DUNE::Maneuvers::Elevate Class Reference

Detailed Description

Class to control elevator behavior.

Public Member Functions
	Elevate (const IMC::Elevator *maneuver, Maneuvers::Maneuver *task, float min_radius)
void	update (const IMC::EstimatedState *msg)
void	updatePathControl (const IMC::PathControlState *msg)
bool	isDone (void) const
int	getElevatorDirection (void) const
float	getVerticalError (float depth, float altitude)
float	getVerticalError (const IMC::EstimatedState *msg)

Constructor & Destructor Documentation

DUNE::Maneuvers::Elevate::Elevate	(	const IMC::Elevator *	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::CL_PATH, DUNE::IMC::DesiredPath::clear(), DUNE::IMC::DesiredPath::end_lat, DUNE::IMC::DesiredPath::end_lon, DUNE::IMC::DesiredPath::end_z, DUNE::IMC::Elevator::end_z, DUNE::IMC::DesiredPath::end_z_units, DUNE::IMC::Elevator::end_z_units, DUNE::IMC::Elevator::lat, DUNE::IMC::Elevator::lon, DUNE::IMC::DesiredPath::lradius, DUNE::IMC::Elevator::radius, DUNE::IMC::DesiredPath::speed, DUNE::IMC::Elevator::speed, DUNE::IMC::DesiredPath::speed_units, DUNE::IMC::Elevator::speed_units, and DUNE::Math::trimValueMod().

Member Function Documentation

int DUNE::Maneuvers::Elevate::getElevatorDirection ( void  ) const

inline

Get the elevator's direction.

Returns

positive if going up, negative going down, zero for undefined

float DUNE::Maneuvers::Elevate::getVerticalError ( float  depth, float  altitude  )

inline

Compute vertical error.

Parameters

[in]	depth	current vehicle's depth
[in]	altitude	current vehicle's altitude

Returns

difference between current z value being used and the reference

References DUNE::IMC::Elevator::end_z, DUNE::IMC::Elevator::end_z_units, and DUNE::IMC::Z_ALTITUDE.

Referenced by getVerticalError(), and update().

float DUNE::Maneuvers::Elevate::getVerticalError ( const IMC::EstimatedState *  msg )

inline

Compute vertical error.

Parameters

[in]

msg

pointer to EstimatedState message

Returns

difference between current z value being used and the reference

References DUNE::IMC::EstimatedState::alt, DUNE::IMC::EstimatedState::depth, DUNE::IMC::Elevator::end_z, DUNE::IMC::Elevator::end_z_units, DUNE::IMC::DesiredPath::FL_CCLOCKW, DUNE::IMC::Elevator::flags, DUNE::IMC::Elevator::FLG_CURR_POS, getVerticalError(), and DUNE::IMC::Z_DEPTH.

bool DUNE::Maneuvers::Elevate::isDone ( void  ) const

inline

Check if elevator has finished.

Returns

true if finished

void DUNE::Maneuvers::Elevate::update

(

const IMC::EstimatedState *

msg

)

Update object with EstimatedState message.

Parameters

[in]

msg

pointer to EstimatedState message

References DUNE::IMC::EstimatedState::alt, DUNE::IMC::EstimatedState::depth, DUNE::IMC::DesiredPath::end_z, DUNE::IMC::Elevator::end_z, DUNE::IMC::DesiredPath::end_z_units, DUNE::IMC::Elevator::end_z_units, DUNE::IMC::DesiredPath::FL_LOITER_CURR, DUNE::IMC::DesiredPath::flags, getVerticalError(), DUNE::IMC::Elevator::start_z, DUNE::IMC::Elevator::start_z_units, and DUNE::IMC::Z_ALTITUDE.

void DUNE::Maneuvers::Elevate::updatePathControl

(

const IMC::PathControlState *

msg

)

Update object with PathControlState message.

Parameters

[in]

msg

pointer to PathControlState message

References DUNE::IMC::EstimatedState::alt, DUNE::IMC::EstimatedState::depth, DUNE::IMC::Elevator::end_z, DUNE::IMC::Elevator::end_z_units, DUNE::IMC::PathControlState::FL_LOITERING, DUNE::IMC::PathControlState::flags, DUNE::IMC::Z_ALTITUDE, and DUNE::IMC::Z_DEPTH.

Collaboration diagram for DUNE::Maneuvers::Elevate: