Navigation::General::LBL::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::EulerAngles *msg)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::LblConfig *msg)
void	consume (const IMC::LblRange *msg)
void	setup (void)
void	startFilter (const IMC::GpsFix *msg)
void	reset (unsigned index)
void	setState (unsigned index)
void	onMain (void)

Public Attributes
double	m_last_n
double	m_last_e
float	m_last_depth
double	m_yaw
DUNE::Navigation::Ranging	m_ranging
IMC::GpsFix *	m_origin
IMC::LblEstimate *	m_estimate [DUNE::Navigation::c_max_transponders]
uint16_t	m_gps_val_bits
Time::Counter< double >	m_time_without_gps
std::vector< MovingAverage < double > >	m_north_avg
std::vector< MovingAverage < double > >	m_east_avg
KalmanFilter	m_kal
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References Navigation::General::LBL::Arguments::covariance, Navigation::General::LBL::Arguments::error, Navigation::General::LBL::Arguments::gps_timeout, m_args, m_estimate, m_gps_val_bits, m_last_depth, m_last_e, m_last_n, m_yaw, Navigation::General::LBL::Arguments::max_hacc, Navigation::General::LBL::Arguments::mnoise, Navigation::General::LBL::Arguments::offset, Navigation::General::LBL::Arguments::pnoise, Navigation::General::LBL::Arguments::samples, and Navigation::General::LBL::Arguments::std.

Member Function Documentation

void Navigation::General::LBL::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_kal, and m_last_depth.

void Navigation::General::LBL::Task::consume ( const IMC::EulerAngles *  msg )

inline

References m_yaw.

void Navigation::General::LBL::Task::consume ( const IMC::GpsFix *  msg )

inline

References m_args, m_gps_val_bits, m_last_e, m_last_n, m_origin, m_time_without_gps, Navigation::General::LBL::Arguments::max_hacc, and startFilter().

void Navigation::General::LBL::Task::consume ( const IMC::LblConfig *  msg )

inline

References m_estimate, m_ranging, DUNE::Navigation::Ranging::setup(), and setup().

void Navigation::General::LBL::Task::consume ( const IMC::LblRange *  msg )

inline

References Navigation::General::LBL::Arguments::error, DUNE::Navigation::Ranging::exists(), DUNE::Navigation::Ranging::getDepth(), DUNE::Navigation::Ranging::getSize(), m_args, m_east_avg, m_estimate, m_kal, m_last_depth, m_last_e, m_last_n, m_north_avg, m_origin, m_ranging, m_time_without_gps, m_yaw, Navigation::General::LBL::Arguments::offset, reset(), Navigation::General::LBL::Arguments::samples, DUNE::Navigation::Ranging::setup(), and Navigation::General::LBL::Arguments::std.

void Navigation::General::LBL::Task::onMain ( void  )

inline

void Navigation::General::LBL::Task::onResourceInitialization ( void  )

inline

void Navigation::General::LBL::Task::onResourceRelease ( void  )

inline

References m_estimate, and m_origin.

void Navigation::General::LBL::Task::onUpdateParameters ( void  )

inline

References Navigation::General::LBL::Arguments::gps_timeout, m_args, and m_time_without_gps.

void Navigation::General::LBL::Task::reset ( unsigned  index )

inline

Reset moving averages and Kalman state.

Parameters

[in]

index

state index.

References m_east_avg, m_north_avg, and setState().

Referenced by consume().

void Navigation::General::LBL::Task::setState ( unsigned  index )

inline

Reset moving averages and Kalman state.

Parameters

[in]

index

state index.

References DUNE::Navigation::Ranging::getLocation(), m_kal, and m_ranging.

Referenced by reset(), and setup().

void Navigation::General::LBL::Task::setup ( void  )

inline

Setup filter.

References Navigation::General::LBL::Arguments::covariance, DUNE::Navigation::Ranging::getSize(), m_args, m_east_avg, m_kal, m_north_avg, m_ranging, Navigation::General::LBL::Arguments::mnoise, Navigation::General::LBL::Arguments::pnoise, Navigation::General::LBL::Arguments::samples, and setState().

Referenced by consume(), and startFilter().

void Navigation::General::LBL::Task::startFilter ( const IMC::GpsFix *  msg )

inline

Start filtering.

Parameters

[in]

msg

GPS fix to serve as navigation origin.

References DUNE::Navigation::Ranging::getSize(), m_last_e, m_last_n, m_origin, m_ranging, setup(), and DUNE::Navigation::Ranging::updateOrigin().

Referenced by consume().

Member Data Documentation

Arguments Navigation::General::LBL::Task::m_args

Task arguments.

Referenced by consume(), onUpdateParameters(), setup(), and Task().

std::vector<MovingAverage<double> > Navigation::General::LBL::Task::m_east_avg

East (NED) displacement.

Referenced by consume(), reset(), and setup().

IMC::LblEstimate* Navigation::General::LBL::Task::m_estimate[DUNE::Navigation::c_max_transponders]

LBL position estimates.

Referenced by consume(), onResourceRelease(), and Task().

uint16_t Navigation::General::LBL::Task::m_gps_val_bits

GPS validity bits.

Referenced by consume(), and Task().

KalmanFilter Navigation::General::LBL::Task::m_kal

Kalman Filter matrices.

Referenced by consume(), setState(), and setup().

float Navigation::General::LBL::Task::m_last_depth

Last Vehicle Depth value (m).

Referenced by consume(), and Task().

double Navigation::General::LBL::Task::m_last_e

Last East reference displacement.

Referenced by consume(), startFilter(), and Task().

double Navigation::General::LBL::Task::m_last_n

Last North reference displacement.

Referenced by consume(), startFilter(), and Task().

std::vector<MovingAverage<double> > Navigation::General::LBL::Task::m_north_avg

North (NED) displacement.

Referenced by consume(), reset(), and setup().

IMC::GpsFix* Navigation::General::LBL::Task::m_origin

Navigation origin.

Referenced by consume(), onResourceRelease(), and startFilter().

DUNE::Navigation::Ranging Navigation::General::LBL::Task::m_ranging

LBL beacon information.

Referenced by consume(), setState(), setup(), and startFilter().

Time::Counter<double> Navigation::General::LBL::Task::m_time_without_gps

Time without GPS sensor readings deadline.

Referenced by consume(), and onUpdateParameters().

double Navigation::General::LBL::Task::m_yaw

Vehicle heading.

Referenced by consume(), and Task().

Collaboration diagram for Navigation::General::LBL::Task: