Maneuver::VehicleFormation::SMC::Task Struct Reference

Public Member Functions
	Task (const std::string &name, DUNE::Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onReset (void)
void	onInit (const IMC::VehicleFormation *maneuver)
void	onUpdate (int f_index, const IMC::RemoteState &rstate)
void	step (const IMC::EstimatedState &estate)
void	onPathCompletion (void)
Matrix	findXY (IMC::EstimatedState a, IMC::EstimatedState b, double t)
double	toActuation (double desired_mps, double max_mps, double max_act, double min_mps, double min_act)
Public Member Functions inherited from DUNE::IMC::VehicleFormation
	VehicleFormation (void)
VehicleFormation *	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
unsigned	getVariableSerializationSize (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
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Public Attributes
IMC::EstimatedState	m_estate
double	m_zero_time
int	m_curr
double	m_last_actuation
Matrix	m_delta
TPoint	m_prev
Utils::CircularBuffer< IMC::EstimatedState >	m_queue
Matrix	m_errf
std::ofstream	m_dbg
std::ofstream	m_dbg_owa
std::ofstream	m_dbg_owb
std::ofstream	m_dbg_pw
std::ofstream	m_dbg_pa_ts
std::ofstream	m_dbg_pb_ts
std::ofstream	m_dbg_deltas
std::ofstream	m_dbg_ferror
std::ofstream	m_dbg_pa
double	m_debug_time
Arguments	m_args
Public Attributes inherited from DUNE::IMC::VehicleFormation
fp64_t	lat
fp64_t	lon
fp32_t	z
uint8_t	z_units
fp32_t	speed
uint8_t	speed_units
MessageList< TrajectoryPoint >	points
MessageList< VehicleFormationParticipant >	participants
fp64_t	start_time
std::string	custom

Static Public Attributes
static const int	c_queue_size

Additional Inherited Members
Static Public Member Functions inherited from DUNE::IMC::VehicleFormation
static uint16_t	getIdStatic (void)
Protected Member Functions inherited from DUNE::IMC::VehicleFormation
void	setTimeStampNested (double value__)
void	setSourceNested (uint16_t value__)
void	setSourceEntityNested (uint8_t value__)
void	setDestinationNested (uint16_t value__)
void	setDestinationEntityNested (uint8_t value__)
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

Maneuver::VehicleFormation::SMC::Task::Task ( const std::string &  name, DUNE::Tasks::Context &  ctx  )

inline

References Maneuver::VehicleFormation::SMC::Arguments::act_step, Maneuver::VehicleFormation::SMC::Arguments::bounds, Maneuver::VehicleFormation::SMC::Arguments::debug, Maneuver::VehicleFormation::SMC::Arguments::errf_bounds, Maneuver::VehicleFormation::SMC::Arguments::kf, Maneuver::VehicleFormation::SMC::Arguments::kt, Maneuver::VehicleFormation::SMC::Arguments::max_actuation, Maneuver::VehicleFormation::SMC::Arguments::max_speed_mps, Maneuver::VehicleFormation::SMC::Arguments::min_actuation, Maneuver::VehicleFormation::SMC::Arguments::min_speed_mps, and Maneuver::VehicleFormation::SMC::Arguments::mps_control.

Member Function Documentation

Matrix Maneuver::VehicleFormation::SMC::Task::findXY ( IMC::EstimatedState  a, IMC::EstimatedState  b, double  t  )

inline

Function for finding values of x and y through linear interpolation.

References DUNE::Math::linearInterpolation().

void Maneuver::VehicleFormation::SMC::Task::onInit ( const IMC::VehicleFormation *  maneuver )

inline

References Maneuver::VehicleFormation::SMC::Arguments::bounds, Maneuver::VehicleFormation::SMC::Arguments::debug, Maneuver::VehicleFormation::SMC::Arguments::errf_bounds, Maneuver::VehicleFormation::SMC::Arguments::kf, and Maneuver::VehicleFormation::SMC::Arguments::kt.

void Maneuver::VehicleFormation::SMC::Task::onPathCompletion ( void  )

inline

References Maneuver::VehicleFormation::SMC::Arguments::act_step, Maneuver::VehicleFormation::SMC::Arguments::debug, Maneuver::VehicleFormation::SMC::Arguments::kf, Maneuver::VehicleFormation::SMC::Arguments::kt, DUNE::Math::linearInterpolation(), Maneuver::VehicleFormation::SMC::Arguments::max_actuation, Maneuver::VehicleFormation::SMC::Arguments::max_speed_mps, Maneuver::VehicleFormation::SMC::Arguments::min_actuation, Maneuver::VehicleFormation::SMC::Arguments::min_speed_mps, Maneuver::VehicleFormation::SMC::Arguments::mps_control, and DUNE::Math::trimValue().

void Maneuver::VehicleFormation::SMC::Task::onReset ( void  )

inline

Close matlab logged vectors.

References Maneuver::VehicleFormation::SMC::Arguments::debug.

void Maneuver::VehicleFormation::SMC::Task::onUpdate ( int  f_index, const IMC::RemoteState &  rstate  )

inline

References Maneuver::VehicleFormation::SMC::Arguments::bounds, Maneuver::VehicleFormation::SMC::Arguments::debug, Maneuver::VehicleFormation::SMC::Arguments::errf_bounds, DUNE::Math::round(), DUNE::Math::Matrix::rows(), and DUNE::Math::trimValue().

void Maneuver::VehicleFormation::SMC::Task::onUpdateParameters ( void  )

inline

void Maneuver::VehicleFormation::SMC::Task::step ( const IMC::EstimatedState &  estate )

inline

double Maneuver::VehicleFormation::SMC::Task::toActuation ( double  desired_mps, double  max_mps, double  max_act, double  min_mps, double  min_act  )

inline

Function to convert meters per second to actuation using a linearized relation between the two.

Member Data Documentation

const int Maneuver::VehicleFormation::SMC::Task::c_queue_size

static

Circular Buffer fixed size.

Arguments Maneuver::VehicleFormation::SMC::Task::m_args

Task arguments.

int Maneuver::VehicleFormation::SMC::Task::m_curr

Number of current waypoint number.

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg

Debug variables and text files generic debug output file.

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_deltas

deltas produced using remote states

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_ferror

formation errors yielded using interpolation

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_owa

original waypoints in trajectory for vehicle A (present vehicle)

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_owb

original waypoints in trajectory for vehicle B (neighbor vehicle)

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pa

present vehicle's position at onPathCompletion time

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pa_ts

position of the present vehicle at remote timestamp

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pb_ts

position of the neighbor vehicle at remote timestamp

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pw

produced waypoints (and sent to vehicle) using delta gaps

double Maneuver::VehicleFormation::SMC::Task::m_debug_time

Time at which the debug data was saved.

Matrix Maneuver::VehicleFormation::SMC::Task::m_delta

Trajectory's bias computed by the controller.

Matrix Maneuver::VehicleFormation::SMC::Task::m_errf

Formation error.

IMC::EstimatedState Maneuver::VehicleFormation::SMC::Task::m_estate

last state update

double Maneuver::VehicleFormation::SMC::Task::m_last_actuation

Last actuation value sent to bus.

TPoint Maneuver::VehicleFormation::SMC::Task::m_prev

Previously assigned waypoint.

Utils::CircularBuffer<IMC::EstimatedState> Maneuver::VehicleFormation::SMC::Task::m_queue

Circular buffer used to save last few estimated states every second.

double Maneuver::VehicleFormation::SMC::Task::m_zero_time

Starting time reference.

Collaboration diagram for Maneuver::VehicleFormation::SMC::Task: