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

void	onActivation (void)

void	resetVar (void)

Math::Matrix	intersectSegments (const Math::Matrix &seg1, const Math::Matrix &seg2, bool *isInSegment)

Math::Matrix	intersectSegmentPolygon (const Math::Matrix &poly, double height)

Math::Matrix	getRows (const Math::Matrix &poly, double direction, double width, double diam)

double	longRowsDirection (const Math::Matrix &poly, double *diameter)

double	getClosestDistance (const Math::Matrix &row, const Math::Matrix &point, int *closest)

void	doRows (const Math::Matrix &rows, int *times)

void	consume (const IMC::CoverArea *maneuver)

void	consume (const IMC::EstimatedState *msg)

void	onPathControlState (const IMC::PathControlState *pcs)

void	enableMovement (bool enable)

Public Member Functions inherited from DUNE::IMC::Message
	Message (void)

virtual	~Message (void)

virtual Message *	clone (void) const =0

virtual void	clear (void)=0

virtual int	validate (void) const =0

virtual const char *	getName (void) const =0

virtual uint16_t	getId (void) const =0

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

virtual unsigned	getFixedSerializationSize (void) const

virtual unsigned	getVariableSerializationSize (void) const

void	toJSON (std::ostream &os) const

void	toText (std::ostream &os) const

virtual uint8_t *	serializeFields (uint8_t *bfr) const =0

virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0

virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0

virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const

bool	operator== (const Message &other) const

bool	operator!= (const Message &other) const

Public Attributes
IMC::CoverArea	m_maneuver

IMC::EstimatedState	m_estate

Math::Matrix	m_rows

IMC::DesiredPath	m_path

bool	m_moving

bool	m_increase_row

bool	m_arrived

bool	m_last_on_row

int	m_current_row

int	m_times

int	m_param_times

double	m_lat

double	m_lon

double	m_z

double	m_next_lat

double	m_next_lon

double	m_param_width

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)

virtual void	setSourceNested (uint16_t value)

virtual void	setSourceEntityNested (uint8_t value)

virtual void	setDestinationNested (uint16_t value)

virtual void	setDestinationEntityNested (uint8_t value)

virtual bool	fieldsEqual (const Message &other) const

Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

Maneuver::CoverArea::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Maneuver::CoverArea::Task::consume ( const IMC::CoverArea * maneuver )

inline

References enableMovement(), getRows(), and longRowsDirection().

void Maneuver::CoverArea::Task::consume ( const IMC::EstimatedState * msg )

inline

References doRows(), and resetVar().

void Maneuver::CoverArea::Task::doRows	(	const Math::Matrix &	rows,
		int *	times
	)

inline

References enableMovement(), getClosestDistance(), m_last_on_row, m_lat, m_lon, m_next_lat, m_next_lon, and m_z.

Referenced by consume().

void Maneuver::CoverArea::Task::enableMovement ( bool enable )

inline

Referenced by consume(), and doRows().

double Maneuver::CoverArea::Task::getClosestDistance	(	const Math::Matrix &	row,
		const Math::Matrix &	point,
		int *	closest
	)

inline

Referenced by doRows().

Math::Matrix Maneuver::CoverArea::Task::getRows	(	const Math::Matrix &	poly,
		double	direction,
		double	width,
		double	diam
	)

inline

References intersectSegmentPolygon(), and DUNE::Math::min().

Referenced by consume().

Math::Matrix Maneuver::CoverArea::Task::intersectSegmentPolygon	(	const Math::Matrix &	poly,
		double	height
	)

inline

References intersectSegments(), DUNE::Math::max(), and DUNE::Math::min().

Referenced by getRows().

Math::Matrix Maneuver::CoverArea::Task::intersectSegments	(	const Math::Matrix &	seg1,
		const Math::Matrix &	seg2,
		bool *	isInSegment
	)

inline

Referenced by intersectSegmentPolygon().

double Maneuver::CoverArea::Task::longRowsDirection	(	const Math::Matrix &	poly,
		double *	diameter
	)

inline

References DUNE::Math::max(), and DUNE::Math::min().

Referenced by consume().

void Maneuver::CoverArea::Task::onActivation ( void )

inline

References resetVar().

void Maneuver::CoverArea::Task::onPathControlState ( const IMC::PathControlState * pcs )

inline

void Maneuver::CoverArea::Task::resetVar ( void )

inline

References m_param_times.

Referenced by consume(), and onActivation().

Member Data Documentation

bool Maneuver::CoverArea::Task::m_arrived

int Maneuver::CoverArea::Task::m_current_row

IMC::EstimatedState Maneuver::CoverArea::Task::m_estate

bool Maneuver::CoverArea::Task::m_increase_row

bool Maneuver::CoverArea::Task::m_last_on_row

Referenced by doRows().

double Maneuver::CoverArea::Task::m_lat

Referenced by doRows().

double Maneuver::CoverArea::Task::m_lon

Referenced by doRows().

IMC::CoverArea Maneuver::CoverArea::Task::m_maneuver

bool Maneuver::CoverArea::Task::m_moving

double Maneuver::CoverArea::Task::m_next_lat

Referenced by doRows().

double Maneuver::CoverArea::Task::m_next_lon

Referenced by doRows().

int Maneuver::CoverArea::Task::m_param_times

Referenced by resetVar().

double Maneuver::CoverArea::Task::m_param_width

IMC::DesiredPath Maneuver::CoverArea::Task::m_path

Math::Matrix Maneuver::CoverArea::Task::m_rows

int Maneuver::CoverArea::Task::m_times

double Maneuver::CoverArea::Task::m_z

Referenced by doRows().

Collaboration diagram for Maneuver::CoverArea::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation