DUNE: Uniform Navigational Environment
2017.01.0
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BeamFilter is responsible to gather beam distance values from a DVL unit and compute one local distance output.
Public Types | |
enum | Spacing { STANDARD, CROSSED } |
Public Member Functions | |
BeamFilter (Tasks::Task *task) | |
BeamFilter (Tasks::Task *task, size_t size) | |
BeamFilter (Tasks::Task *task, size_t size, float width, float offset, float off_ang, std::vector< float > &pos, std::vector< float > &ang, Spacing type) | |
void | update (size_t index, float value) |
float | get (void) |
void | setValidity (size_t index, IMC::Distance::ValidityEnum val) |
void | setSourceEntities (std::vector< unsigned > &entities) |
void | dispatch (void) |
void | dispatch (double tstamp) |
IMC::Distance & | getAltitude (size_t index) |
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Constructor.
[in] | task | pointer to parent task. |
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Constructor.
[in] | task | pointer to parent task. |
[in] | size | number of device beams. |
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Constructor.
[in] | task | pointer to parent task. |
[in] | size | number of device beams. |
[in] | width | beam width. |
[in] | offset | beam offset from center of device. |
[in] | off_ang | beam angle offset. |
[in] | pos | device position. |
[in] | ang | device orientation. |
[in] | type | type of beam disposition. |
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Dispatch Distance messages to bus.
References DUNE::Tasks::DF_KEEP_TIME, and DUNE::Tasks::Task::dispatch().
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Set timestamp and dispatch Distance messages to bus.
[in] | tstamp | timestamp value. |
References DUNE::Tasks::DF_KEEP_TIME, and DUNE::Tasks::Task::dispatch().
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Get reference to distance message.
[in] | index | beam index. |
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Set source entities ids.
[in] | entities | list of entity ids. |
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Set beam distance validity.
[in] | index | beam index. |
[in] | val | distance validity. |
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Update beam index with new measurement.
[in] | index | beam index. |
[in] | value | distance measurement. |