DUNE::Control::BottomTracker Class Reference

Classes
struct	Arguments

Public Member Functions
	BottomTracker (const Arguments *args)
	~BottomTracker (void)
void	reset (void)
void	activate (void)
void	deactivate (void)
void	onDistance (const DUNE::IMC::Distance *msg)
void	onDesiredZ (const DUNE::IMC::DesiredZ *msg, bool outgoing)
void	onDesiredZ (const DUNE::IMC::DesiredZ *msg)
void	onDesiredSpeed (const DUNE::IMC::DesiredSpeed *msg)
void	onEstimatedState (const DUNE::IMC::EstimatedState *msg)

Constructor & Destructor Documentation

DUNE::Control::BottomTracker::BottomTracker

(

const Arguments *

args

)

Constructor.

Parameters

[in]

args

pointer to bottom track arguments struct

References DUNE::Control::BottomTracker::Arguments::fsamples, DUNE::Control::BottomTracker::Arguments::min_range, reset(), DUNE::Control::BottomTracker::Arguments::safe_pitch, and DUNE::Control::BottomTracker::Arguments::slope_hyst.

DUNE::Control::BottomTracker::~BottomTracker

(

void

)

Destructor.

References DUNE::Memory::clear().

Member Function Documentation

void DUNE::Control::BottomTracker::activate

(

void

)

Activate bottom tracker.

References reset().

Referenced by DUNE::Control::PathController::consume().

void DUNE::Control::BottomTracker::deactivate

(

void

)

Deactivate bottom tracker.

Referenced by DUNE::Control::PathController::getEta().

void DUNE::Control::BottomTracker::onDesiredSpeed

(

const DUNE::IMC::DesiredSpeed *

msg

)

On new desired speed message.

Parameters

[in]

msg

message being consumed or sent.

References DUNE::IMC::DesiredSpeed::value.

Referenced by DUNE::Control::PathController::consume(), and onDesiredZ().

void DUNE::Control::BottomTracker::onDesiredZ	(	const DUNE::IMC::DesiredZ *	msg,
		bool	outgoing
	)

On new desired z reference message (sent or received).

Parameters

[in]	msg	message being consumed or sent.
[in]	outgoing	true if message is supposed to go to the bus.

References DUNE::Tasks::DF_KEEP_TIME, DUNE::Entities::BasicEntity::dispatch(), DUNE::Control::BottomTracker::Arguments::entity, and DUNE::IMC::Message::setTimeStamp().

Referenced by DUNE::Control::PathController::consume(), and onDesiredZ().

void DUNE::Control::BottomTracker::onDesiredZ ( const DUNE::IMC::DesiredZ *  msg )

inline

On new desired z reference message (sent or received).

Parameters

[in]

msg

message being consumed or sent.

References onDesiredSpeed(), onDesiredZ(), and onEstimatedState().

void DUNE::Control::BottomTracker::onDistance

(

const DUNE::IMC::Distance *

msg

)

On consume message Distance.

Parameters

[in]

msg

message being consumed.

References DUNE::Control::SlopeData::onDistance().

Referenced by DUNE::Control::PathController::consume().

void DUNE::Control::BottomTracker::onEstimatedState

(

const DUNE::IMC::EstimatedState *

msg

)

On new EstimatedState message.

Parameters

[in]

msg

message being consumed.

References DUNE::Control::BottomTracker::Arguments::adm_alt, DUNE::IMC::EstimatedState::alt, DUNE::Control::BottomTracker::Arguments::check_trend, DUNE::Control::BottomTracker::Arguments::control_period, DUNE::IMC::ControlParcel::d, DUNE::Tasks::Task::debug(), DUNE::Math::Angles::degrees(), DUNE::IMC::EstimatedState::depth, DUNE::Control::BottomTracker::Arguments::depth_avoid, DUNE::Control::BottomTracker::Arguments::depth_limit, DUNE::Tasks::DF_KEEP_TIME, DUNE::Tasks::DF_LOOP_BACK, DUNE::Entities::BasicEntity::dispatch(), DUNE::Control::BottomTracker::Arguments::entity, DUNE::Time::Clock::get(), DUNE::Control::SlopeData::getDistanceToSlope(), DUNE::Control::SlopeData::getFRange(), DUNE::Control::SlopeData::getSlope(), DUNE::Tasks::Task::inf(), DUNE::Control::SlopeData::isRangeLow(), DUNE::Control::SlopeData::isSlopeIncreasing(), DUNE::Control::SlopeData::isSurface(), DUNE::Control::SlopeData::isTooSteep(), DUNE::Control::SlopeData::isTopCleared(), DUNE::Control::BottomTracker::Arguments::min_alt, DUNE::IMC::Brake::op, DUNE::IMC::Brake::OP_START, DUNE::IMC::Brake::OP_STOP, DUNE::Control::SlopeData::renderSlopeInvalid(), DUNE::Control::BottomTracker::Arguments::safe_pitch, DUNE::Control::BottomTracker::Arguments::task, DUNE::IMC::EstimatedState::theta, DUNE::Control::SlopeData::updateSlopeTop(), DUNE::IMC::DesiredZ::value, DUNE::Tasks::Task::war(), DUNE::IMC::Z_ALTITUDE, DUNE::IMC::Z_DEPTH, DUNE::IMC::Z_NONE, and DUNE::IMC::DesiredZ::z_units.

Referenced by DUNE::Control::PathController::consume(), and onDesiredZ().

void DUNE::Control::BottomTracker::reset

(

void

)

Reset task's variables.

References DUNE::IMC::ControlParcel::clear(), DUNE::Time::Clock::get(), DUNE::Control::SlopeData::reset(), DUNE::IMC::DesiredZ::value, DUNE::IMC::Z_NONE, and DUNE::IMC::DesiredZ::z_units.

Referenced by activate(), and BottomTracker().

Collaboration diagram for DUNE::Control::BottomTracker: