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

void	onUpdateParameters (void)

void	onEntityReservation (void)

void	onPathActivation (void)

void	reset (void)

double	computeK (double l1, double l2, double ts_y, double factor)

void	step (const IMC::EstimatedState &state, const TrackingState &ts)

void	loiter (const IMC::EstimatedState &state, const TrackingState &ts)

Public Member Functions inherited from DUNE::Control::PathController
	PathController (std::string name, Tasks::Context &ctx)

virtual	~PathController (void)

void	onEntityReservation (void)

void	consume (const IMC::Brake *brake)

void	consume (const IMC::EstimatedState *es)

void	consume (const IMC::ControlLoops *cl)

void	consume (const IMC::DesiredPath *dp)

void	consume (const IMC::NavigationUncertainty *nu)

void	consume (const IMC::Distance *dist)

void	consume (const IMC::DesiredZ *zref)

void	consume (const IMC::DesiredSpeed *dspeed)

virtual void	onResourceInitialization (void)

virtual void	onResourceRelease (void)

virtual void	onPathDeactivation (void)

virtual void	onPathStartup (const IMC::EstimatedState &state, const TrackingState &ts)

virtual void	step (const IMC::EstimatedState &state, const TrackingState &ts)=0

virtual void	loiter (const IMC::EstimatedState &state, const TrackingState &ts)

virtual bool	hasSpecificZControl (void) const

virtual double	getEta (const TrackingState &ts)

float	getSpeed (void)

float	getTimeFactor (void)

void	signalError (const std::string &msg)

void	enableControlLoops (uint32_t mask)

void	disableControlLoops (uint32_t mask)

virtual bool	sourceFilter (const IMC::EstimatedState *es)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (void) const

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

DebugLevel	getDebugLevel (void) const

uint16_t	getActivationTime (void) const

uint16_t	getDeactivationTime (void) const

unsigned int	resolveSystemName (const std::string &name) const

const char *	resolveSystemId (unsigned int id) const

void	loadConfig (void)

void	setPriority (unsigned int value)

unsigned int	getPriority (void) const

void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2

void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

void	receive (const IMC::Message *msg)

void	reserveEntities (void)

void	resolveEntities (void)

void	acquireResources (void)

void	releaseResources (void)

void	initializeResources (void)

void	updateParameters (bool act_deact=true)

void	writeParamsXML (std::ostream &os) const

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)

virtual	~AbstractTask (void)

Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)

virtual	~Thread (void)

int	getProcessorUsage (void)

Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)

virtual	~Runnable (void)

void	start (void)

void	stop (void)

void	join (void)

void	stopAndJoin (void)

void	setPriority (Scheduler::Policy policy, unsigned priority)

unsigned	getPriority (void)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
double	m_integrator

Delta	m_last_step

double	m_gain

IMC::DesiredHeading	m_heading

Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

Entities::BasicEntity *	getLocalEntity (const std::string &label)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (void) const

void	waitForMessages (double timeout)

void	consumeMessages (void)

template<typename T >
Parameter &	param (const std::string &name, T &var)

template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)

template<typename T >
bool	paramChanged (T &var)

void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)

void	setParamSectionEditor (const std::string &name)

template<typename M , typename T >
void	bind (T task_obj, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)

template<typename T , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)

void	bind (unsigned int message_id, AbstractConsumer *consumer)

void	requestActivation (void)

void	requestDeactivation (void)

void	activate (void)

void	activationFailed (const std::string &reason)

void	deactivate (void)

void	deactivationFailed (const std::string &reason)

virtual bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onResourceAcquisition (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

unsigned	getPriorityImpl (void)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Control::Path::ILOS::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Control::Path::ILOS::Arguments::corridor, Control::Path::ILOS::Arguments::entry_angle, Control::Path::ILOS::Arguments::int_gain, Control::Path::ILOS::Arguments::int_init, Control::Path::ILOS::Arguments::lookahead, Control::Path::ILOS::Arguments::out_los, and Control::Path::ILOS::Arguments::out_vec.

Member Function Documentation

double Control::Path::ILOS::Task::computeK	(	double	l1,
		double	l2,
		double	ts_y,
		double	factor
	)

inline

References Control::Path::ILOS::Arguments::int_gain.

void Control::Path::ILOS::Task::loiter	(	const IMC::EstimatedState &	state,
		const TrackingState &	ts
	)

inline

Execute a loiter control step From base class PathController & VectorField guidance law.

References DUNE::Control::PathController::TrackingState::cc, DUNE::Control::PathController::TrackingState::LoiterData::clockwise, DUNE::Control::PathController::TrackingState::course, DUNE::Control::PathController::TrackingState::loiter, DUNE::Control::PathController::TrackingState::los_angle, DUNE::Control::PathController::TrackingState::LoiterData::radius, and DUNE::Control::PathController::TrackingState::range.

void Control::Path::ILOS::Task::onEntityReservation ( void )

inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

void Control::Path::ILOS::Task::onPathActivation ( void )

inlinevirtual

Handler for path control activation.

This is called when path control is activated. By default it does nothing.

Reimplemented from DUNE::Control::PathController.

void Control::Path::ILOS::Task::onUpdateParameters ( void )

inlinevirtual

Handler for parameter updates.

This can be overriden but in that case this parent class implementation MUST be called.

Reimplemented from DUNE::Control::PathController.

References Control::Path::ILOS::Arguments::corridor, Control::Path::ILOS::Arguments::entry_angle, and Control::Path::ILOS::Arguments::int_init.

void Control::Path::ILOS::Task::reset ( void )

inline

void Control::Path::ILOS::Task::step	(	const IMC::EstimatedState &	state,
		const TrackingState &	ts
	)

inline

Execute a path control step From base class PathController.

References Control::Path::ILOS::Arguments::corridor, DUNE::Control::PathController::TrackingState::end, DUNE::Coordinates::getBearing(), Control::Path::ILOS::Arguments::int_gain, Control::Path::ILOS::Arguments::lookahead, Control::Path::ILOS::Arguments::out_los, Control::Path::ILOS::Arguments::out_vec, DUNE::Control::PathController::TrackingState::track_bearing, DUNE::Control::PathController::TrackingState::track_length, DUNE::Control::PathController::TrackingState::track_pos, DUNE::Control::PathController::TrackingState::TrackCoord::x, and DUNE::Control::PathController::TrackingState::TrackCoord::y.

Member Data Documentation

Arguments Control::Path::ILOS::Task::m_args

Task arguments.

double Control::Path::ILOS::Task::m_gain

Loiter controller gain.

IMC::DesiredHeading Control::Path::ILOS::Task::m_heading

Outgoing desired heading message.

double Control::Path::ILOS::Task::m_integrator

ILOS m_integrator.

Delta Control::Path::ILOS::Task::m_last_step

Time of last path controller step.

Collaboration diagram for Control::Path::ILOS::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation