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

Simulators::AUV::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Simulators::AUV::Arguments::addedmass, Simulators::AUV::Arguments::cog, Simulators::AUV::Arguments::density, Simulators::AUV::Arguments::fin_lift, Simulators::AUV::Arguments::inertia, Simulators::AUV::Arguments::lift, Simulators::AUV::Arguments::linear_drag, m_args, Simulators::AUV::Arguments::mass, Simulators::AUV::Arguments::max_thrust, Simulators::AUV::Arguments::motor_friction, Simulators::AUV::Arguments::quadratic_drag, Simulators::AUV::Arguments::volume, Simulators::AUV::Arguments::wx, and Simulators::AUV::Arguments::wy.

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

References m_last_update, m_position, m_sstate, and m_start_time.

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

References DUNE::Math::Matrix::horzCat(), DUNE::Math::transpose(), and DUNE::Math::Matrix::vertCat().

Referenced by task().

void Simulators::AUV::Task::onResourceAcquisition ( void  )

inline

References DUNE::Control::ModelParameters::addedmass, Simulators::AUV::Arguments::addedmass, DUNE::Control::ModelParameters::cog, Simulators::AUV::Arguments::cog, DUNE::Control::ModelParameters::density, Simulators::AUV::Arguments::density, DUNE::Control::ModelParameters::fin_lift, Simulators::AUV::Arguments::fin_lift, DUNE::Control::ModelParameters::inertia, Simulators::AUV::Arguments::inertia, DUNE::Control::ModelParameters::lift, Simulators::AUV::Arguments::lift, DUNE::Control::ModelParameters::linear_drag, Simulators::AUV::Arguments::linear_drag, m_args, m_model, DUNE::Control::ModelParameters::mass, Simulators::AUV::Arguments::mass, DUNE::Control::ModelParameters::max_thrust, Simulators::AUV::Arguments::max_thrust, DUNE::Control::ModelParameters::motor_friction, Simulators::AUV::Arguments::motor_friction, DUNE::Control::ModelParameters::quadratic_drag, Simulators::AUV::Arguments::quadratic_drag, DUNE::Control::ModelParameters::volume, and Simulators::AUV::Arguments::volume.

void Simulators::AUV::Task::onResourceRelease ( void  )

inline

References m_model.

void Simulators::AUV::Task::task ( void  )

inline

References m_args, m_last_update, m_model, m_position, m_servo_pos, m_sstate, m_start_time, m_thruster_act, m_velocity, matrixJ(), Simulators::AUV::Arguments::wx, and Simulators::AUV::Arguments::wy.

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: