DUNE: Uniform Navigational Environment  2.4.2
Simulators::AUV::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void consume (const IMC::SetServoPosition *msg)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::SetThrusterActuation *msg)
 
Matrix matrixJ (float roll, float pitch, float yaw)
 
void task (void)
 

Public Attributes

AUVModel * m_model
 
IMC::SimulatedState m_sstate
 
double m_start_time
 
double m_last_update
 
float m_thruster_act
 
Matrix m_servo_pos
 
Matrix m_position
 
Matrix m_velocity
 
Arguments m_args
 

Constructor & Destructor Documentation

Member Function Documentation

void Simulators::AUV::Task::consume ( const IMC::SetServoPosition *  msg)
inline

References m_servo_pos.

void Simulators::AUV::Task::consume ( const IMC::GpsFix *  msg)
inline
void Simulators::AUV::Task::consume ( const IMC::SetThrusterActuation *  msg)
inline

References m_thruster_act.

Matrix Simulators::AUV::Task::matrixJ ( float  roll,
float  pitch,
float  yaw 
)
inline
void Simulators::AUV::Task::onResourceRelease ( void  )
inline

References m_model.

Member Data Documentation

Arguments Simulators::AUV::Task::m_args

Task arguments.

Referenced by onResourceAcquisition(), Task(), and task().

double Simulators::AUV::Task::m_last_update

Last time update was ran.

Referenced by consume(), and task().

AUVModel* Simulators::AUV::Task::m_model

Simulation vehicle.

Referenced by onResourceAcquisition(), onResourceRelease(), and task().

Matrix Simulators::AUV::Task::m_position

Vehicle position.

Referenced by consume(), and task().

Matrix Simulators::AUV::Task::m_servo_pos

Set Servo positions.

Referenced by consume(), and task().

IMC::SimulatedState Simulators::AUV::Task::m_sstate

Simulated position (X,Y,Z).

Referenced by consume(), and task().

double Simulators::AUV::Task::m_start_time

Start time.

Referenced by consume(), and task().

float Simulators::AUV::Task::m_thruster_act

Actuation in the thruster.

Referenced by consume(), and task().

Matrix Simulators::AUV::Task::m_velocity

Vehicle velocity vector.

Referenced by task().

Collaboration diagram for Simulators::AUV::Task:
Collaboration graph