Detailed Description

Estimated State.

Public Member Functions
	EstimatedState (void)

EstimatedState *	clone (void) const

void	clear (void)

bool	fieldsEqual (const Message &msg__) const

int	validate (void) const

uint8_t *	serializeFields (uint8_t *bfr__) const

uint16_t	deserializeFields (const uint8_t *bfr__, uint16_t size__)

uint16_t	reverseDeserializeFields (const uint8_t *bfr__, uint16_t size__)

uint16_t	getId (void) const

const char *	getName (void) const

unsigned	getFixedSerializationSize (void) const

void	fieldsToJSON (std::ostream &os__, unsigned nindent__) const

Public Member Functions inherited from DUNE::IMC::Message
	Message (void)

virtual	~Message (void)

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	getVariableSerializationSize (void) const

void	toJSON (std::ostream &os) const

void	toText (std::ostream &os) const

bool	operator== (const Message &other) const

bool	operator!= (const Message &other) const

Static Public Member Functions
static uint16_t	getIdStatic (void)

Public Attributes
fp64_t	lat

fp64_t	lon

fp32_t	height

fp32_t	x

fp32_t	y

fp32_t	z

fp32_t	phi

fp32_t	theta

fp32_t	psi

fp32_t	u

fp32_t	v

fp32_t	w

fp32_t	vx

fp32_t	vy

fp32_t	vz

fp32_t	p

fp32_t	q

fp32_t	r

fp32_t	depth

fp32_t	alt

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)

Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

DUNE::IMC::EstimatedState::EstimatedState ( void )

References clear(), DUNE::IMC::Message::m_header, and DUNE::IMC::Header::mgid.

Referenced by clone().

Member Function Documentation

void DUNE::IMC::EstimatedState::clear ( void )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References alt, depth, height, lat, lon, p, phi, psi, q, r, theta, u, v, vx, vy, vz, w, x, y, and z.

Referenced by EstimatedState().

EstimatedState* DUNE::IMC::EstimatedState::clone ( void ) const

inlinevirtual

Retrieve a copy of the message.

Returns: message copy.

Implements DUNE::IMC::Message.

References EstimatedState().

uint16_t DUNE::IMC::EstimatedState::deserializeFields	(	const uint8_t *	bfr,
		uint16_t	len
	)

virtual

Deserialize message fields from a packet.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns: number of bytes processed.

Implements DUNE::IMC::Message.

References alt, depth, DUNE::IMC::deserialize(), height, lat, lon, p, phi, psi, q, r, theta, u, v, vx, vy, vz, w, x, y, and z.

bool DUNE::IMC::EstimatedState::fieldsEqual ( const Message & other ) const

virtual

Compare fields for equality.

Parameters

[in] other message to compare.

Returns: true if fields are equal, false otherwise.

Reimplemented from DUNE::IMC::Message.

References alt, depth, height, lat, lon, p, phi, psi, q, r, theta, u, v, vx, vy, vz, w, x, y, and z.

void DUNE::IMC::EstimatedState::fieldsToJSON	(	std::ostream &	os,
		unsigned	indent_level
	)		const

virtual

Output the message fields (excluding header) in JSON format.

Parameters

os	output stream.
indent_level	number of indentation spaces.

Reimplemented from DUNE::IMC::Message.

References alt, depth, height, lat, lon, p, phi, psi, q, r, theta, DUNE::IMC::toJSON(), u, v, vx, vy, vz, w, x, y, and z.

unsigned DUNE::IMC::EstimatedState::getFixedSerializationSize ( void ) const

inlinevirtual

Get the fixed amount of bytes required to properly serialize this message (variable length fields are not included).

Returns: amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

uint16_t DUNE::IMC::EstimatedState::getId ( void ) const

inlinevirtual

Retrieve message's identification number.

Returns: message's identification number.

Implements DUNE::IMC::Message.

References getIdStatic().

static uint16_t DUNE::IMC::EstimatedState::getIdStatic ( void )

inlinestatic

Referenced by getId().

const char* DUNE::IMC::EstimatedState::getName ( void ) const

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

uint16_t DUNE::IMC::EstimatedState::reverseDeserializeFields	(	const uint8_t *	bfr,
		uint16_t	len
	)

virtual

Deserialize message fields from a packet, swapping the byte order.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns: number of bytes processed.

Implements DUNE::IMC::Message.

References alt, depth, height, lat, lon, p, phi, psi, q, r, DUNE::IMC::reverseDeserialize(), theta, u, v, vx, vy, vz, w, x, y, and z.

uint8_t * DUNE::IMC::EstimatedState::serializeFields ( uint8_t * bfr__ ) const

virtual

Implements DUNE::IMC::Message.

References alt, depth, height, lat, lon, p, phi, psi, q, r, DUNE::IMC::serialize(), theta, u, v, vx, vy, vz, w, x, y, and z.

int DUNE::IMC::EstimatedState::validate ( void ) const

virtual

Validate the message's contents.

Returns: negative value in case of a valid message or a positive value indicating the position of the invalid message field.

Implements DUNE::IMC::Message.

Member Data Documentation

fp32_t DUNE::IMC::EstimatedState::alt

Altitude.

Referenced by clear(), DUNE::Control::BasicAutopilot::consume(), DUNE::Utils::Codecs::CodedEstimatedState::decode(), deserializeFields(), DUNE::Utils::Codecs::CodedEstimatedState::encode(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::Elevate::getVerticalError(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), serializeFields(), and DUNE::Maneuvers::Elevate::update().

fp32_t DUNE::IMC::EstimatedState::depth

Depth.

Referenced by clear(), DUNE::Control::BasicAutopilot::consume(), Control::ROV::RemoteOperation::Task::consume(), DUNE::Utils::Codecs::CodedEstimatedState::decode(), deserializeFields(), DUNE::Utils::Codecs::CodedEstimatedState::encode(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::Elevate::getVerticalError(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Control::SlopeData::isSurface(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), serializeFields(), DUNE::Navigation::UsblTools::toFix(), and DUNE::Maneuvers::Elevate::update().

fp32_t DUNE::IMC::EstimatedState::height

Height (WGS-84).

Referenced by clear(), DUNE::Control::PathController::consume(), DUNE::Navigation::BasicNavigation::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), reverseDeserializeFields(), serializeFields(), DUNE::Navigation::BasicNavigation::setup(), and DUNE::Coordinates::toWGS84().

fp64_t DUNE::IMC::EstimatedState::lat

Latitude (WGS-84).

Referenced by clear(), DUNE::Control::PathController::consume(), DUNE::Maneuvers::VehicleFormation::consume(), DUNE::Navigation::BasicNavigation::consume(), DUNE::Utils::Codecs::CodedEstimatedState::decode(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), reverseDeserializeFields(), serializeFields(), DUNE::Navigation::BasicNavigation::setup(), and DUNE::Coordinates::toWGS84().

fp64_t DUNE::IMC::EstimatedState::lon

Longitude (WGS-84).

Referenced by clear(), DUNE::Control::PathController::consume(), DUNE::Maneuvers::VehicleFormation::consume(), DUNE::Navigation::BasicNavigation::consume(), DUNE::Utils::Codecs::CodedEstimatedState::decode(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), reverseDeserializeFields(), serializeFields(), DUNE::Navigation::BasicNavigation::setup(), and DUNE::Coordinates::toWGS84().

fp32_t DUNE::IMC::EstimatedState::p

Angular Velocity in x.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::phi

Rotation over x axis.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::psi

Rotation over z axis.

Referenced by clear(), DUNE::Control::PathController::consume(), Control::ROV::RemoteOperation::Task::consume(), DUNE::Utils::Codecs::CodedEstimatedState::decode(), deserializeFields(), DUNE::Utils::Codecs::CodedEstimatedState::encode(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::q

Angular Velocity in y.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::r

Angular Velocity in z.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::theta

Rotation over y axis.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Control::SlopeData::isSurface(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::u

Body-Fixed xx Velocity.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::v

Body-Fixed yy Velocity.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::vx

Ground Velocity X (North).

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::vy

Ground Velocity Y (East).

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::General::ROV::Task::logData(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::vz

Ground Velocity Z (Down).

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::w

Body-Fixed zz Velocity.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::EstimatedState::x

Offset north.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), serializeFields(), and DUNE::Coordinates::toWGS84().

fp32_t DUNE::IMC::EstimatedState::y

Offset east.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), serializeFields(), and DUNE::Coordinates::toWGS84().

fp32_t DUNE::IMC::EstimatedState::z

Offset down.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Navigation::AUV::Navigation::Task::logData(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), reverseDeserializeFields(), serializeFields(), and DUNE::Coordinates::toWGS84().

Collaboration diagram for DUNE::IMC::EstimatedState:

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation