DUNE::Maneuvers::StationKeep Class Reference

Detailed Description

Class to control station keeping behavior.

Public Member Functions
	StationKeep (const IMC::StationKeeping *maneuver, Maneuvers::Maneuver *task, float min_radius)
	StationKeep (Maneuvers::Maneuver *task, double lat, double lon, float radius, float z, uint8_t z_units, float speed, uint8_t speed_units)
void	update (const IMC::EstimatedState *state)
void	updatePathControl (const IMC::PathControlState *pcs)
bool	isInside (void) const
bool	isMoving (void) const

Constructor & Destructor Documentation

DUNE::Maneuvers::StationKeep::StationKeep	(	const IMC::StationKeeping *	maneuver,
		Maneuvers::Maneuver *	task,
		float	min_radius
	)

Default constructor.

Parameters

[in]	maneuver	pointer to rows maneuver
[in]	task	pointer to task object (debug and inf)
[in]	min_radius	minimum radius to consider in maneuver

References DUNE::IMC::StationKeeping::lat, DUNE::IMC::StationKeeping::lon, DUNE::IMC::StationKeeping::radius, DUNE::IMC::StationKeeping::speed, DUNE::IMC::StationKeeping::speed_units, DUNE::Math::trimValueMod(), DUNE::IMC::StationKeeping::z, and DUNE::IMC::StationKeeping::z_units.

DUNE::Maneuvers::StationKeep::StationKeep	(	Maneuvers::Maneuver *	task,
		double	lat,
		double	lon,
		float	radius,
		float	z,
		uint8_t	z_units,
		float	speed,
		uint8_t	speed_units
	)

Default constructor.

Parameters

[in]	task	pointer to task object (debug and inf)
[in]	lat	latitude of maneuver
[in]	lon	longitude of maneuver
[in]	radius	station keeping radius
[in]	z	zed reference for this maneuver
[in]	z_units	units of the zed reference
[in]	speed	speed reference for maneuver
[in]	speed_units	speed units of the reference

References DUNE::IMC::CL_NONE, 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::EstimatedState::lat, DUNE::IMC::EstimatedState::lon, DUNE::IMC::DesiredPath::speed, DUNE::IMC::DesiredPath::speed_units, DUNE::Coordinates::toPolar(), DUNE::Coordinates::toWGS84(), and DUNE::IMC::Z_DEPTH.

Member Function Documentation

bool DUNE::Maneuvers::StationKeep::isInside

(

void

)

const

Check if vehicle is inside boundary.

Returns

true if inside

bool DUNE::Maneuvers::StationKeep::isMoving

(

void

)

const

Check if vehicle is moving.

Returns

true if moving

void DUNE::Maneuvers::StationKeep::update

(

const IMC::EstimatedState *

state

)

Update behavior.

Parameters

[in]

state

pointer to EstimatedState message

void DUNE::Maneuvers::StationKeep::updatePathControl

(

const IMC::PathControlState *

pcs

)

Update behavior with path control state.

Parameters

[in]

pcs

pointer to PathControlState message

References DUNE::IMC::PathControlState::FL_NEAR, DUNE::IMC::PathControlState::flags, DUNE::Math::norm(), DUNE::IMC::PathControlState::x, and DUNE::IMC::PathControlState::y.

Collaboration diagram for DUNE::Maneuvers::StationKeep: