DUNE::Control::SlopeData Class Reference

Public Member Functions
	SlopeData (unsigned fsamples, float min_range, float safe_pitch, float slope_hyst)
	~SlopeData (void)
void	reset (void)
bool	onDistance (const IMC::Distance *msg, const IMC::EstimatedState &state, IMC::ControlParcel &cparcel)
float	updateSlopeTop (const IMC::EstimatedState &state)
float	getFRange (void)
float	getSlope (void) const
float	getDistanceToSlope (void) const
bool	isRangeLow (float pitch=0.0)
bool	isTooSteep (void)
bool	isTopCleared (void) const
bool	isSurface (const IMC::EstimatedState &state)
bool	isSlopeIncreasing (void)
void	renderSlopeInvalid (void)

Constructor & Destructor Documentation

DUNE::Control::SlopeData::SlopeData ( unsigned  fsamples, float  min_range, float  safe_pitch, float  slope_hyst  )

inline

Constructor.

Parameters

[in]	fsamples	number of samples for forward range moving average
[in]	min_range	minimum admissible forward range for bottom tracking
[in]	safe_pitch	max admissible pitch angle to perform bottom tracking
[in]	slope_hyst	slope angle hysteresis value for safeness detection

DUNE::Control::SlopeData::~SlopeData ( void  )

inline

Deconstructor.

References DUNE::Memory::clear().

Member Function Documentation

float DUNE::Control::SlopeData::getDistanceToSlope ( void  ) const

inline

Get distance to slope top.

Returns

current distance to slope top

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

float DUNE::Control::SlopeData::getFRange ( void  )

inline

Get forward range.

Returns

forward range

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

float DUNE::Control::SlopeData::getSlope ( void  ) const

inline

Get current slope angle.

Returns

current slope angle

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::SlopeData::isRangeLow ( float  pitch = 0.0 )

inline

Test if forward range is too low.

Parameters

[in]

pitch

current pitch angle

Returns

true if forward range is low

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::SlopeData::isSlopeIncreasing ( void  )

inline

Test if slope is increasing.

Returns

true if slope is increasing

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::SlopeData::isSurface ( const IMC::EstimatedState &  state )

inline

Test if forward range could be the surface.

Parameters

[in]

state

EstimatedState info

Returns

true if the reading is probably the surface

References DUNE::IMC::EstimatedState::depth, and DUNE::IMC::EstimatedState::theta.

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::SlopeData::isTooSteep ( void  )

inline

Test if slope is too steep.

Returns

true if slope is too steep

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::SlopeData::isTopCleared ( void  ) const

inline

Test if top is no longer an issue check if distance to slope top is increasing of if distance to slope top is very short.

Returns

true if cleared

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::SlopeData::onDistance ( const IMC::Distance *  msg, const IMC::EstimatedState &  state, IMC::ControlParcel &  cparcel  )

inline

Consume a Distance message.

Parameters

[in]	msg	sonar distance message
[in]	state	estimatedstate message
[in]	cparcel	control parcel message

Returns

true if slope was estimated, false otherwise.

References DUNE::IMC::Distance::beam_config, DUNE::IMC::Distance::DV_VALID, DUNE::IMC::Message::getSourceEntity(), DUNE::IMC::Distance::location, DUNE::IMC::Distance::validity, and DUNE::IMC::Distance::value.

Referenced by DUNE::Control::BottomTracker::onDistance().

void DUNE::Control::SlopeData::renderSlopeInvalid ( void  )

inline

Flag slope top as invalid.

References DUNE::IMC::EstimatedState::alt, DUNE::Memory::clear(), DUNE::Math::MovingAverage< T >::clear(), DUNE::Coordinates::WGS84::displace(), DUNE::Coordinates::WGS84::getNEBearingAndRange(), DUNE::IMC::ControlParcel::i, DUNE::Math::MovingAverage< T >::mean(), DUNE::IMC::ControlParcel::p, DUNE::IMC::EstimatedState::psi, DUNE::IMC::Message::setTimeStamp(), DUNE::IMC::EstimatedState::theta, DUNE::Coordinates::toWGS84(), and DUNE::Math::MovingAverage< T >::update().

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

void DUNE::Control::SlopeData::reset ( void  )

inline

Reset the object.

References DUNE::Memory::clear().

Referenced by DUNE::Control::BottomTracker::reset().

float DUNE::Control::SlopeData::updateSlopeTop ( const IMC::EstimatedState &  state )

inline

Update slope top.

Parameters

[in]

state

estimatedstate message

Returns

distance to slope's top

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

Collaboration diagram for DUNE::Control::SlopeData: