DUNE::Maneuvers::Circular Class Reference

Detailed Description

Class to control circular behavior.

Public Member Functions
	Circular (const IMC::Loiter *maneuver, Maneuvers::Maneuver *task, float min_radius)
	Circular (Maneuvers::Maneuver *task, double lat, double lon, float radius, float z, uint8_t z_units, float speed, uint8_t speed_units, uint8_t direction)
void	onPathControlState (const IMC::PathControlState *pcs)
bool	isLoitering (void) const
Public Member Functions inherited from DUNE::Maneuvers::AbstractLoiter
	AbstractLoiter (Maneuvers::Maneuver *task)
virtual	~AbstractLoiter (void)
virtual void	onEstimatedState (const IMC::EstimatedState *msg)

Additional Inherited Members
Protected Attributes inherited from DUNE::Maneuvers::AbstractLoiter
Maneuvers::Maneuver *	m_task

Constructor & Destructor Documentation

DUNE::Maneuvers::Circular::Circular	(	const IMC::Loiter *	maneuver,
		Maneuvers::Maneuver *	task,
		float	min_radius
	)

Default constructor.

Parameters

[in]	maneuver	pointer to loiter maneuver
[in]	task	pointer to task object (debug and inf)
[in]	min_radius	minimum radius to consider in maneuver

References DUNE::IMC::Loiter::direction, DUNE::IMC::Loiter::lat, DUNE::IMC::Loiter::lon, DUNE::IMC::Loiter::radius, DUNE::IMC::Loiter::speed, DUNE::IMC::Loiter::speed_units, DUNE::Math::trimValueMod(), DUNE::IMC::Loiter::z, and DUNE::IMC::Loiter::z_units.

DUNE::Maneuvers::Circular::Circular	(	Maneuvers::Maneuver *	task,
		double	lat,
		double	lon,
		float	radius,
		float	z,
		uint8_t	z_units,
		float	speed,
		uint8_t	speed_units,
		uint8_t	direction
	)

Default constructor.

Parameters

[in]	task	pointer to task object (debug and inf)
[in]	lat	latitude of maneuver
[in]	lon	longitude of maneuver
[in]	radius	circular radius
[in]	z	zed reference for this maneuver
[in]	z_units	units of the zed reference
[in]	speed	speed reference for maneuver
[in]	speed_units	speed units of the reference
[in]	direction	loiter direction according to IMC::Loiter

References DUNE::IMC::CL_PATH, DUNE::IMC::DesiredPath::end_lat, DUNE::IMC::DesiredPath::end_lon, DUNE::IMC::DesiredPath::end_z, DUNE::IMC::DesiredPath::end_z_units, DUNE::IMC::DesiredPath::FL_CCLOCKW, DUNE::IMC::DesiredPath::flags, DUNE::IMC::Loiter::LD_CCLOCKW, DUNE::IMC::DesiredPath::lradius, DUNE::IMC::DesiredPath::speed, and DUNE::IMC::DesiredPath::speed_units.

Member Function Documentation

bool DUNE::Maneuvers::Circular::isLoitering ( void  ) const

virtual

Check if loitering.

Returns

true if loitering, false otherwise

Implements DUNE::Maneuvers::AbstractLoiter.

void DUNE::Maneuvers::Circular::onPathControlState ( const IMC::PathControlState *  pcs )

virtual

Update behavior with path control state.

Parameters

[in]

pcs

pointer to PathControlState message

Reimplemented from DUNE::Maneuvers::AbstractLoiter.

References DUNE::IMC::PathControlState::FL_LOITERING, and DUNE::IMC::PathControlState::flags.

Collaboration diagram for DUNE::Maneuvers::Circular: