DUNE: Uniform Navigational Environment  2016.05.0
Maneuver::CoverArea::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onActivation (void)
void resetVar (void)
Math::Matrix intersectSegments (const Math::Matrix &seg1, const Math::Matrix &seg2, bool *isInSegment)
Math::Matrix intersectSegmentPolygon (const Math::Matrix &poly, double height)
Math::Matrix getRows (const Math::Matrix &poly, double direction, double width, double diam)
double longRowsDirection (const Math::Matrix &poly, double *diameter)
double getClosestDistance (const Math::Matrix &row, const Math::Matrix &point, int *closest)
void doRows (const Math::Matrix &rows, int *times)
void consume (const IMC::CoverArea *maneuver)
void consume (const IMC::EstimatedState *msg)
void onPathControlState (const IMC::PathControlState *pcs)
void enableMovement (bool enable)
- Public Member Functions inherited from DUNE::IMC::Message
 Message (void)
virtual ~Message (void)
virtual Messageclone (void) const =0
virtual void clear (void)=0
virtual int validate (void) const =0
virtual const char * getName (void) const =0
virtual uint16_t getId (void) const =0
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
virtual unsigned getFixedSerializationSize (void) const
virtual unsigned getVariableSerializationSize (void) const
void toJSON (std::ostream &os) const
void toText (std::ostream &os) const
virtual uint8_t * serializeFields (uint8_t *bfr) const =0
virtual uint16_t deserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual uint16_t reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual void fieldsToJSON (std::ostream &os, unsigned indent_level) const
bool operator== (const Message &other) const
bool operator!= (const Message &other) const

Public Attributes

IMC::CoverArea m_maneuver
IMC::EstimatedState m_estate
Math::Matrix m_rows
IMC::DesiredPath m_path
bool m_moving
bool m_increase_row
bool m_arrived
bool m_last_on_row
int m_current_row
int m_times
int m_param_times
double m_lat
double m_lon
double m_z
double m_next_lat
double m_next_lon
double m_param_width

Additional Inherited Members

- Protected Member Functions inherited from DUNE::IMC::Message
virtual void setTimeStampNested (double value)
virtual void setSourceNested (uint16_t value)
virtual void setSourceEntityNested (uint8_t value)
virtual void setDestinationNested (uint16_t value)
virtual void setDestinationEntityNested (uint8_t value)
virtual bool fieldsEqual (const Message &other) const
- Protected Attributes inherited from DUNE::IMC::Message
Header m_header

Constructor & Destructor Documentation

Maneuver::CoverArea::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 

References m_param_times, and m_param_width.

Member Function Documentation

void Maneuver::CoverArea::Task::consume ( const IMC::CoverArea *  maneuver)
void Maneuver::CoverArea::Task::consume ( const IMC::EstimatedState *  msg)
void Maneuver::CoverArea::Task::doRows ( const Math::Matrix &  rows,
int *  times 
void Maneuver::CoverArea::Task::enableMovement ( bool  enable)

References m_moving.

Referenced by consume(), and doRows().

double Maneuver::CoverArea::Task::getClosestDistance ( const Math::Matrix &  row,
const Math::Matrix &  point,
int *  closest 

Referenced by doRows().

Math::Matrix Maneuver::CoverArea::Task::getRows ( const Math::Matrix &  poly,
double  direction,
double  width,
double  diam 

References intersectSegmentPolygon(), and DUNE::Math::min().

Referenced by consume().

Math::Matrix Maneuver::CoverArea::Task::intersectSegmentPolygon ( const Math::Matrix &  poly,
double  height 
Math::Matrix Maneuver::CoverArea::Task::intersectSegments ( const Math::Matrix &  seg1,
const Math::Matrix &  seg2,
bool *  isInSegment 

Referenced by intersectSegmentPolygon().

double Maneuver::CoverArea::Task::longRowsDirection ( const Math::Matrix &  poly,
double *  diameter 

References DUNE::Math::max(), and DUNE::Math::min().

Referenced by consume().

void Maneuver::CoverArea::Task::onActivation ( void  )

References resetVar().

void Maneuver::CoverArea::Task::onPathControlState ( const IMC::PathControlState *  pcs)

References m_arrived.

void Maneuver::CoverArea::Task::resetVar ( void  )

Member Data Documentation

bool Maneuver::CoverArea::Task::m_arrived
int Maneuver::CoverArea::Task::m_current_row

Referenced by doRows(), and resetVar().

IMC::EstimatedState Maneuver::CoverArea::Task::m_estate

Referenced by consume(), and doRows().

bool Maneuver::CoverArea::Task::m_increase_row

Referenced by doRows(), and resetVar().

bool Maneuver::CoverArea::Task::m_last_on_row

Referenced by doRows(), and resetVar().

double Maneuver::CoverArea::Task::m_lat

Referenced by consume(), and doRows().

double Maneuver::CoverArea::Task::m_lon

Referenced by consume(), and doRows().

IMC::CoverArea Maneuver::CoverArea::Task::m_maneuver

Referenced by consume(), and doRows().

bool Maneuver::CoverArea::Task::m_moving

Referenced by consume(), enableMovement(), and resetVar().

double Maneuver::CoverArea::Task::m_next_lat

Referenced by doRows().

double Maneuver::CoverArea::Task::m_next_lon

Referenced by doRows().

int Maneuver::CoverArea::Task::m_param_times

Referenced by resetVar(), and Task().

double Maneuver::CoverArea::Task::m_param_width

Referenced by consume(), and Task().

IMC::DesiredPath Maneuver::CoverArea::Task::m_path

Referenced by consume(), and doRows().

Math::Matrix Maneuver::CoverArea::Task::m_rows

Referenced by consume(), and resetVar().

int Maneuver::CoverArea::Task::m_times

Referenced by consume(), and resetVar().

double Maneuver::CoverArea::Task::m_z

Referenced by consume(), and doRows().

Collaboration diagram for Maneuver::CoverArea::Task:
Collaboration graph