Detailed Description

Path Control State.

Public Types
enum	FlagsBits { FL_NEAR, FL_LOITERING, FL_NO_Z, FL_3DTRACK, FL_CCLOCKW }

Public Member Functions
	PathControlState (void)

PathControlState *	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
uint32_t	path_ref

fp64_t	start_lat

fp64_t	start_lon

fp32_t	start_z

uint8_t	start_z_units

fp64_t	end_lat

fp64_t	end_lon

fp32_t	end_z

uint8_t	end_z_units

fp32_t	lradius

uint8_t	flags

fp32_t	x

fp32_t	y

fp32_t	z

fp32_t	vx

fp32_t	vy

fp32_t	vz

fp32_t	course_error

uint16_t	eta

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

Member Enumeration Documentation

enum DUNE::IMC::PathControlState::FlagsBits

Flags.

Enumerator
FL_NEAR	Near Endpoint.
FL_LOITERING	Loitering.
FL_NO_Z	No Altitude/Depth control.
FL_3DTRACK	3D Tracking.
FL_CCLOCKW	Counter-Clockwise loiter.

Constructor & Destructor Documentation

DUNE::IMC::PathControlState::PathControlState ( void )

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

Referenced by clone().

Member Function Documentation

void DUNE::IMC::PathControlState::clear ( void )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References course_error, end_lat, end_lon, end_z, end_z_units, eta, flags, lradius, path_ref, start_lat, start_lon, start_z, start_z_units, vx, vy, vz, x, y, and z.

Referenced by PathControlState().

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

inlinevirtual

Retrieve a copy of the message.

Returns: message copy.

Implements DUNE::IMC::Message.

References PathControlState().

uint16_t DUNE::IMC::PathControlState::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 course_error, DUNE::IMC::deserialize(), end_lat, end_lon, end_z, end_z_units, eta, flags, lradius, path_ref, start_lat, start_lon, start_z, start_z_units, vx, vy, vz, x, y, and z.

bool DUNE::IMC::PathControlState::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 course_error, end_lat, end_lon, end_z, end_z_units, eta, flags, lradius, path_ref, start_lat, start_lon, start_z, start_z_units, vx, vy, vz, x, y, and z.

void DUNE::IMC::PathControlState::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 course_error, end_lat, end_lon, end_z, end_z_units, eta, flags, lradius, path_ref, start_lat, start_lon, start_z, start_z_units, DUNE::IMC::toJSON(), vx, vy, vz, x, y, and z.

unsigned DUNE::IMC::PathControlState::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::PathControlState::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::PathControlState::getIdStatic ( void )

inlinestatic

Referenced by getId().

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

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

uint16_t DUNE::IMC::PathControlState::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 course_error, DUNE::IMC::deserialize(), end_lat, end_lon, end_z, end_z_units, eta, flags, lradius, path_ref, DUNE::IMC::reverseDeserialize(), start_lat, start_lon, start_z, start_z_units, vx, vy, vz, x, y, and z.

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

virtual

Implements DUNE::IMC::Message.

References course_error, end_lat, end_lon, end_z, end_z_units, eta, flags, lradius, path_ref, DUNE::IMC::serialize(), start_lat, start_lon, start_z, start_z_units, vx, vy, vz, x, y, and z.

int DUNE::IMC::PathControlState::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::PathControlState::course_error

Course Error.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp64_t DUNE::IMC::PathControlState::end_lat

End Point – Latitude WGS-84.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp64_t DUNE::IMC::PathControlState::end_lon

End Point – WGS-84 Longitude.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::PathControlState::end_z

End Point – Z Reference.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::PathControlState::end_z_units

End Point – Z Units.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint16_t DUNE::IMC::PathControlState::eta

Estimated Time to Arrival (ETA).

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::PathControlState::flags

Flags.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), DUNE::Maneuvers::Circular::onPathControlState(), DUNE::Maneuvers::FigureEight::onPathControlState(), DUNE::Maneuvers::VehicleFormation::onPathControlState(), DUNE::Maneuvers::FollowTrajectory::onPathControlState(), reverseDeserializeFields(), serializeFields(), DUNE::Maneuvers::Elevate::updatePathControl(), and DUNE::Maneuvers::StationKeep::updatePathControl().

fp32_t DUNE::IMC::PathControlState::lradius

Loiter – Radius.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint32_t DUNE::IMC::PathControlState::path_ref

Path Reference.

Referenced by clear(), DUNE::Control::PathController::consume(), DUNE::Maneuvers::Maneuver::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp64_t DUNE::IMC::PathControlState::start_lat

Start Point – Latitude WGS-84.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp64_t DUNE::IMC::PathControlState::start_lon

Start Point – WGS-84 Longitude.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::PathControlState::start_z

Start Point – Z Reference.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::PathControlState::start_z_units

Start Point – Z Units.

Referenced by clear(), DUNE::Control::PathController::consume(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::PathControlState::vx

Along Track Velocity.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::PathControlState::vy

Cross Track Velocity.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::PathControlState::vz

Vertical Track Velocity.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::PathControlState::x

Along Track Position.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), serializeFields(), and DUNE::Maneuvers::StationKeep::updatePathControl().

fp32_t DUNE::IMC::PathControlState::y

Cross Track Position.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), serializeFields(), and DUNE::Maneuvers::StationKeep::updatePathControl().

fp32_t DUNE::IMC::PathControlState::z

Vertical Track Position.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

Collaboration diagram for DUNE::IMC::PathControlState:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation