DUNE::Control::CoarseAltitude Class Reference

Classes
struct	Arguments

Public Member Functions
	CoarseAltitude (const Arguments *args)
	~CoarseAltitude (void)
void	reset (void)
void	activate (void)
void	deactivate (void)
unsigned	getCorridor (void)
float	update (float timestep, float depth, float desired_depth)
void	logParcel (IMC::ControlParcel &parcel, float desired_depth)

Constructor & Destructor Documentation

DUNE::Control::CoarseAltitude::CoarseAltitude

(

const Arguments *

args

)

Constructor.

References reset(), DUNE::Control::CoarseAltitude::Arguments::sample_limit, and DUNE::Control::CoarseAltitude::Arguments::wsizes.

DUNE::Control::CoarseAltitude::~CoarseAltitude

(

void

)

Destructor.

References DUNE::Memory::clear().

Member Function Documentation

void DUNE::Control::CoarseAltitude::activate

(

void

)

Activate coarse altitude control.

void DUNE::Control::CoarseAltitude::deactivate

(

void

)

Deactivate coarse altitude control.

References DUNE::Control::CoarseAltitude::Arguments::max_outside, DUNE::Control::CoarseAltitude::Arguments::period, reset(), and DUNE::Control::CoarseAltitude::Arguments::wsizes.

unsigned DUNE::Control::CoarseAltitude::getCorridor ( void  )

inline

Get current corridor number.

References logParcel(), and update().

void DUNE::Control::CoarseAltitude::logParcel	(	IMC::ControlParcel &	parcel,
		float	desired_depth
	)

Log parcels with coarse altitude data.

Parameters

[out]	parcel	ControlParcel message to use
[in]	desired_depth	current untreated depth reference for comparison

References DUNE::IMC::ControlParcel::a, DUNE::IMC::ControlParcel::d, DUNE::IMC::ControlParcel::i, DUNE::IMC::ControlParcel::p, and DUNE::Control::CoarseAltitude::Arguments::upper_gap.

Referenced by getCorridor().

void DUNE::Control::CoarseAltitude::reset

(

void

)

Reset variables.

References DUNE::Math::MultiMovingAverage< T >::clear().

Referenced by CoarseAltitude(), and deactivate().

float DUNE::Control::CoarseAltitude::update	(	float	timestep,
		float	depth,
		float	desired_depth
	)

Update object with new depth value.

Parameters

[in]	timestep	time elapsed since last measurement was received
[in]	depth	new depth value
[in]	desired_depth	current depth reference

Returns

depth value to be used as a reference

References DUNE::Math::MultiMovingAverage< T >::mean(), DUNE::Control::CoarseAltitude::Arguments::sample_limit, and DUNE::Math::MultiMovingAverage< T >::update().

Referenced by getCorridor().

Collaboration diagram for DUNE::Control::CoarseAltitude: