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

int	m_path_ref

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

Constructor & Destructor Documentation

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

inline

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_ref, m_path_sent, Maneuver::FollowReference::AUV::Arguments::vehicle_type, and Maneuver::FollowReference::AUV::Arguments::vertical_tolerance.

Member Function Documentation

void Maneuver::FollowReference::AUV::Task::consume ( const IMC::FollowReference * msg )

inline

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.

void Maneuver::FollowReference::AUV::Task::consume ( const IMC::Reference * msg )

inline

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.