Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onManeuverDeactivation (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::FollowSystem *maneuver)

void	consume (const IMC::RemoteState *rs)

void	consume (const IMC::Announce *msg)

void	onPathControlState (const IMC::PathControlState *pcs)

void	onStateReport (void)

void	computeNEDOffsets (double lat, double lon, double depth, double psi)

bool	checkSafety (double lat, double lon)

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::FollowSystem	m_maneuver

IMC::EstimatedState	m_estate

IMC::DesiredPath	m_path

Counter< double >	m_heading_timestamp

double	m_remote_heading

double	m_start_time

Counter< double >	m_last_update

double	m_last_known_bearing

double	m_last_known_lat

double	m_last_known_lon

bool	m_first_announce

bool	m_has_estimated_state

Arguments	m_args

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

inline

References Maneuver::FollowSystem::Arguments::announce_active, Maneuver::FollowSystem::Arguments::heading_cooldown, Maneuver::FollowSystem::Arguments::loiter_radius, Maneuver::FollowSystem::Arguments::min_displace, Maneuver::FollowSystem::Arguments::remote_active, Maneuver::FollowSystem::Arguments::safe_distance, and Maneuver::FollowSystem::Arguments::timeout.

Member Function Documentation

bool Maneuver::FollowSystem::Task::checkSafety	(	double	lat,
		double	lon
	)

inline

Routine for checking the safety of the vehicle's position this routine return true if the present location is safe and returns false otherwise.

References Maneuver::FollowSystem::Arguments::safe_distance.

void Maneuver::FollowSystem::Task::computeNEDOffsets	(	double	lat,
		double	lon,
		double	depth,
		double	psi
	)

inline

Function to compute new point to send to vehicle considering offsets.

void Maneuver::FollowSystem::Task::consume ( const IMC::EstimatedState * msg )

inline

References Maneuver::FollowSystem::Arguments::announce_active.

void Maneuver::FollowSystem::Task::consume ( const IMC::FollowSystem * maneuver )

inline

References Maneuver::FollowSystem::Arguments::loiter_radius.

void Maneuver::FollowSystem::Task::consume ( const IMC::RemoteState * rs )

inline

References Maneuver::FollowSystem::Arguments::loiter_radius, and Maneuver::FollowSystem::Arguments::remote_active.

void Maneuver::FollowSystem::Task::consume ( const IMC::Announce * msg )

inline

References Maneuver::FollowSystem::Arguments::announce_active, Maneuver::FollowSystem::Arguments::loiter_radius, and Maneuver::FollowSystem::Arguments::min_displace.

void Maneuver::FollowSystem::Task::enableMovement ( bool enable )

inline

Function for enabling and disabling the control loops.

void Maneuver::FollowSystem::Task::onManeuverDeactivation ( void )

inline

void Maneuver::FollowSystem::Task::onPathControlState ( const IMC::PathControlState * pcs )

inline

Function to check if the vehicle is getting near to the next waypoint.

void Maneuver::FollowSystem::Task::onStateReport ( void )

inline

void Maneuver::FollowSystem::Task::onUpdateParameters ( void )

inline

References Maneuver::FollowSystem::Arguments::heading_cooldown, and Maneuver::FollowSystem::Arguments::timeout.

Member Data Documentation

Arguments Maneuver::FollowSystem::Task::m_args

Task Arguments.

IMC::EstimatedState Maneuver::FollowSystem::Task::m_estate

Vehicle's Estimated State.

bool Maneuver::FollowSystem::Task::m_first_announce

is it the first time consume announce is being ran?

bool Maneuver::FollowSystem::Task::m_has_estimated_state

this boolean tells us if we have an estimated state already

Counter<double> Maneuver::FollowSystem::Task::m_heading_timestamp

Remote State computed heading's timestamp, for evaluating the best heading to be used.

double Maneuver::FollowSystem::Task::m_last_known_bearing

variable to hold the last known bearing

double Maneuver::FollowSystem::Task::m_last_known_lat

variable that will hold the last known latittude

double Maneuver::FollowSystem::Task::m_last_known_lon

variable that will hold the last known longitude

Counter<double> Maneuver::FollowSystem::Task::m_last_update

the last Clock::get() when the neighbor system's position was updated

IMC::FollowSystem Maneuver::FollowSystem::Task::m_maneuver

Variable to save the maneuver's data.

IMC::DesiredPath Maneuver::FollowSystem::Task::m_path

Desired path to be thrown.

double Maneuver::FollowSystem::Task::m_remote_heading

this variable will hold the value of the heading computed when using the announce method instead of the remote state.

double Maneuver::FollowSystem::Task::m_start_time

the start time of the maneuver measured at consume maneuver

Collaboration diagram for Maneuver::FollowSystem::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation