Simulators::USBL::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::SimulatedState *msg)
void	task (void)
void	getSensorData (USBLMessage *msg) const
void	getRealBearingAndRange (double *bearing, double *range) const

Public Attributes
IMC::EntityState	m_ent
IMC::SimulatedState	m_sstate
IMC::DevDataBinary	m_dev
Random::Generator *	m_prng
double	m_usbl_off_n
double	m_usbl_off_e
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References m_args, Simulators::USBL::Arguments::prng_seed, Simulators::USBL::Arguments::prng_type, Simulators::USBL::Arguments::trans_delay, Simulators::USBL::Arguments::usbl_bearing_res, Simulators::USBL::Arguments::usbl_depth, Simulators::USBL::Arguments::usbl_heading, Simulators::USBL::Arguments::usbl_lat, Simulators::USBL::Arguments::usbl_lon, and Simulators::USBL::Arguments::usbl_slant_acc.

Member Function Documentation

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

inline

References m_args, m_usbl_off_e, m_usbl_off_n, Simulators::USBL::Arguments::usbl_lat, and Simulators::USBL::Arguments::usbl_lon.

void Simulators::USBL::Task::consume ( const IMC::SimulatedState *  msg )

inline

References Simulators::USBL::USBLMessage::bearing, Simulators::USBL::USBLMessage::elevation, m_args, m_dev, m_sstate, Simulators::USBL::USBLMessage::range, and Simulators::USBL::Arguments::trans_delay.

void Simulators::USBL::Task::getRealBearingAndRange ( double *  bearing, double *  range  ) const

inline

Compute actual bearing angle and range from USBL transducer to vehicle.

References m_args, m_sstate, m_usbl_off_e, m_usbl_off_n, and Simulators::USBL::Arguments::usbl_heading.

Referenced by getSensorData().

void Simulators::USBL::Task::getSensorData ( USBLMessage *  msg ) const

inline

Compute simulated sensor data using data from manufacturer.

References Simulators::USBL::USBLMessage::bearing, Simulators::USBL::USBLMessage::elevation, DUNE::Math::Random::Generator::gaussian(), getRealBearingAndRange(), m_args, m_prng, m_sstate, DUNE::Math::norm(), Simulators::USBL::USBLMessage::range, Simulators::USBL::Arguments::usbl_bearing_res, Simulators::USBL::Arguments::usbl_depth, Simulators::USBL::Arguments::usbl_heading, and Simulators::USBL::Arguments::usbl_slant_acc.

Referenced by task().

void Simulators::USBL::Task::onResourceAcquisition ( void  )

inline

References m_args, m_prng, Simulators::USBL::Arguments::prng_seed, and Simulators::USBL::Arguments::prng_type.

void Simulators::USBL::Task::onResourceRelease ( void  )

inline

References m_prng.

void Simulators::USBL::Task::onUpdateParameters ( void  )

inline

References m_args, Simulators::USBL::Arguments::trans_delay, Simulators::USBL::Arguments::usbl_bearing_res, Simulators::USBL::Arguments::usbl_heading, Simulators::USBL::Arguments::usbl_lat, and Simulators::USBL::Arguments::usbl_lon.

void Simulators::USBL::Task::task ( void  )

inline

References getSensorData(), m_dev, and m_ent.

Member Data Documentation

Arguments Simulators::USBL::Task::m_args

Task Arguments.

Referenced by consume(), getRealBearingAndRange(), getSensorData(), onResourceAcquisition(), onUpdateParameters(), and Task().

IMC::DevDataBinary Simulators::USBL::Task::m_dev

A device binary message for now.

Referenced by consume(), and task().

IMC::EntityState Simulators::USBL::Task::m_ent

Entity state message.

Referenced by task().

Random::Generator* Simulators::USBL::Task::m_prng

PRNG handle.

Referenced by getSensorData(), onResourceAcquisition(), and onResourceRelease().

IMC::SimulatedState Simulators::USBL::Task::m_sstate

Current position.

Referenced by consume(), getRealBearingAndRange(), and getSensorData().

double Simulators::USBL::Task::m_usbl_off_e

East offset of the USBL acoustic transducer.

Referenced by consume(), and getRealBearingAndRange().

double Simulators::USBL::Task::m_usbl_off_n

North offset of the USBL acoustic transducer.

Referenced by consume(), and getRealBearingAndRange().

Collaboration diagram for Simulators::USBL::Task: