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

void	onResourceInitialization (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onAutopilotActivation (void)

void	onAutopilotDeactivation (void)

void	onUpdateParameters (void)

void	initializePIDs (void)

void	reset (void)

void	onEntityReservation (void)

void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)

float	depthControl (const double timestep, const IMC::EstimatedState *msg)

float	rollControl (const double timestep, const IMC::EstimatedState *msg)

float	headingControl (const double timestep, const IMC::EstimatedState *msg)

Public Member Functions inherited from DUNE::Control::BasicAutopilot
	BasicAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)

virtual	~BasicAutopilot (void)

virtual void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)=0

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::DesiredZ *msg)

void	consume (const IMC::DesiredPitch *msg)

void	consume (const IMC::DesiredHeading *msg)

void	consume (const IMC::DesiredHeadingRate *msg)

void	consume (const IMC::ControlLoops *msg)

void	consume (const IMC::DesiredVelocity *msg)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (void) const

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

DebugLevel	getDebugLevel (void) const

uint16_t	getActivationTime (void) const

uint16_t	getDeactivationTime (void) const

unsigned int	resolveSystemName (const std::string &name) const

const char *	resolveSystemId (unsigned int id) const

void	loadConfig (void)

void	setPriority (unsigned int value)

unsigned int	getPriority (void) const

void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2

void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

void	receive (const IMC::Message *msg)

void	reserveEntities (void)

void	resolveEntities (void)

void	acquireResources (void)

void	releaseResources (void)

void	initializeResources (void)

void	updateParameters (bool act_deact=true)

void	writeParamsXML (std::ostream &os) const

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)

virtual	~AbstractTask (void)

Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)

virtual	~Thread (void)

int	getProcessorUsage (void)

Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)

virtual	~Runnable (void)

void	start (void)

void	stop (void)

void	join (void)

void	stopAndJoin (void)

void	setPriority (Scheduler::Policy policy, unsigned priority)

unsigned	getPriority (void)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
DiscretePID	m_pid [LP_MAX_LOOPS]

IMC::DesiredHeadingRate	m_hrate_ref

IMC::DesiredPitch	m_pitch_ref

IMC::ControlParcel	m_parcels [LP_MAX_LOOPS]

CoarseAltitude::Arguments	m_ca_args

CoarseAltitude *	m_ca

IMC::ControlParcel	m_ca_parcel

bool	m_extra_pitch

Arguments	m_args

int	m_sampling_rate_relation

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
Protected Types inherited from DUNE::Control::BasicAutopilot
Protected Member Functions inherited from DUNE::Control::BasicAutopilot
void	onDeactivation (void)

void	onActivation (void)

void	signalBadYaw (const char *desc=DTR("yaw control mode %d not supported"))

void	signalBadVertical (const char *desc=DTR("vertical control mode %d not supported"))

float	getVerticalRef (void) const

VerticalMode	getVerticalMode (void) const

float	getYawRef (void) const

YawMode	getYawMode (void) const

float	getSurgeRef (void) const

float	getSwayRef (void) const

float	getBottomFollowDepth (void) const

Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

Entities::BasicEntity *	getLocalEntity (const std::string &label)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (void) const

void	waitForMessages (double timeout)

void	consumeMessages (void)

template<typename T >
Parameter &	param (const std::string &name, T &var)

template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)

template<typename T >
bool	paramChanged (T &var)

void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)

void	setParamSectionEditor (const std::string &name)

template<typename M , typename T >
void	bind (T task_obj, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)

template<typename T , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)

void	requestActivation (void)

void	requestDeactivation (void)

void	activate (void)

void	activationFailed (const std::string &reason)

void	deactivate (void)

void	deactivationFailed (const std::string &reason)

virtual bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

unsigned	getPriorityImpl (void)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Control::AUV::Attitude::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

float Control::AUV::Attitude::Task::depthControl	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

classical inner pitch/outter depth nested controller.

Parameters

[in]	timestep	time interval to use in pid controller.
[in]	msg	pointer to EstimatedState message.

Returns: desired torque about y axis.

float Control::AUV::Attitude::Task::headingControl	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

Control the heading angle.

Parameters

[in]	timestep	time interval to use in pid controller.
[in]	msg	pointer to EstimatedState message.

Returns: desired torque about z axis.

References Control::AUV::Attitude::Arguments::error_attitude, Control::AUV::Attitude::Arguments::gains, Control::AUV::Attitude::Arguments::hrate_oloop, Control::AUV::Attitude::LP_HEADING, and Control::AUV::Attitude::LP_HRATE.

void Control::AUV::Attitude::Task::initializePIDs ( void )

inline

Initialize PID related variables.

void Control::AUV::Attitude::Task::onAutopilotActivation ( void )

inlinevirtual

On activation.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onAutopilotDeactivation ( void )

inlinevirtual

On deactivation.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onEntityReservation ( void )

inlinevirtual

Reserve entities for messages.

Reimplemented from DUNE::Tasks::Task.

References Control::AUV::Attitude::Arguments::log_parcels, and Control::AUV::Attitude::LP_MAX_LOOPS.

void Control::AUV::Attitude::Task::onEstimatedState	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

Computes control values when receiving EstimatedState.

Parameters

[in]	timestep	time interval to use in pid controller.
[in]	msg	pointer to EstimatedState message.

References Control::AUV::Attitude::Arguments::error_attitude, DUNE::Math::inverse(), Control::AUV::Attitude::Arguments::max_fin_rot, Control::AUV::Attitude::Arguments::max_pitch_act, Control::AUV::Attitude::Arguments::roll_control_enabled, and DUNE::Math::trimValue().

void Control::AUV::Attitude::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onResourceRelease ( void )

inlinevirtual

Release Resources.

Reimplemented from DUNE::Control::BasicAutopilot.

void Control::AUV::Attitude::Task::onUpdateParameters ( void )

inlinevirtual

Update internal parameters.

Reimplemented from DUNE::Tasks::Task.

References Control::AUV::Attitude::LP_MAX_LOOPS, Control::AUV::Attitude::Arguments::max_fin_rot, Control::AUV::Attitude::Arguments::max_hrate, Control::AUV::Attitude::Arguments::max_int, Control::AUV::Attitude::Arguments::max_pitch, Control::AUV::Attitude::Arguments::max_pitch_act, Control::AUV::Attitude::RollCompensation::offset_angle, Control::AUV::Attitude::Arguments::rc, Control::AUV::Attitude::Arguments::sampling_rate_relation, and Control::AUV::Attitude::Arguments::surface_pitch.

void Control::AUV::Attitude::Task::reset ( void )

inlinevirtual

Member variable reset function.

Reimplemented from DUNE::Control::BasicAutopilot.

References Control::AUV::Attitude::LP_MAX_LOOPS.

float Control::AUV::Attitude::Task::rollControl	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

Control the roll angle.

Parameters

[in]	timestep	time interval to use in pid controller.
[in]	msg	pointer to EstimatedState message.

Returns: desired torque about x axis.

References Control::AUV::Attitude::Arguments::gains, Control::AUV::Attitude::LP_ROLL, Control::AUV::Attitude::RollCompensation::offset_angle, Control::AUV::Attitude::Arguments::rc, Control::AUV::Attitude::RollCompensation::speed_bounds, Control::AUV::Attitude::RollCompensation::speed_gain, Control::AUV::Attitude::RollCompensation::use_offset, and Control::AUV::Attitude::RollCompensation::use_speed.

Member Data Documentation

Arguments Control::AUV::Attitude::Task::m_args

Task Arguments.

CoarseAltitude* Control::AUV::Attitude::Task::m_ca

Coarse Altitude pointer to object.

CoarseAltitude::Arguments Control::AUV::Attitude::Task::m_ca_args

Coarse Altitude arguments.

IMC::ControlParcel Control::AUV::Attitude::Task::m_ca_parcel

Parcel for coarse altitude.

bool Control::AUV::Attitude::Task::m_extra_pitch

Applying extra reference.

IMC::DesiredHeadingRate Control::AUV::Attitude::Task::m_hrate_ref

Heading controller heading rate reference.

IMC::ControlParcel Control::AUV::Attitude::Task::m_parcels[LP_MAX_LOOPS]

PID parcels.

DiscretePID Control::AUV::Attitude::Task::m_pid[LP_MAX_LOOPS]

PID Controllers.

IMC::DesiredPitch Control::AUV::Attitude::Task::m_pitch_ref

Depth controller pitch reference.

int Control::AUV::Attitude::Task::m_sampling_rate_relation

Collaboration diagram for Control::AUV::Attitude::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation