DUNE::Maneuvers::FollowTrajectory Class Reference

Detailed Description

Base abstract class for trajectory following (IMC::FollowTrajectory maneuver).

Classes
struct	TPoint

Public Member Functions
	FollowTrajectory (const std::string &name, Tasks::Context &ctx)
virtual	~FollowTrajectory (void)
virtual void	onUpdateParameters (void)
void	consume (const IMC::FollowTrajectory *msg)
virtual bool	canInit (const IMC::FollowTrajectory *msg)=0
void	consume (const IMC::EstimatedState *msg)
virtual void	step (const IMC::EstimatedState &state)=0
void	consume (const IMC::PathControlState *pcs)
virtual void	onPathCompletion (void)=0
void	onPathControlState (const IMC::PathControlState *pcs)
void	onManeuverDeactivation (void)
virtual void	onReset (void)
const TPoint &	point (int t_index) const
size_t	trajectory_points (void) const
double	controlPeriod (void) const
bool	isApproaching (void) const
void	desiredPath (const TPoint &start, const TPoint &end)
void	desiredSpeed (double value, uint8_t units)
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

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

DUNE::Maneuvers::FollowTrajectory::FollowTrajectory	(	const std::string &	name,
		Tasks::Context &	ctx
	)

Constructor.

Parameters

name	name.
ctx	context.

DUNE::Maneuvers::FollowTrajectory::~FollowTrajectory ( void  )

virtual

Destructor.

Member Function Documentation

virtual bool DUNE::Maneuvers::FollowTrajectory::canInit ( const IMC::FollowTrajectory *  msg )

pure virtual

Method invoked on maneuver startup.

By default the base class implementation does nothing.

Parameters

msg	maneuver message

Returns

true if we can proceed with the maneuver, false otherwise

Referenced by consume().

void DUNE::Maneuvers::FollowTrajectory::consume

(

const IMC::FollowTrajectory *

msg

)

Consumer for IMC::FollowTrajectory message.

Parameters

msg	maneuver message

References canInit(), DUNE::IMC::CL_PATH, DUNE::IMC::DesiredPath::end_lat, DUNE::IMC::DesiredPath::end_lon, DUNE::IMC::DesiredPath::end_z, DUNE::IMC::DesiredPath::end_z_units, DUNE::IMC::FollowTrajectory::lat, DUNE::IMC::FollowTrajectory::lon, DUNE::IMC::DesiredPath::speed, DUNE::IMC::FollowTrajectory::speed, DUNE::IMC::DesiredPath::speed_units, DUNE::IMC::FollowTrajectory::speed_units, DUNE::IMC::FollowTrajectory::z, and DUNE::IMC::FollowTrajectory::z_units.

void DUNE::Maneuvers::FollowTrajectory::consume

(

const IMC::EstimatedState *

msg

)

Consumer for IMC::EstimatedState message.

Parameters

msg

message

References DUNE::IMC::Message::getTimeStamp(), and step().

void DUNE::Maneuvers::FollowTrajectory::consume

(

const IMC::PathControlState *

pcs

)

Consumer for IMC::PathControlState message.

Parameters

pcs	path control state message

double DUNE::Maneuvers::FollowTrajectory::controlPeriod ( void  ) const

inline

Get control step period.

Returns

control step period.

void DUNE::Maneuvers::FollowTrajectory::desiredPath	(	const TPoint &	start,
		const TPoint &	end
	)

Set the desired path.

References DUNE::Coordinates::WGS84::displace(), DUNE::IMC::DesiredPath::end_lat, DUNE::IMC::DesiredPath::end_lon, DUNE::IMC::DesiredPath::end_z, DUNE::IMC::DesiredPath::end_z_units, DUNE::IMC::DesiredPath::FL_START, DUNE::IMC::DesiredPath::flags, DUNE::IMC::DesiredPath::lradius, DUNE::IMC::DesiredPath::start_lat, DUNE::IMC::DesiredPath::start_lon, DUNE::IMC::DesiredPath::start_z, DUNE::IMC::DesiredPath::start_z_units, DUNE::Maneuvers::FollowTrajectory::TPoint::x, DUNE::Maneuvers::FollowTrajectory::TPoint::y, DUNE::Maneuvers::FollowTrajectory::TPoint::z, and DUNE::Maneuvers::FollowTrajectory::TPoint::z_units.

void DUNE::Maneuvers::FollowTrajectory::desiredSpeed	(	double	value,
		uint8_t	units
	)

Set the desired speed.

References DUNE::IMC::DesiredPath::speed, DUNE::IMC::FollowTrajectory::speed, DUNE::IMC::DesiredSpeed::speed_units, DUNE::IMC::DesiredPath::speed_units, and DUNE::IMC::DesiredSpeed::value.

bool DUNE::Maneuvers::FollowTrajectory::isApproaching ( void  ) const

inline

Check if maneuver is still in approach stage (i.e.

moving to the initial point).

Returns

control step period.

void DUNE::Maneuvers::FollowTrajectory::onManeuverDeactivation

(

void

)

Method called upon maneuver deactivation.

References onReset().

virtual void DUNE::Maneuvers::FollowTrajectory::onPathCompletion ( void  )

pure virtual

Abstract method called upon path completion.

This will not be called in approach stage (see isApproaching()).

Referenced by onPathControlState().

void DUNE::Maneuvers::FollowTrajectory::onPathControlState

(

const IMC::PathControlState *

pcs

)

Inherited from Maneuver class.

Parameters

pcs	path control state message

References DUNE::IMC::PathControlState::FL_NEAR, DUNE::IMC::PathControlState::flags, and onPathCompletion().

virtual void DUNE::Maneuvers::FollowTrajectory::onReset ( void  )

inlinevirtual

Method invoked on maneuver reset.

By default the base class implementation does nothing.

Referenced by onManeuverDeactivation().

void DUNE::Maneuvers::FollowTrajectory::onUpdateParameters ( void  )

virtual

References DUNE::IMC::MessageList< Type >::begin(), DUNE::IMC::MessageList< Type >::end(), DUNE::IMC::FollowTrajectory::points, DUNE::Maneuvers::FollowTrajectory::TPoint::t, DUNE::Maneuvers::FollowTrajectory::TPoint::x, DUNE::Maneuvers::FollowTrajectory::TPoint::y, DUNE::Maneuvers::FollowTrajectory::TPoint::z, DUNE::IMC::FollowTrajectory::z, DUNE::Maneuvers::FollowTrajectory::TPoint::z_units, and DUNE::IMC::FollowTrajectory::z_units.

const TPoint& DUNE::Maneuvers::FollowTrajectory::point ( int  t_index ) const

inline

Get a point in the trajectory.

Parameters

t_index

index of point

Returns

corresponding traj. point

virtual void DUNE::Maneuvers::FollowTrajectory::step ( const IMC::EstimatedState &  state )

pure virtual

Abstract method invoked for trajectory control.

This will be invoked periodically according to the control step period (see controlPeriod()) after the initial approach stage has concluded (see isApproaching()).

Referenced by consume().

size_t DUNE::Maneuvers::FollowTrajectory::trajectory_points ( void  ) const

inline

Get number of points in the trajetory.

Collaboration diagram for DUNE::Maneuvers::FollowTrajectory: