Maneuver::FollowTrajectory::Task Struct Reference

Public Member Functions
	Task (const std::string &name, DUNE::Tasks::Context &ctx)
void	onUpdateParameters (void)
bool	canInit (const IMC::FollowTrajectory *maneuver)
void	onPathCompletion (void)
void	step (const IMC::EstimatedState &estate)
bool	isFeasible (void)
double	speed (int curr)
double	dist (int p1, int p2)

Public Attributes
IMC::DesiredSpeed	m_maneuver_speed
double	m_last_actuation
double	m_zero_time
bool	m_done
int	m_curr
Arguments	m_args

Constructor & Destructor Documentation

Maneuver::FollowTrajectory::Task::Task ( const std::string &  name, DUNE::Tasks::Context &  ctx  )

inline

References Maneuver::FollowTrajectory::Arguments::act_step, m_args, Maneuver::FollowTrajectory::Arguments::max_actuation, Maneuver::FollowTrajectory::Arguments::max_speed, Maneuver::FollowTrajectory::Arguments::min_actuation, Maneuver::FollowTrajectory::Arguments::min_speed, Maneuver::FollowTrajectory::Arguments::mps_control, and Maneuver::FollowTrajectory::Arguments::timegap.

Member Function Documentation

bool Maneuver::FollowTrajectory::Task::canInit ( const IMC::FollowTrajectory *  maneuver )

inline

References isFeasible(), m_args, m_curr, m_done, m_last_actuation, m_maneuver_speed, m_zero_time, and Maneuver::FollowTrajectory::Arguments::mps_control.

double Maneuver::FollowTrajectory::Task::dist ( int  p1, int  p2  )

inline

Function for computing the horizontal distance between two points in the trajectory.

Referenced by speed(), and step().

bool Maneuver::FollowTrajectory::Task::isFeasible ( void  )

inline

Function for testing the trajectory's feasibility.

References m_args, Maneuver::FollowTrajectory::Arguments::max_speed, Maneuver::FollowTrajectory::Arguments::mps_control, and speed().

Referenced by canInit().

void Maneuver::FollowTrajectory::Task::onPathCompletion ( void  )

inline

References m_done.

void Maneuver::FollowTrajectory::Task::onUpdateParameters ( void  )

inline

double Maneuver::FollowTrajectory::Task::speed ( int  curr )

inline

Function for computing the speed for travelling to the next point.

References dist().

Referenced by isFeasible(), and step().

void Maneuver::FollowTrajectory::Task::step ( const IMC::EstimatedState &  estate )

inline

References Maneuver::FollowTrajectory::Arguments::act_step, dist(), m_args, m_curr, m_done, m_last_actuation, m_zero_time, Maneuver::FollowTrajectory::Arguments::max_actuation, Maneuver::FollowTrajectory::Arguments::max_speed, Maneuver::FollowTrajectory::Arguments::min_actuation, Maneuver::FollowTrajectory::Arguments::min_speed, Maneuver::FollowTrajectory::Arguments::mps_control, speed(), Maneuver::FollowTrajectory::Arguments::timegap, and DUNE::Math::trimValue().

Member Data Documentation

Arguments Maneuver::FollowTrajectory::Task::m_args

Task Arguments.

Referenced by canInit(), isFeasible(), step(), and Task().

int Maneuver::FollowTrajectory::Task::m_curr

Number of current waypoint number.

Referenced by canInit(), and step().

bool Maneuver::FollowTrajectory::Task::m_done

Path completion flag.

Referenced by canInit(), onPathCompletion(), and step().

double Maneuver::FollowTrajectory::Task::m_last_actuation

Last actuation sent to the motor (used to compute actuation step.

Referenced by canInit(), and step().

IMC::DesiredSpeed Maneuver::FollowTrajectory::Task::m_maneuver_speed

FollowTrajectory maneuver's speed.

Referenced by canInit().

double Maneuver::FollowTrajectory::Task::m_zero_time

Time value to be used as reference.

Referenced by canInit(), and step().

Collaboration diagram for Maneuver::FollowTrajectory::Task: