Simulators::Environment::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onEntityReservation (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::SimulatedState *msg)
void	task (void)
void	updateBottomDistance (void)
double	depthAt (double x, double y)
void	updateForwardDistance (void)
double	forwardRange (double psi_offset=0.0)
double	bottomIntersection (void)

Public Attributes
IMC::Distance	m_bd
IMC::Distance	m_fd
IMC::SimulatedState	m_sstate
double	m_a_n
double	m_a_e
double	m_b_n
double	m_b_e
Random::Generator *	m_prng
QuadTree *	m_qtree
double	m_ref_lat
double	m_ref_lon
double	m_off_n
double	m_off_e
PencilBeam *	m_pb
Arguments	m_args

Constructor & Destructor Documentation

Simulators::Environment::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Simulators::Environment::Arguments::bd_std_dev, Simulators::Environment::Arguments::bottom_orientation, Simulators::Environment::Arguments::bottom_position, Simulators::Environment::Arguments::bottom_width, Simulators::Environment::Arguments::fd_std_dev, Simulators::Environment::Arguments::forward_orientation, Simulators::Environment::Arguments::forward_position, Simulators::Environment::Arguments::forward_width, Simulators::Environment::Arguments::interp_radius, Simulators::Environment::Arguments::intersect_method, Simulators::Environment::Arguments::label_bd, Simulators::Environment::Arguments::label_fd, Simulators::Environment::Arguments::location, Simulators::Environment::Arguments::max_range, Simulators::Environment::Arguments::min_range, Simulators::Environment::Arguments::oob_depth, Simulators::Environment::Arguments::pb, Simulators::Environment::Arguments::pencil_beam, Simulators::Environment::Arguments::pier, Simulators::Environment::Arguments::prng_seed, Simulators::Environment::Arguments::prng_type, Simulators::Environment::PencilBeam::PBArguments::sector_width, Simulators::Environment::Arguments::simulate_bd, Simulators::Environment::Arguments::simulate_fd, Simulators::Environment::Arguments::simulate_pier, Simulators::Environment::PencilBeam::PBArguments::step_size, Simulators::Environment::Arguments::tide, and Simulators::Environment::PencilBeam::PBArguments::time_step.

Member Function Documentation

double Simulators::Environment::Task::bottomIntersection ( void  )

inline

Compute the depths of c_forward_points in front of the vehicle Use connections between these points as line segments and intersect them with lower beam part of the echo sounder.

Returns

range after intersection

References Simulators::Environment::Arguments::forward_width, DUNE::Math::lineSegmentIntersect(), and Simulators::Environment::Arguments::max_range.

void Simulators::Environment::Task::consume ( const IMC::GpsFix *  msg )

inline

References Simulators::Environment::Arguments::pier.

void Simulators::Environment::Task::consume ( const IMC::SimulatedState *  msg )

inline

double Simulators::Environment::Task::depthAt ( double  x, double  y  )

inline

Compute depth at a certian (x, y) position.

Parameters

[in]	x	coordinate of position
[in]	y	coordinate of position

Returns

depth at specified point

References Simulators::Environment::Point::distance(), Simulators::Environment::Arguments::interp_radius, Simulators::Environment::Arguments::oob_depth, Simulators::Environment::QuadTree::search(), and Simulators::Environment::Arguments::tide.

double Simulators::Environment::Task::forwardRange ( double  psi_offset = 0.0 )

inline

Compute the forward range seen by the FLS according to obstacles and bottom.

Returns

forward range at current position

References Simulators::Environment::Arguments::intersect_method, DUNE::Math::lineSegmentIntersect(), Simulators::Environment::Arguments::max_range, Simulators::Environment::Arguments::pencil_beam, and Simulators::Environment::Arguments::simulate_pier.

void Simulators::Environment::Task::onEntityReservation ( void  )

inline

References Simulators::Environment::Arguments::label_bd, and Simulators::Environment::Arguments::label_fd.

void Simulators::Environment::Task::onResourceAcquisition ( void  )

inline

References Simulators::Environment::Arguments::pb, Simulators::Environment::PencilBeam::PencilBeam(), Simulators::Environment::Arguments::prng_seed, and Simulators::Environment::Arguments::prng_type.

void Simulators::Environment::Task::onResourceInitialization ( void  )

inline

References Simulators::Environment::Arguments::bottom_orientation, Simulators::Environment::Arguments::bottom_position, Simulators::Environment::Arguments::bottom_width, Simulators::Environment::Bounds::cover(), Simulators::Environment::Arguments::forward_orientation, Simulators::Environment::Arguments::forward_position, Simulators::Environment::Arguments::forward_width, DUNE::Parsers::Config::get(), Simulators::Environment::Arguments::location, DUNE::Utils::String::split(), Simulators::Environment::QuadTree::Item::value, Simulators::Environment::QuadTree::Item::x, and Simulators::Environment::QuadTree::Item::y.

void Simulators::Environment::Task::onResourceRelease ( void  )

inline

void Simulators::Environment::Task::onUpdateParameters ( void  )

inline

References Simulators::Environment::Arguments::bottom_orientation, Simulators::Environment::Arguments::bottom_width, Simulators::Environment::Arguments::forward_orientation, Simulators::Environment::Arguments::forward_width, Simulators::Environment::Arguments::pb, Simulators::Environment::PencilBeam::PencilBeam(), Simulators::Environment::Arguments::pier, Simulators::Environment::PencilBeam::PBArguments::sector_width, Simulators::Environment::PencilBeam::PBArguments::step_size, and Simulators::Environment::PencilBeam::PBArguments::time_step.

void Simulators::Environment::Task::task ( void  )

inline

References Simulators::Environment::Arguments::simulate_bd, and Simulators::Environment::Arguments::simulate_fd.

void Simulators::Environment::Task::updateBottomDistance ( void  )

inline

Update bottom distance value with bathymetry.

References Simulators::Environment::Arguments::bd_std_dev, and DUNE::Math::Random::Generator::gaussian().

void Simulators::Environment::Task::updateForwardDistance ( void  )

inline

Update forward distance value taking into account obstacles and the bottom.

References Simulators::Environment::Arguments::fd_std_dev, DUNE::Math::Random::Generator::gaussian(), Simulators::Environment::PencilBeam::isValid(), Simulators::Environment::Arguments::max_range, Simulators::Environment::Arguments::min_range, Simulators::Environment::Arguments::pencil_beam, DUNE::Math::trimValue(), and Simulators::Environment::PencilBeam::update().

Member Data Documentation

double Simulators::Environment::Task::m_a_e

double Simulators::Environment::Task::m_a_n

Pier points offsets point A north, A east, B north ...

Arguments Simulators::Environment::Task::m_args

Task Arguments.

double Simulators::Environment::Task::m_b_e

double Simulators::Environment::Task::m_b_n

IMC::Distance Simulators::Environment::Task::m_bd

Bottom distance message.

IMC::Distance Simulators::Environment::Task::m_fd

Forward distance message.

double Simulators::Environment::Task::m_off_e

double Simulators::Environment::Task::m_off_n

NE offsets in regard to navigational reference.

PencilBeam* Simulators::Environment::Task::m_pb

Pencil beam object.

Random::Generator* Simulators::Environment::Task::m_prng

PRNG handle.

QuadTree* Simulators::Environment::Task::m_qtree

The tree.

double Simulators::Environment::Task::m_ref_lat

Reference latitude and longitude for data points.

double Simulators::Environment::Task::m_ref_lon

IMC::SimulatedState Simulators::Environment::Task::m_sstate

Current position.

Collaboration diagram for Simulators::Environment::Task: