DUNE: Uniform Navigational Environment  2016.05.0
Navigation::General::ROV::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onUpdateParameters (void)
void onResourceInitialization (void)
void onResourceRelease (void)
void onConsumeLblConfig (void)
void runKalmanGPS (double x, double y)
unsigned getNumberOutputs (void)
void getSpeedOutputStates (unsigned *u, unsigned *v)
bool setup (void)
void reset (void)
void setTransition (Matrix &A)
void resetKalman (void)
void logData (void)
void task (void)
- Public Member Functions inherited from DUNE::Navigation::BasicNavigation
 BasicNavigation (const std::string &name, Tasks::Context &ctx)
virtual ~BasicNavigation (void)
virtual void onEntityResolution (void)
void consume (const IMC::Acceleration *msg)
void consume (const IMC::AngularVelocity *msg)
void consume (const IMC::DataSanity *msg)
void consume (const IMC::Distance *msg)
void consume (const IMC::Depth *msg)
void consume (const IMC::DepthOffset *msg)
void consume (const IMC::EulerAngles *msg)
void consume (const IMC::EulerAnglesDelta *msg)
void consume (const IMC::GpsFix *msg)
void consume (const IMC::GroundVelocity *msg)
void consume (const IMC::LblConfig *msg)
void consume (const IMC::LblRange *msg)
void consume (const IMC::Rpm *msg)
void consume (const IMC::WaterVelocity *msg)
- 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

bool m_gps_reading

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
- Protected Member Functions inherited from DUNE::Navigation::BasicNavigation
double getDepth (void) const
double getAltitude (void)
double getAcceleration (unsigned axis) const
double getAngularVelocity (unsigned axis) const
double getHeadingRate (void)
double getEuler (unsigned axis) const
double getEulerDelta (unsigned axis) const
float getEulerDeltaTimestep (void) const
bool gotDepthReadings (void) const
bool gotEulerReadings (void) const
bool gotAngularReadings (void) const
bool gotAccelerationReadings (void) const
unsigned getAhrsId (void) const
double getLblRejectionValue (double exp_range) const
bool rejectLbl (void) const
double getTimeStep (void)
void updateEuler (float filter)
void updateEulerDelta (float filter)
void updateAngularVelocities (float filter)
void updateAcceleration (float filter)
void updateDepth (float filter)
virtual void updateKalmanGpsParameters (double hacc)
virtual void runKalmanLBL (int beacon, float range, double dx, double dy, double exp_range)
virtual void runKalmanDVL (void)
void onDispatchNavigation (void)
bool isActive (void)
void reportToBus (void)
void updateBuffers (float filter)
void resetAcceleration (void)
void resetAngularVelocity (void)
void resetDepth (void)
void resetEulerAngles (void)
void resetEulerAnglesDelta (void)
void checkUncertainty (bool abort=true)
void checkDeclination (double lat, double lon, double height)
- 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 onResourceAcquisition (void)
virtual void onRequestActivation (void)
virtual void onRequestDeactivation (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::Navigation::BasicNavigation
Navigation::KalmanFilter m_kal
Navigation::Ranging m_ranging
Navigation::StreamEstimator m_stream_filter
int16_t m_rpm
std::vector< double > m_process_noise
std::vector< double > m_measure_noise
std::vector< double > m_state_cov
IMC::EstimatedState m_estate
IMC::LblRangeAcceptance m_lbl_ac
IMC::GpsFixRejection m_gps_rej
IMC::DvlRejection m_dvl_rej
IMC::NavigationUncertainty m_uncertainty
IMC::NavigationData m_navdata
IMC::GroundVelocity m_gvel
IMC::WaterVelocity m_wvel
Time::Counter< double > m_time_without_gps
Time::Counter< double > m_time_without_dvl
Time::Counter< double > m_time_without_alt
Time::Counter< double > m_dvl_sanity_timer
Time::Counter< double > m_time_without_main_depth
Time::Counter< double > m_time_without_depth
Time::Counter< double > m_time_without_euler
double m_gps_sog
double m_last_z
bool m_dead_reckoning
bool m_sum_euler_inc
bool m_aligned
unsigned m_agvel_eid
unsigned m_accel_eid
unsigned m_imu_eid
float m_lbl_threshold
double m_heading
bool m_valid_gv
bool m_valid_wv
bool m_lbl_reading
Math::Derivative< double > m_deriv_heave
- Protected Attributes inherited from DUNE::Tasks::Task
< Entities::BasicEntity * > 

Constructor & Destructor Documentation

Member Function Documentation

unsigned Navigation::General::ROV::Task::getNumberOutputs ( void  )

Get number of EKF outputs.

number of outputs.

Implements DUNE::Navigation::BasicNavigation.

References Navigation::General::ROV::NUM_OUT.

void Navigation::General::ROV::Task::getSpeedOutputStates ( unsigned *  u,
unsigned *  v 

Get EKF output matrix speed indexes.

[out]uforward speed state index.
[out]vtransversal speed state index.

Implements DUNE::Navigation::BasicNavigation.

References Navigation::General::ROV::OUT_U, and Navigation::General::ROV::OUT_V.

void Navigation::General::ROV::Task::onConsumeLblConfig ( void  )
void Navigation::General::ROV::Task::onResourceInitialization ( void  )

Initialize resources.

Reimplemented from DUNE::Navigation::BasicNavigation.

void Navigation::General::ROV::Task::onResourceRelease ( void  )

Release resources.

Reimplemented from DUNE::Navigation::BasicNavigation.

void Navigation::General::ROV::Task::reset ( void  )

Routine to reset navigation.

Reimplemented from DUNE::Navigation::BasicNavigation.

References m_gps_reading.

void Navigation::General::ROV::Task::runKalmanGPS ( double  x,
double  y 

Routine to assign EKF filter output variables when a GpsFix message is received.

[in]xvehicle north displacement (m).
[in]yvehicle east displacement (m).

Reimplemented from DUNE::Navigation::BasicNavigation.

References m_gps_reading, DUNE::Navigation::BasicNavigation::m_kal, Navigation::General::ROV::OUT_GPS_X, Navigation::General::ROV::OUT_GPS_Y, and DUNE::Navigation::KalmanFilter::setOutput().

void Navigation::General::ROV::Task::task ( void  )

Member Data Documentation

bool Navigation::General::ROV::Task::m_gps_reading

Periodic GPS fix reading check.

Referenced by reset(), runKalmanGPS(), and task().

Collaboration diagram for Navigation::General::ROV::Task:
Collaboration graph