DUNE: Uniform Navigational Environment  2016.05.0
Maneuver::VehicleFormation::Coordinator::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onEntityResolution (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onRequestActivation (void)
 
void onRequestDeactivation (void)
 
void consume (const IMC::PlanControl *msg)
 
void consume (const IMC::PlanDB *msg)
 
void consume (const IMC::EntityActivationState *msg)
 
void consume (const IMC::DesiredRoll *msg)
 
void consume (const IMC::DesiredSpeed *msg)
 
void consume (const IMC::DesiredZ *msg)
 
void consume (const IMC::EstimatedStreamVelocity *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void task (void)
 
void dispatchAlias (IMC::Message *msg)
 
void setLeaderState (const IMC::LeaderState *leader_state)
 
Matrix matrixRotRbody2gnd (float roll, float pitch)
 
template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >
void positionReframing (const Ta lat1, const Ta lon1, const Tb hei1, const Tc lat2, const Tc lon2, const Td hei2, Te *n, Te *e, Te *d)
 
void periodicUpdate (const double &d_time)
 
void updateLeaderLimits (void)
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
virtual ~Task (void)
 
const char * getName (void) const
 
const char * getSystemName (void) const
 
unsigned int getSystemId (void) const
 
unsigned int getEntityId (void) const
 
unsigned int resolveEntity (const std::string &label) const
 
std::string resolveEntity (unsigned int id) const
 
DebugLevel getDebugLevel (void) const
 
uint16_t getActivationTime (void) const
 
uint16_t getDeactivationTime (void) const
 
unsigned int resolveSystemName (const std::string &name) const
 
const char * resolveSystemId (unsigned int id) const
 
void loadConfig (void)
 
void setPriority (unsigned int value)
 
unsigned int getPriority (void) const
 
void inf (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void war (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void err (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void cri (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void debug (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void void trace (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void void void spew (const char *format,...) DUNE_PRINTF_FORMAT(2
 
void void void void void void
void void 
dispatch (IMC::Message *msg, unsigned int flags=0)
 
void dispatch (IMC::Message &msg, unsigned int flags=0)
 
void dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)
 
void receive (const IMC::Message *msg)
 
void reserveEntities (void)
 
void resolveEntities (void)
 
void acquireResources (void)
 
void releaseResources (void)
 
void initializeResources (void)
 
void updateParameters (bool act_deact=true)
 
void writeParamsXML (std::ostream &os) const
 
const char * getEntityLabel (void) const
 
void setEntityLabel (const std::string &label)
 
- Public Member Functions inherited from DUNE::Tasks::AbstractTask
 AbstractTask (void)
 
virtual ~AbstractTask (void)
 
- Public Member Functions inherited from DUNE::Concurrency::Thread
 Thread (void)
 
virtual ~Thread (void)
 
int getProcessorUsage (void)
 
- Public Member Functions inherited from DUNE::Concurrency::Runnable
 Runnable (void)
 
virtual ~Runnable (void)
 
void start (void)
 
void stop (void)
 
void join (void)
 
void stopAndJoin (void)
 
void setPriority (Scheduler::Policy policy, unsigned priority)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

Arguments m_args
 
bool m_standalone
 
bool m_param_update_first
 
bool m_plan_new
 
bool m_plan_params
 
UAVSimulationm_model
 
double m_llh_ref_pos [3]
 
Matrix m_position
 
Matrix m_velocity
 
IMC::EstimatedState m_estate_leader
 
double m_clock_diff
 
double m_last_leader_update
 
double m_last_time_sync
 
double m_last_time_debug
 
double m_last_time_trace
 
double m_last_time_spew
 
Matrix m_vehicle_state
 
std::vector< bool > m_vehicle_state_flag
 
std::vector< bool > m_vehicle_wind_flag
 
Matrix m_team_state
 
Matrix m_last_state_update
 
Matrix m_wind
 
double m_wind_speed
 
Matrix m_wind_team
 
double m_g
 
IMC::DesiredRoll m_bank_cmd
 
IMC::DesiredSpeed m_airspeed_cmd
 
IMC::DesiredZ m_altitude_cmd
 
double m_speed_cmd_leader
 
uint8_t m_speed_units_leader
 
double m_alt_cmd_leader
 
uint8_t m_alt_units_leader
 
double m_bank_lim
 
double m_speed_min
 
double m_speed_max
 
double m_alt_min
 
double m_alt_max
 
Matrix m_bank_lim_uav
 
Matrix m_speed_min_uav
 
Matrix m_speed_max_uav
 
Matrix m_alt_min_uav
 
Matrix m_alt_max_uav
 
unsigned int m_uav_n
 
Systems m_uav_id
 
Matrix m_formation_pos
 
double m_timestep
 
double m_timestep_ctrl
 
double m_timestep_sync
 
IMC::Formation m_uav_formation
 
IMC::LeaderState m_init_leader
 
bool m_formation_control_state
 
bool m_debug
 
IMC::PlanControl m_plan_ctrl_last
 
std::map< uint32_t, Systemsm_filtered_sys
 
std::map< uint32_t, Entitiesm_filtered_ent
 
uint32_t m_alias_id
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 
- Protected Member Functions inherited from DUNE::Tasks::Task
void setEntityState (IMC::EntityState::StateEnum state, Status::Code code)
 
void setEntityState (IMC::EntityState::StateEnum state, const std::string &description)
 
IMC::EntityState::StateEnum getEntityState (void) const
 
unsigned int reserveEntity (const std::string &label)
 
template<typename E >
E * reserveEntity (const std::string &label)
 
bool stopping (void)
 
bool isActive (void) const
 
bool isActivating (void) const
 
bool isDeactivating (void) const
 
void waitForMessages (double timeout)
 
void consumeMessages (void)
 
template<typename T >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (const std::string &name, T &var)
 
template<typename T >
bool paramChanged (T &var)
 
void paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)
 
void setParamSectionEditor (const std::string &name)
 
template<typename M , typename T >
void bind (T *task_obj, void(T::*consumer)(const M *)=&T::consume)
 
template<typename T >
void bind (T *task_obj, const std::vector< uint32_t > &list)
 
template<typename T , typename M >
void bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
 
template<typename T >
void bind (T *task_obj, const std::vector< std::string > &list)
 
void requestActivation (void)
 
void requestDeactivation (void)
 
void activate (void)
 
void activationFailed (const std::string &reason)
 
void deactivate (void)
 
void deactivationFailed (const std::string &reason)
 
virtual bool onWriteParamsXML (std::ostream &os) const
 
virtual void onEntityReservation (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceInitialization (void)
 
virtual void onActivation (void)
 
virtual void onDeactivation (void)
 
virtual void onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
 
virtual void onSetEntityParameters (const IMC::SetEntityParameters *msg)
 
virtual void onPushEntityParameters (const IMC::PushEntityParameters *msg)
 
virtual void onPopEntityParameters (const IMC::PopEntityParameters *msg)
 
- Protected Member Functions inherited from DUNE::Concurrency::Thread
void startImpl (void)
 
void stopImpl (void)
 
void joinImpl (void)
 
void setPriorityImpl (Scheduler::Policy policy, unsigned priority)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Maneuver::VehicleFormation::Coordinator::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Maneuver::VehicleFormation::Coordinator::Arguments::alt_max, Maneuver::VehicleFormation::Coordinator::Arguments::alt_min, Maneuver::VehicleFormation::Coordinator::Arguments::bank_lim, Maneuver::VehicleFormation::Coordinator::Arguments::c_alt, Maneuver::VehicleFormation::Coordinator::Arguments::c_bank, Maneuver::VehicleFormation::Coordinator::Arguments::c_speed, Maneuver::VehicleFormation::Coordinator::Arguments::cmd_src, Maneuver::VehicleFormation::Coordinator::Arguments::ctrl_frequency, Maneuver::VehicleFormation::Coordinator::Arguments::debug, Maneuver::VehicleFormation::Coordinator::Arguments::default_alt, Maneuver::VehicleFormation::Coordinator::Arguments::default_height, Maneuver::VehicleFormation::Coordinator::Arguments::default_lat, Maneuver::VehicleFormation::Coordinator::Arguments::default_lon, Maneuver::VehicleFormation::Coordinator::Arguments::default_speed, DUNE::Tasks::Parameter::defaultValue(), Maneuver::VehicleFormation::Coordinator::Arguments::formation_frame, Maneuver::VehicleFormation::Coordinator::Arguments::formation_pos, Maneuver::VehicleFormation::Coordinator::Arguments::formation_systems, Maneuver::VehicleFormation::Coordinator::Arguments::l_accel_x, Maneuver::VehicleFormation::Coordinator::Arguments::l_bank_rate, Maneuver::VehicleFormation::Coordinator::Arguments::l_vert_slope, m_args, Maneuver::VehicleFormation::Coordinator::Arguments::main, DUNE::Math::min(), DUNE::Tasks::Task::param(), DUNE::Math::Angles::radians(), Maneuver::VehicleFormation::Coordinator::Arguments::sim_type, Maneuver::VehicleFormation::Coordinator::Arguments::speed_max, Maneuver::VehicleFormation::Coordinator::Arguments::speed_min, Maneuver::VehicleFormation::Coordinator::Arguments::src_alias, and Maneuver::VehicleFormation::Coordinator::Arguments::sync_frequency.

Member Function Documentation

void Maneuver::VehicleFormation::Coordinator::Task::consume ( const IMC::EstimatedStreamVelocity *  msg)
inline
void Maneuver::VehicleFormation::Coordinator::Task::dispatchAlias ( IMC::Message *  msg)
inline
Matrix Maneuver::VehicleFormation::Coordinator::Task::matrixRotRbody2gnd ( float  roll,
float  pitch 
)
inline
void Maneuver::VehicleFormation::Coordinator::Task::onEntityResolution ( void  )
inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Maneuver::VehicleFormation::Coordinator::Arguments::cmd_src, DUNE::Tasks::Task::debug(), m_args, m_filtered_ent, m_filtered_sys, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::Coordinator::Task::onRequestActivation ( void  )
inlinevirtual

Called when an external activation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References dispatchAlias(), Maneuver::VehicleFormation::Coordinator::Arguments::formation_frame, m_alt_max, m_alt_min, m_args, m_bank_lim, m_formation_pos, m_plan_ctrl_last, m_plan_params, m_speed_max, m_speed_min, m_uav_formation, m_uav_id, m_uav_n, Maneuver::VehicleFormation::Coordinator::Arguments::main, DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::war().

Referenced by onUpdateParameters().

void Maneuver::VehicleFormation::Coordinator::Task::onRequestDeactivation ( void  )
inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References dispatchAlias(), m_args, m_uav_formation, Maneuver::VehicleFormation::Coordinator::Arguments::main, DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::war().

void Maneuver::VehicleFormation::Coordinator::Task::onResourceAcquisition ( void  )
inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Maneuver::VehicleFormation::Coordinator::Task::onResourceRelease ( void  )
inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

void Maneuver::VehicleFormation::Coordinator::Task::onUpdateParameters ( void  )
inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Maneuver::VehicleFormation::Coordinator::Arguments::alt_max, Maneuver::VehicleFormation::Coordinator::Arguments::alt_min, Maneuver::VehicleFormation::Coordinator::Arguments::bank_lim, Maneuver::VehicleFormation::Coordinator::Arguments::c_bank, Maneuver::VehicleFormation::Coordinator::Arguments::c_speed, DUNE::Simulation::UAVSimulation::command(), Maneuver::VehicleFormation::Coordinator::Arguments::ctrl_frequency, Maneuver::VehicleFormation::Coordinator::Arguments::debug, DUNE::Tasks::Task::debug(), Maneuver::VehicleFormation::Coordinator::Arguments::default_alt, Maneuver::VehicleFormation::Coordinator::Arguments::default_lat, Maneuver::VehicleFormation::Coordinator::Arguments::default_lon, Maneuver::VehicleFormation::Coordinator::Arguments::default_speed, Maneuver::VehicleFormation::Coordinator::Arguments::formation_pos, Maneuver::VehicleFormation::Coordinator::Arguments::formation_systems, DUNE::Math::Matrix::get(), DUNE::Tasks::Periodic::getFrequency(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), Maneuver::VehicleFormation::Coordinator::Arguments::l_accel_x, Maneuver::VehicleFormation::Coordinator::Arguments::l_bank_rate, m_airspeed_cmd, m_alias_id, m_alt_cmd_leader, m_alt_max_uav, m_alt_min_uav, m_altitude_cmd, m_args, m_bank_lim, m_bank_lim_uav, m_debug, m_formation_pos, m_last_state_update, m_llh_ref_pos, m_model, m_param_update_first, m_plan_new, m_plan_params, m_position, DUNE::Simulation::UAVSimulation::m_sim_type, m_speed_cmd_leader, m_speed_max_uav, m_speed_min_uav, m_timestep, m_timestep_ctrl, m_timestep_sync, m_uav_id, m_uav_n, m_vehicle_state, m_vehicle_state_flag, m_vehicle_wind_flag, m_velocity, m_wind_team, DUNE::Math::Matrix, onRequestActivation(), DUNE::Tasks::Task::paramChanged(), DUNE::Math::Angles::radians(), DUNE::Math::Matrix::resizeAndKeep(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Math::Matrix::rows(), DUNE::Math::Matrix::set(), DUNE::Simulation::UAVSimulation::setAccelLim(), DUNE::Simulation::UAVSimulation::setBankRateLim(), DUNE::Simulation::UAVSimulation::setCtrl(), Maneuver::VehicleFormation::Coordinator::Arguments::sim_type, DUNE::Math::Matrix::size(), Maneuver::VehicleFormation::Coordinator::Arguments::speed_max, Maneuver::VehicleFormation::Coordinator::Arguments::speed_min, DUNE::Tasks::Task::spew(), Maneuver::VehicleFormation::Coordinator::Arguments::src_alias, Maneuver::VehicleFormation::Coordinator::Arguments::sync_frequency, DUNE::Simulation::UAVSimulation, updateLeaderLimits(), DUNE::Tasks::Task::war(), and DUNE::Math::Matrix::~Matrix().

template<typename Ta , typename Tb , typename Tc , typename Td , typename Te >
void Maneuver::VehicleFormation::Coordinator::Task::positionReframing ( const Ta  lat1,
const Ta  lon1,
const Tb  hei1,
const Tc  lat2,
const Tc  lon2,
const Td  hei2,
Te *  n,
Te *  e,
Te *  d 
)
inline

Adjust offset position from a reference frame to a new reference frame.

Parameters
[in]lat1new reference latitude (rad).
[in]lon1new reference longitude (rad).
[in]hei1new reference height (m).
[in]lat2old reference latitude (rad).
[in]lon2old reference longitude (rad).
[in]hei2old reference height (m).
[in,out]nNorth offset (m).
[in,out]eEast offset (m).
[in,out]dDown offset (m).

Referenced by consume(), and setLeaderState().

Member Data Documentation

IMC::DesiredSpeed Maneuver::VehicleFormation::Coordinator::Task::m_airspeed_cmd

Referenced by onUpdateParameters().

uint32_t Maneuver::VehicleFormation::Coordinator::Task::m_alias_id
double Maneuver::VehicleFormation::Coordinator::Task::m_alt_cmd_leader

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::Coordinator::Task::m_alt_max
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_alt_max_uav
double Maneuver::VehicleFormation::Coordinator::Task::m_alt_min
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_alt_min_uav
uint8_t Maneuver::VehicleFormation::Coordinator::Task::m_alt_units_leader

Referenced by consume().

IMC::DesiredZ Maneuver::VehicleFormation::Coordinator::Task::m_altitude_cmd

Referenced by onUpdateParameters().

Arguments Maneuver::VehicleFormation::Coordinator::Task::m_args
IMC::DesiredRoll Maneuver::VehicleFormation::Coordinator::Task::m_bank_cmd

Vehicle commands.

double Maneuver::VehicleFormation::Coordinator::Task::m_bank_lim
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_bank_lim_uav
double Maneuver::VehicleFormation::Coordinator::Task::m_clock_diff

Simulation and control time variables.

Referenced by task().

bool Maneuver::VehicleFormation::Coordinator::Task::m_debug
IMC::EstimatedState Maneuver::VehicleFormation::Coordinator::Task::m_estate_leader

Leader's estimated state.

Referenced by periodicUpdate(), and setLeaderState().

std::map<uint32_t, Entities> Maneuver::VehicleFormation::Coordinator::Task::m_filtered_ent

List of entities allowed to define a command.

Referenced by consume(), and onEntityResolution().

std::map<uint32_t, Systems> Maneuver::VehicleFormation::Coordinator::Task::m_filtered_sys

List of systems allowed to define a command.

Referenced by consume(), and onEntityResolution().

bool Maneuver::VehicleFormation::Coordinator::Task::m_formation_control_state
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_formation_pos
double Maneuver::VehicleFormation::Coordinator::Task::m_g

Referenced by updateLeaderLimits().

IMC::LeaderState Maneuver::VehicleFormation::Coordinator::Task::m_init_leader

Leader initial state.

Referenced by consume(), and setLeaderState().

double Maneuver::VehicleFormation::Coordinator::Task::m_last_leader_update

Referenced by periodicUpdate(), and setLeaderState().

Matrix Maneuver::VehicleFormation::Coordinator::Task::m_last_state_update

Referenced by consume(), and onUpdateParameters().

double Maneuver::VehicleFormation::Coordinator::Task::m_last_time_debug

Last time debug information was shown.

double Maneuver::VehicleFormation::Coordinator::Task::m_last_time_spew
double Maneuver::VehicleFormation::Coordinator::Task::m_last_time_sync

Referenced by consume().

double Maneuver::VehicleFormation::Coordinator::Task::m_last_time_trace

Referenced by task().

double Maneuver::VehicleFormation::Coordinator::Task::m_llh_ref_pos[3]

Vehicle's referential position (Latitude, Longitude, and height).

Referenced by consume(), onUpdateParameters(), and setLeaderState().

UAVSimulation* Maneuver::VehicleFormation::Coordinator::Task::m_model

Leader vehicle model.

Referenced by consume(), onUpdateParameters(), periodicUpdate(), and setLeaderState().

bool Maneuver::VehicleFormation::Coordinator::Task::m_param_update_first

Referenced by onUpdateParameters().

IMC::PlanControl Maneuver::VehicleFormation::Coordinator::Task::m_plan_ctrl_last

Referenced by consume(), and onRequestActivation().

bool Maneuver::VehicleFormation::Coordinator::Task::m_plan_new

Referenced by consume(), and onUpdateParameters().

bool Maneuver::VehicleFormation::Coordinator::Task::m_plan_params
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_position

Leader's simulated position (X,Y,Z,phi,theta,psi).

Referenced by onUpdateParameters(), and periodicUpdate().

double Maneuver::VehicleFormation::Coordinator::Task::m_speed_cmd_leader
double Maneuver::VehicleFormation::Coordinator::Task::m_speed_max
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_speed_max_uav
double Maneuver::VehicleFormation::Coordinator::Task::m_speed_min
Matrix Maneuver::VehicleFormation::Coordinator::Task::m_speed_min_uav
uint8_t Maneuver::VehicleFormation::Coordinator::Task::m_speed_units_leader

Referenced by consume().

bool Maneuver::VehicleFormation::Coordinator::Task::m_standalone

Referenced by consume(), and task().

Matrix Maneuver::VehicleFormation::Coordinator::Task::m_team_state

Referenced by consume().

double Maneuver::VehicleFormation::Coordinator::Task::m_timestep

Simulation process time step.

Referenced by onUpdateParameters(), and periodicUpdate().

double Maneuver::VehicleFormation::Coordinator::Task::m_timestep_ctrl

Referenced by onUpdateParameters().

double Maneuver::VehicleFormation::Coordinator::Task::m_timestep_sync

Referenced by consume(), and onUpdateParameters().

IMC::Formation Maneuver::VehicleFormation::Coordinator::Task::m_uav_formation

Formation synchronization messages.

Referenced by consume(), onRequestActivation(), and onRequestDeactivation().

Systems Maneuver::VehicleFormation::Coordinator::Task::m_uav_id
unsigned int Maneuver::VehicleFormation::Coordinator::Task::m_uav_n

Number of team vehicles.

Referenced by consume(), onRequestActivation(), onUpdateParameters(), and updateLeaderLimits().

Matrix Maneuver::VehicleFormation::Coordinator::Task::m_vehicle_state

System state variables.

Referenced by consume(), onUpdateParameters(), and setLeaderState().

std::vector<bool> Maneuver::VehicleFormation::Coordinator::Task::m_vehicle_state_flag

Referenced by consume(), and onUpdateParameters().

std::vector<bool> Maneuver::VehicleFormation::Coordinator::Task::m_vehicle_wind_flag

Referenced by consume(), and onUpdateParameters().

Matrix Maneuver::VehicleFormation::Coordinator::Task::m_velocity

Leader's simulated velocity (u,v,w,p,q,r).

Referenced by onUpdateParameters(), and periodicUpdate().

Matrix Maneuver::VehicleFormation::Coordinator::Task::m_wind

Environment variables.

Referenced by consume(), and periodicUpdate().

double Maneuver::VehicleFormation::Coordinator::Task::m_wind_speed

Referenced by consume(), and updateLeaderLimits().

Matrix Maneuver::VehicleFormation::Coordinator::Task::m_wind_team

Referenced by consume(), and onUpdateParameters().

Collaboration diagram for Maneuver::VehicleFormation::Coordinator::Task:
Collaboration graph