	getLocalEntity (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	onResourceAcquisition (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (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::Navigation::BasicNavigation
Navigation::KalmanFilter	m_kal

Navigation::Ranging	m_ranging

Navigation::StreamEstimator	m_stream_filter

int16_t	m_rpm

std::vector< double >	m_process_noise

std::vector< double >	m_measure_noise

std::vector< double >	m_state_cov

IMC::EstimatedState	m_estate

IMC::LblRangeAcceptance	m_lbl_ac

IMC::GpsFixRejection	m_gps_rej

IMC::DvlRejection	m_dvl_rej

IMC::NavigationUncertainty	m_uncertainty

IMC::NavigationData	m_navdata

IMC::GroundVelocity	m_gvel

IMC::WaterVelocity	m_wvel

Time::Counter< double >	m_time_without_gps

Time::Counter< double >	m_time_without_dvl

Time::Counter< double >	m_time_without_alt

Time::Counter< double >	m_dvl_sanity_timer

Time::Counter< double >	m_time_without_main_depth

Time::Counter< double >	m_time_without_depth

Time::Counter< double >	m_time_without_euler

double	m_gps_sog

double	m_last_z

bool	m_dead_reckoning

bool	m_aligned

unsigned	m_imu_eid

float	m_lbl_threshold

double	m_heading

bool	m_valid_gv

bool	m_valid_wv

bool	m_lbl_reading

Math::Derivative< double >	m_deriv_heave

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Navigation::AUV::Navigation::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Navigation::AUV::Navigation::Task::consume ( const IMC::EntityActivationState * msg )

inline

double Navigation::AUV::Navigation::Task::getBiasedHeading ( void )

inline

References DUNE::Navigation::KalmanFilter::getState(), DUNE::Navigation::BasicNavigation::m_kal, Navigation::AUV::Navigation::STATE_PSI, and Navigation::AUV::Navigation::STATE_PSI_BIAS.

Referenced by task().

unsigned Navigation::AUV::Navigation::Task::getNumberOutputs ( void )

inlinevirtual

Get number of EKF outputs.

Returns: number of outputs.

Implements DUNE::Navigation::BasicNavigation.

References Navigation::AUV::Navigation::NUM_OUT.

double Navigation::AUV::Navigation::Task::getRpmToMs ( double rpm )

inline

References m_args, m_speed_model, and Navigation::AUV::Navigation::Arguments::rpm_ini.

Referenced by task().

void Navigation::AUV::Navigation::Task::getSpeedOutputStates	(	unsigned *	u,
		unsigned *	v
	)

inlinevirtual

Get EKF output matrix speed indexes.

Parameters

[out]	u	forward speed state index.
[out]	v	transversal speed state index.

Implements DUNE::Navigation::BasicNavigation.

References Navigation::AUV::Navigation::OUT_U, and Navigation::AUV::Navigation::OUT_V.

void Navigation::AUV::Navigation::Task::logData ( void )

inline

Referenced by task().

void Navigation::AUV::Navigation::Task::onConsumeLblConfig ( void )

inlinevirtual

Method invoked when LblConfig message is received.

Reimplemented from DUNE::Navigation::BasicNavigation.

References DUNE::Navigation::Ranging::getSize(), DUNE::Navigation::BasicNavigation::m_kal, DUNE::Navigation::BasicNavigation::m_ranging, Navigation::AUV::Navigation::NUM_OUT, onUpdateParameters(), and DUNE::Navigation::KalmanFilter::resize().

void Navigation::AUV::Navigation::Task::onEntityResolution ( void )

inlinevirtual

Resolve entities.

Reimplemented from DUNE::Navigation::BasicNavigation.

References Navigation::AUV::Navigation::Arguments::elabel_imu, m_args, DUNE::Navigation::BasicNavigation::m_imu_eid, and DUNE::Tasks::Task::resolveEntity().

void Navigation::AUV::Navigation::Task::onReportEntityState ( void )

inlinevirtual

Called when the task is instructed to report the state of its entities.

Derived classes that need to report the state of entities other than the main entity should override this function to dispatch the EntityState of those entities.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), DUNE::Navigation::BasicNavigation::m_aligned, and DUNE::Navigation::BasicNavigation::m_imu_eid.

void Navigation::AUV::Navigation::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Navigation::BasicNavigation.

References DUNE::Tasks::Context::config, m_args, m_avg_speed, DUNE::Tasks::Task::m_ctx, Navigation::AUV::Navigation::Arguments::navg_speed, and startSpeedModel().