Public Types
typedef void(Task::*	PktHandler) (const mavlink_message_t *msg)

typedef std::map< int, PktHandler >	PktHandlerMap

Public Types inherited from DUNE::Concurrency::Runnable

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

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	onUpdateParameters (void)

void	openConnection (void)

void	setupRate (uint8_t rate)

void	info (uint32_t was, uint32_t is, uint32_t loop, const char *desc)

void	consume (const IMC::ControlLoops *cloops)

void	activateFBW (void)

void	consume (const IMC::DesiredRoll *d_roll)

void	consume (const IMC::DesiredControl *d_acc)

void	consume (const IMC::DesiredZ *d_z)

void	consume (const IMC::DesiredVerticalRate *d_vr)

void	consume (const IMC::DesiredSpeed *d_speed)

int	map2PWM (int min_pwm, int max_pwm, float min_value, float max_value, float value, bool reverse)

void	consume (const IMC::DesiredPath *path)

void	consume (const IMC::Takeoff *tkoff)

void	consume (const IMC::Land *land)

void	autoTakeoff (const IMC::DesiredPath *dpath, float pitch)

void	autoLand (const IMC::Land *land)

void	loiterHere (void)

void	consume (const IMC::IdleManeuver *idle)

void	consume (const IMC::VehicleMedium *vm)

void	consume (const IMC::VehicleState *msg)

void	consume (const IMC::SimulatedState *sim_state)

void	consume (const IMC::DevCalibrationControl *msg)

void	consume (const IMC::AutopilotMode *msg)

void	sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)

void	sendMissionItem (bool next)

void	onMain (void)

bool	poll (double timeout)

int	sendData (uint8_t *bfr, int size)

int	receiveData (uint8_t *buf, size_t blen)

void	handleArdupilotData (void)

void	handleAttitudePacket (const mavlink_message_t *msg)

void	handleImuRaw (const mavlink_message_t *msg)

void	handlePositionPacket (const mavlink_message_t *msg)

float	getHeight (void)

void	handleHWStatusPacket (const mavlink_message_t *msg)

void	handleSystemStatusPacket (const mavlink_message_t *msg)

void	handleScaledPressurePacket (const mavlink_message_t *msg)

void	handleRawGPSPacket (const mavlink_message_t *msg)

void	handleWindPacket (const mavlink_message_t *msg)

void	handleCmdAckPacket (const mavlink_message_t *msg)

void	handleMissionAckPacket (const mavlink_message_t *msg)

void	handleStatusTextPacket (const mavlink_message_t *msg)

void	handleHeartbeatPacket (const mavlink_message_t *msg)

void	handleNavControllerPacket (const mavlink_message_t *msg)

void	handleMissionItemPacket (const mavlink_message_t *msg)

void	handleHUDPacket (const mavlink_message_t *msg)

void	handleSystemTimePacket (const mavlink_message_t *msg)

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
Arguments	m_args

PktHandlerMap	m_mlh

double	m_last_pkt_time

uint8_t	m_buf [512]

IMC::EstimatedState	m_estate

IMC::Voltage	m_volt

IMC::Current	m_curr

IMC::FuelLevel	m_fuel

IMC::Pressure	m_pressure

IMC::Temperature	m_temp

IMC::GpsFix	m_fix

IMC::EstimatedStreamVelocity	m_stream

IMC::PathControlState	m_pcs

IMC::DesiredPath	m_dpath

IMC::ControlLoops	m_controllps

Network::TCPSocket *	m_TCP_sock

uint8_t	m_sysid

double	m_lat

double	m_lon

float	m_hae_msl

float	m_hae_offset

bool	m_reboot

bool	m_offset_st

float	m_href

bool	m_external

int	m_current_wp

bool	m_critical

uint32_t	m_cloops

mavlink_message_t	m_msg

int	m_desired_radius

int	m_gnd_speed

int	m_mode

bool	m_changing_wp

bool	m_error_missing

bool	m_esta_ext

bool	m_has_setup_rate

bool	m_ground

float	m_droll

float	m_dclimb

float	m_dspeed

APM_Vehicle	m_vehicle_type

bool	m_service

float	m_last_wp

std::queue< mavlink_message_t >	m_mission_items

float	m_gb_pan

float	m_gb_tilt

float	m_gb_retract

bool	m_land

Additional Inherited Members
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	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onResourceInitialization (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (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

Member Typedef Documentation

typedef void(Task::* Control::UAV::Ardupilot::Task::PktHandler) (const mavlink_message_t *msg)

Type definition for Arduino packet handler.

typedef std::map<int, PktHandler> Control::UAV::Ardupilot::Task::PktHandlerMap

Constructor & Destructor Documentation

Control::UAV::Ardupilot::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Control::UAV::Ardupilot::Task::activateFBW ( void )

inline

Messages for FBWB control (using DUNE's controllers)

References Control::UAV::Ardupilot::VEHICLE_FIXEDWING.

void Control::UAV::Ardupilot::Task::autoLand ( const IMC::Land * land )

inline

References Control::UAV::Ardupilot::CP_MODE_LAND, Control::UAV::Ardupilot::PL_MODE_AUTO, and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::autoTakeoff	(	const IMC::DesiredPath *	dpath,
		float	pitch
	)

inline

References Control::UAV::Ardupilot::CP_MODE_GUIDED, Control::UAV::Ardupilot::PL_MODE_AUTO, Control::UAV::Ardupilot::PL_MODE_GUIDED, and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::ControlLoops * cloops )

inline

References Control::UAV::Ardupilot::Arguments::ardu_tracker, and Control::UAV::Ardupilot::VEHICLE_FIXEDWING.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredRoll * d_roll )

inline

References Control::UAV::Ardupilot::Arguments::form_fl, Control::UAV::Ardupilot::Arguments::form_fl_ent, Control::UAV::Ardupilot::RadioChannel::pwm_max, Control::UAV::Ardupilot::RadioChannel::pwm_min, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::Arguments::rc3, Control::UAV::Ardupilot::RadioChannel::reverse, Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredControl * d_acc )

inline

References Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_GUIDED, and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredZ * d_z )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredVerticalRate * d_vr )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredSpeed * d_speed )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredPath * path )

inline

Message for GUIDED/AUTO control (using Ardupilot's controllers)

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_GUIDED, Control::UAV::Ardupilot::PL_MODE_GUIDED, and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::Takeoff * tkoff )

inline

References Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::Land * land )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::IdleManeuver * idle )

inline

References Control::UAV::Ardupilot::Arguments::loiter_idle.

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleMedium * vm )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleState * msg )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::SimulatedState * sim_state )

inline

Used for HITL simulations.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DevCalibrationControl * msg )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::AutopilotMode * msg )

inline

float Control::UAV::Ardupilot::Task::getHeight ( void )

inline

void Control::UAV::Ardupilot::Task::handleArdupilotData ( void )

inline

References Control::UAV::Ardupilot::Arguments::comm_timeout.

void Control::UAV::Ardupilot::Task::handleAttitudePacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::use_external_nav.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleCmdAckPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHeartbeatPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHUDPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHWStatusPacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleImuRaw ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionAckPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionItemPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleNavControllerPacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_AUTO, Control::UAV::Ardupilot::CP_MODE_GUIDED, Control::UAV::Ardupilot::Arguments::cp_wp_radius, Control::UAV::Ardupilot::Arguments::ltolerance, Control::UAV::Ardupilot::Arguments::secs, and Control::UAV::Ardupilot::VEHICLE_COPTER.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handlePositionPacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::convert_msl, and Control::UAV::Ardupilot::VEHICLE_UNKNOWN.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleRawGPSPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleScaledPressurePacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::esc_temp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleStatusTextPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemStatusPacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemTimePacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::hitl.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleWindPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::info	(	uint32_t	was,
		uint32_t	is,
		uint32_t	loop,
		const char *	desc
	)

inline

Prints to terminal and log when control loops are activated and deactivated.

void Control::UAV::Ardupilot::Task::loiterHere ( void )

inline

References Control::UAV::Ardupilot::Arguments::lradius, and Control::UAV::Ardupilot::VEHICLE_COPTER.

int Control::UAV::Ardupilot::Task::map2PWM	(	int	min_pwm,
		int	max_pwm,
		float	min_value,
		float	max_value,
		float	value,
		bool	reverse
	)

inline

Converts value in range min_value:max_value to a value_pwm in range min_pwm:max_pwm.

References DUNE::Math::trimValue().

void Control::UAV::Ardupilot::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

void Control::UAV::Ardupilot::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Control::UAV::Ardupilot::Arguments::ip, and Control::UAV::Ardupilot::Arguments::TCP_port.

void Control::UAV::Ardupilot::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

void Control::UAV::Ardupilot::Task::onUpdateParameters ( void )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

void Control::UAV::Ardupilot::Task::openConnection ( void )

inline

References Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, and Control::UAV::Ardupilot::Arguments::trate.

bool Control::UAV::Ardupilot::Task::poll ( double timeout )

inline

int Control::UAV::Ardupilot::Task::receiveData	(	uint8_t *	buf,
		size_t	blen
	)

inline

References Control::UAV::Ardupilot::Arguments::TCP_addr, and Control::UAV::Ardupilot::Arguments::TCP_port.

void Control::UAV::Ardupilot::Task::sendCommandPacket	(	uint16_t	cmd,
		float	arg1 = `0`,
		float	arg2 = `0`,
		float	arg3 = `0`,
		float	arg4 = `0`,
		float	arg5 = `0`,
		float	arg6 = `0`,
		float	arg7 = `0`
	)

inline

int Control::UAV::Ardupilot::Task::sendData	(	uint8_t *	bfr,
		int	size
	)

inline

void Control::UAV::Ardupilot::Task::sendMissionItem ( bool next )

inline

void Control::UAV::Ardupilot::Task::setupRate ( uint8_t rate )

inline

Member Data Documentation

Arguments Control::UAV::Ardupilot::Task::m_args

Task arguments.

uint8_t Control::UAV::Ardupilot::Task::m_buf[512]

bool Control::UAV::Ardupilot::Task::m_changing_wp

uint32_t Control::UAV::Ardupilot::Task::m_cloops

Bitfield of enabled control loops.

IMC::ControlLoops Control::UAV::Ardupilot::Task::m_controllps

DesiredPath message.

bool Control::UAV::Ardupilot::Task::m_critical

Critical WP.

IMC::Current Control::UAV::Ardupilot::Task::m_curr

int Control::UAV::Ardupilot::Task::m_current_wp

Current waypoint.

float Control::UAV::Ardupilot::Task::m_dclimb

int Control::UAV::Ardupilot::Task::m_desired_radius

IMC::DesiredPath Control::UAV::Ardupilot::Task::m_dpath

DesiredPath message.

float Control::UAV::Ardupilot::Task::m_droll

Desired control.

float Control::UAV::Ardupilot::Task::m_dspeed

bool Control::UAV::Ardupilot::Task::m_error_missing

bool Control::UAV::Ardupilot::Task::m_esta_ext

IMC::EstimatedState Control::UAV::Ardupilot::Task::m_estate

Estimated state message.

bool Control::UAV::Ardupilot::Task::m_external

External control.

IMC::GpsFix Control::UAV::Ardupilot::Task::m_fix

GPS Fix message.

IMC::FuelLevel Control::UAV::Ardupilot::Task::m_fuel

float Control::UAV::Ardupilot::Task::m_gb_pan

Desired gimbal angles.

float Control::UAV::Ardupilot::Task::m_gb_retract

float Control::UAV::Ardupilot::Task::m_gb_tilt

int Control::UAV::Ardupilot::Task::m_gnd_speed

bool Control::UAV::Ardupilot::Task::m_ground

Vehicle is on ground.

float Control::UAV::Ardupilot::Task::m_hae_msl

Height received from the Ardupilot (Geoid/MSL).

float Control::UAV::Ardupilot::Task::m_hae_offset

Height offset to convert to WGS-84 ellipsoid.

bool Control::UAV::Ardupilot::Task::m_has_setup_rate

Setup rate hack.

float Control::UAV::Ardupilot::Task::m_href

WGS84 height on ground.

bool Control::UAV::Ardupilot::Task::m_land

Flag to signal if a land maneuver occured.

double Control::UAV::Ardupilot::Task::m_last_pkt_time

float Control::UAV::Ardupilot::Task::m_last_wp

Time since last waypoint was sent.

double Control::UAV::Ardupilot::Task::m_lat

Last received position.

double Control::UAV::Ardupilot::Task::m_lon

std::queue<mavlink_message_t> Control::UAV::Ardupilot::Task::m_mission_items

Mission items queue.

PktHandlerMap Control::UAV::Ardupilot::Task::m_mlh

Arduino packet handling.

int Control::UAV::Ardupilot::Task::m_mode

mavlink_message_t Control::UAV::Ardupilot::Task::m_msg

Parser Variables.

bool Control::UAV::Ardupilot::Task::m_offset_st

Flag indicating MSL-WGS84 offset has already been calculated.

IMC::PathControlState Control::UAV::Ardupilot::Task::m_pcs

Path Control State.

IMC::Pressure Control::UAV::Ardupilot::Task::m_pressure

Pressure message.

bool Control::UAV::Ardupilot::Task::m_reboot

Flag indicating task is booting.

bool Control::UAV::Ardupilot::Task::m_service

Check if is in service.

IMC::EstimatedStreamVelocity Control::UAV::Ardupilot::Task::m_stream

Wind message.

uint8_t Control::UAV::Ardupilot::Task::m_sysid

System ID.

Network::TCPSocket* Control::UAV::Ardupilot::Task::m_TCP_sock

TCP socket.

IMC::Temperature Control::UAV::Ardupilot::Task::m_temp

Temperature message.

APM_Vehicle Control::UAV::Ardupilot::Task::m_vehicle_type

Type of system to be controlled.

IMC::Voltage Control::UAV::Ardupilot::Task::m_volt

Battery messages.

Collaboration diagram for Control::UAV::Ardupilot::Task:

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation