Maneuver::Multiplexer::StationKeepingExtended Class Reference

Detailed Description

StationKeepingExtended maneuver.

Public Member Functions
	StationKeepingExtended (Maneuvers::Maneuver *task, StationKeepingExtendedArgs *args)
	~StationKeepingExtended (void)
void	onStart (const IMC::StationKeepingExtended *maneuver)
void	onEstimatedState (const IMC::EstimatedState *msg)
void	onPathControlState (const IMC::PathControlState *pcs)
void	onStateReport (void)
bool	keepSafe (void)
void	startLoiter (void)
void	doPopUp (void)
Public Member Functions inherited from Maneuver::Multiplexer::MuxedManeuver< IMC::StationKeepingExtended, StationKeepingExtendedArgs >
	MuxedManeuver (Maneuvers::Maneuver *task, StationKeepingExtendedArgs *args)
	MuxedManeuver (Maneuvers::Maneuver *task)
virtual	~MuxedManeuver (void)
void	start (const IMC::Maneuver *maneuver)
Public Member Functions inherited from Maneuver::Multiplexer::AbstractMux
	AbstractMux (Maneuvers::Maneuver *task)
virtual	~AbstractMux (void)
virtual void	onBrake (const IMC::Brake *msg)
virtual void	onVehicleMedium (const IMC::VehicleMedium *msg)
virtual void	onThrottle (const IMC::Throttle *msg)
virtual void	onGpsFix (const IMC::GpsFix *msg)

Additional Inherited Members
Protected Attributes inherited from Maneuver::Multiplexer::MuxedManeuver< IMC::StationKeepingExtended, StationKeepingExtendedArgs >
StationKeepingExtendedArgs *	m_args
Protected Attributes inherited from Maneuver::Multiplexer::AbstractMux
Maneuvers::Maneuver *	m_task

Constructor & Destructor Documentation

Maneuver::Multiplexer::StationKeepingExtended::StationKeepingExtended ( Maneuvers::Maneuver *  task, StationKeepingExtendedArgs *  args  )

inline

Default constructor.

Parameters

[in]	task	pointer to Maneuver task
[in]	args	stationkeepingextended arguments

Maneuver::Multiplexer::StationKeepingExtended::~StationKeepingExtended ( void  )

inline

Member Function Documentation

void Maneuver::Multiplexer::StationKeepingExtended::doPopUp ( void  )

inline

Surfaces to report position.

References Maneuver::Multiplexer::AbstractMux::m_task.

Referenced by onStateReport().

bool Maneuver::Multiplexer::StationKeepingExtended::keepSafe ( void  )

inline

Must adopt safe behavior (loiter underwater and popup periodically to report position)

Returns

true if KEEP_SAFE option is enabled

Referenced by onEstimatedState(), onStart(), and onStateReport().

void Maneuver::Multiplexer::StationKeepingExtended::onEstimatedState ( const IMC::EstimatedState *  msg )

inlinevirtual

On EstimatedState message.

Parameters

[in]

msg

EstimatedState message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References keepSafe(), and startLoiter().

void Maneuver::Multiplexer::StationKeepingExtended::onPathControlState ( const IMC::PathControlState *  pcs )

inlinevirtual

On PathControlState message.

Parameters

[in]

pcs

PathControlState message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References Maneuver::Multiplexer::AbstractMux::m_task.

void Maneuver::Multiplexer::StationKeepingExtended::onStart ( const IMC::StationKeepingExtended *  maneuver )

inlinevirtual

Start maneuver function.

Parameters

[in]

maneuver

stationkeepingextended maneuver message

Implements Maneuver::Multiplexer::MuxedManeuver< IMC::StationKeepingExtended, StationKeepingExtendedArgs >.

References keepSafe(), Maneuver::Multiplexer::MuxedManeuver< IMC::StationKeepingExtended, StationKeepingExtendedArgs >::m_args, Maneuver::Multiplexer::AbstractMux::m_task, and Maneuver::Multiplexer::StationKeepingExtendedArgs::min_radius.

void Maneuver::Multiplexer::StationKeepingExtended::onStateReport ( void  )

inlinevirtual

On state report function.

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References doPopUp(), keepSafe(), Maneuver::Multiplexer::AbstractMux::m_task, and startLoiter().

void Maneuver::Multiplexer::StationKeepingExtended::startLoiter ( void  )

inline

Starts Loiter on current position.

References Maneuver::Multiplexer::AbstractMux::m_task.

Referenced by onEstimatedState(), and onStateReport().

Collaboration diagram for Maneuver::Multiplexer::StationKeepingExtended: