DUNE: Uniform Navigational Environment  2016.05.0
Simulators::USBL::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onUpdateParameters (void)
void onResourceAcquisition (void)
void onResourceRelease (void)
void consume (const IMC::GpsFix *msg)
void consume (const IMC::SimulatedState *msg)
void task (void)
void getSensorData (USBLMessage *msg) const
void getRealBearingAndRange (double *bearing, double *range) const

Public Attributes

IMC::EntityState m_ent
IMC::SimulatedState m_sstate
IMC::DevDataBinary m_dev
double m_usbl_off_n
double m_usbl_off_e
Arguments m_args

Constructor & Destructor Documentation

Member Function Documentation

void Simulators::USBL::Task::consume ( const IMC::GpsFix *  msg)
void Simulators::USBL::Task::getRealBearingAndRange ( double *  bearing,
double *  range 
) const

Compute actual bearing angle and range from USBL transducer to vehicle.

References m_args, m_sstate, m_usbl_off_e, m_usbl_off_n, and Simulators::USBL::Arguments::usbl_heading.

Referenced by getSensorData().

void Simulators::USBL::Task::onResourceAcquisition ( void  )
void Simulators::USBL::Task::onResourceRelease ( void  )

References m_prng.

void Simulators::USBL::Task::task ( void  )

References getSensorData(), m_dev, and m_ent.

Member Data Documentation

IMC::DevDataBinary Simulators::USBL::Task::m_dev

A device binary message for now.

Referenced by consume(), and task().

IMC::EntityState Simulators::USBL::Task::m_ent

Entity state message.

Referenced by task().

Random::Generator* Simulators::USBL::Task::m_prng

PRNG handle.

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

IMC::SimulatedState Simulators::USBL::Task::m_sstate

Current position.

Referenced by consume(), getRealBearingAndRange(), and getSensorData().

double Simulators::USBL::Task::m_usbl_off_e

East offset of the USBL acoustic transducer.

Referenced by consume(), and getRealBearingAndRange().

double Simulators::USBL::Task::m_usbl_off_n

North offset of the USBL acoustic transducer.

Referenced by consume(), and getRealBearingAndRange().

Collaboration diagram for Simulators::USBL::Task:
Collaboration graph