Public Member Functions
	Task (const std::string &name, DUNE::Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onReset (void)

void	onInit (const IMC::VehicleFormation *maneuver)

void	onUpdate (int f_index, const IMC::RemoteState &rstate)

void	step (const IMC::EstimatedState &estate)

void	onPathCompletion (void)

Matrix	findXY (IMC::EstimatedState a, IMC::EstimatedState b, double t)

double	toActuation (double desired_mps, double max_mps, double max_act, double min_mps, double min_act)

Public Member Functions inherited from DUNE::IMC::VehicleFormation
	VehicleFormation (void)

Message *	clone (void) const

void	clear (void)

bool	fieldsEqual (const Message &msg__) const

int	validate (void) const

uint8_t *	serializeFields (uint8_t *bfr__) const

uint16_t	deserializeFields (const uint8_t *bfr__, uint16_t size__)

uint16_t	reverseDeserializeFields (const uint8_t *bfr__, uint16_t size__)

uint16_t	getId (void) const

const char *	getName (void) const

unsigned	getFixedSerializationSize (void) const

unsigned	getVariableSerializationSize (void) const

void	fieldsToJSON (std::ostream &os__, unsigned nindent__) const

Public Member Functions inherited from DUNE::IMC::Message
	Message (void)

virtual	~Message (void)

double	setTimeStamp (double ts)

double	setTimeStamp (void)

double	getTimeStamp (void) const

uint16_t	getSource (void) const

void	setSource (uint16_t src)

uint8_t	getSourceEntity (void) const

void	setSourceEntity (uint8_t src_ent)

uint16_t	getDestination (void) const

void	setDestination (uint16_t dst)

uint8_t	getDestinationEntity (void) const

void	setDestinationEntity (uint8_t dst_ent)

virtual uint16_t	getSubId (void) const

virtual void	setSubId (uint16_t subid)

virtual fp64_t	getValueFP (void) const

virtual void	setValueFP (fp64_t val)

unsigned	getSerializationSize (void) const

unsigned	getPayloadSerializationSize (void) const

void	toJSON (std::ostream &os) const

void	toText (std::ostream &os) const

bool	operator== (const Message &other) const

bool	operator!= (const Message &other) const

Public Attributes
IMC::EstimatedState	m_estate

double	m_zero_time

int	m_curr

double	m_last_actuation

Matrix	m_delta

TPoint	m_prev

Utils::CircularBuffer < IMC::EstimatedState >	m_queue

Matrix	m_errf

std::ofstream	m_dbg

std::ofstream	m_dbg_owa

std::ofstream	m_dbg_owb

std::ofstream	m_dbg_pw

std::ofstream	m_dbg_pa_ts

std::ofstream	m_dbg_pb_ts

std::ofstream	m_dbg_deltas

std::ofstream	m_dbg_ferror

std::ofstream	m_dbg_pa

double	m_debug_time

Arguments	m_args

Public Attributes inherited from DUNE::IMC::VehicleFormation
fp64_t	lat

fp64_t	lon

fp32_t	z

uint8_t	z_units

fp32_t	speed

uint8_t	speed_units

MessageList< TrajectoryPoint >	points

MessageList < VehicleFormationParticipant >	participants

fp64_t	start_time

std::string	custom

Static Public Attributes
static const int	c_queue_size

Additional Inherited Members
Static Public Member Functions inherited from DUNE::IMC::VehicleFormation
static uint16_t	getIdStatic (void)

Protected Member Functions inherited from DUNE::IMC::VehicleFormation
void	setTimeStampNested (double value__)

void	setSourceNested (uint16_t value__)

void	setSourceEntityNested (uint8_t value__)

void	setDestinationNested (uint16_t value__)

void	setDestinationEntityNested (uint8_t value__)

Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

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

inline

Member Function Documentation

Matrix Maneuver::VehicleFormation::SMC::Task::findXY	(	IMC::EstimatedState	a,
		IMC::EstimatedState	b,
		double	t
	)

inline

Function for finding values of x and y through linear interpolation.

References DUNE::Math::linearInterpolation().

Referenced by onUpdate().

void Maneuver::VehicleFormation::SMC::Task::onInit ( const IMC::VehicleFormation * maneuver )

inline

void Maneuver::VehicleFormation::SMC::Task::onPathCompletion ( void )

inline

void Maneuver::VehicleFormation::SMC::Task::onReset ( void )

inline

Close matlab logged vectors.

References Maneuver::VehicleFormation::SMC::Arguments::debug, m_args, m_dbg, m_dbg_deltas, m_dbg_ferror, m_dbg_owa, m_dbg_owb, m_dbg_pa, m_dbg_pa_ts, m_dbg_pb_ts, m_dbg_pw, m_debug_time, and m_queue.

void Maneuver::VehicleFormation::SMC::Task::onUpdate	(	int	f_index,
		const IMC::RemoteState &	rstate
	)

inline

References Maneuver::VehicleFormation::SMC::Arguments::bounds, Maneuver::VehicleFormation::SMC::Arguments::debug, Maneuver::VehicleFormation::SMC::Arguments::errf_bounds, findXY(), DUNE::IMC::Message::getTimeStamp(), m_args, m_curr, m_dbg, m_dbg_pa_ts, m_dbg_pb_ts, m_debug_time, m_delta, m_errf, m_estate, m_queue, DUNE::Math::round(), DUNE::Math::Matrix::rows(), and DUNE::Math::trimValue().

void Maneuver::VehicleFormation::SMC::Task::onUpdateParameters ( void )

inline

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

inline

References DUNE::IMC::Message::getTimeStamp(), m_estate, and m_queue.

double Maneuver::VehicleFormation::SMC::Task::toActuation	(	double	desired_mps,
		double	max_mps,
		double	max_act,
		double	min_mps,
		double	min_act
	)

inline

Function to convert meters per second to actuation using a linearized relation between the two.

Member Data Documentation

const int Maneuver::VehicleFormation::SMC::Task::c_queue_size

static

Circular Buffer fixed size.

Arguments Maneuver::VehicleFormation::SMC::Task::m_args

Task arguments.

Referenced by onInit(), onPathCompletion(), onReset(), onUpdate(), and Task().

int Maneuver::VehicleFormation::SMC::Task::m_curr

Number of current waypoint number.

Referenced by onInit(), onPathCompletion(), and onUpdate().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg

Debug variables and text files generic debug output file.

Referenced by onInit(), onPathCompletion(), onReset(), and onUpdate().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_deltas

deltas produced using remote states

Referenced by onInit(), onPathCompletion(), and onReset().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_ferror

formation errors yielded using interpolation

Referenced by onInit(), onPathCompletion(), and onReset().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_owa

original waypoints in trajectory for vehicle A (present vehicle)

Referenced by onInit(), and onReset().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_owb

original waypoints in trajectory for vehicle B (neighbor vehicle)

Referenced by onInit(), and onReset().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pa

present vehicle's position at onPathCompletion time

Referenced by onInit(), onPathCompletion(), and onReset().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pa_ts

position of the present vehicle at remote timestamp

Referenced by onInit(), onReset(), and onUpdate().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pb_ts

position of the neighbor vehicle at remote timestamp

Referenced by onInit(), onReset(), and onUpdate().

std::ofstream Maneuver::VehicleFormation::SMC::Task::m_dbg_pw

produced waypoints (and sent to vehicle) using delta gaps

Referenced by onInit(), onPathCompletion(), and onReset().

double Maneuver::VehicleFormation::SMC::Task::m_debug_time

Time at which the debug data was saved.

Referenced by onInit(), onReset(), and onUpdate().

Matrix Maneuver::VehicleFormation::SMC::Task::m_delta

Trajectory's bias computed by the controller.

Referenced by onInit(), onPathCompletion(), and onUpdate().

Matrix Maneuver::VehicleFormation::SMC::Task::m_errf

Formation error.

Referenced by onInit(), onPathCompletion(), and onUpdate().

IMC::EstimatedState Maneuver::VehicleFormation::SMC::Task::m_estate

last state update

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

double Maneuver::VehicleFormation::SMC::Task::m_last_actuation

Last actuation value sent to bus.

Referenced by onInit(), and onPathCompletion().

TPoint Maneuver::VehicleFormation::SMC::Task::m_prev

Previously assigned waypoint.

Referenced by onInit(), and onPathCompletion().

Utils::CircularBuffer<IMC::EstimatedState> Maneuver::VehicleFormation::SMC::Task::m_queue

Circular buffer used to save last few estimated states every second.

Referenced by onReset(), onUpdate(), and step().

double Maneuver::VehicleFormation::SMC::Task::m_zero_time

Starting time reference.

Referenced by onPathCompletion().

Collaboration diagram for Maneuver::VehicleFormation::SMC::Task:

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation