DUNE::Maneuvers::FigureEight Class Reference

Detailed Description

Class to control figure eight loiter behavior around two centers.

Classes
struct	Properties

Public Member Functions
	FigureEight (const IMC::Loiter *maneuver, Maneuvers::Maneuver *task, float min_radius)
	FigureEight (Properties *prop)
void	onPathControlState (const IMC::PathControlState *pcs)
void	onEstimatedState (const IMC::EstimatedState *msg)
bool	isLoitering (void) const
Public Member Functions inherited from DUNE::Maneuvers::AbstractLoiter
	AbstractLoiter (Maneuvers::Maneuver *task)
virtual	~AbstractLoiter (void)

Additional Inherited Members
Protected Attributes inherited from DUNE::Maneuvers::AbstractLoiter
Maneuvers::Maneuver *	m_task

Constructor & Destructor Documentation

DUNE::Maneuvers::FigureEight::FigureEight	(	const IMC::Loiter *	maneuver,
		Maneuvers::Maneuver *	task,
		float	min_radius
	)

Default constructor.

Parameters

[in]	maneuver	pointer to loiter maneuver
[in]	task	pointer to task object (debug and inf)
[in]	min_radius	minimum radius to consider in maneuver

References DUNE::Maneuvers::FigureEight::Properties::bearing, DUNE::IMC::Loiter::bearing, DUNE::Maneuvers::FigureEight::Properties::lat, DUNE::IMC::Loiter::lat, DUNE::Maneuvers::FigureEight::Properties::length, DUNE::IMC::Loiter::length, DUNE::Maneuvers::FigureEight::Properties::lon, DUNE::IMC::Loiter::lon, DUNE::Maneuvers::FigureEight::Properties::radius, DUNE::IMC::Loiter::radius, DUNE::Maneuvers::FigureEight::Properties::speed, DUNE::IMC::Loiter::speed, DUNE::Maneuvers::FigureEight::Properties::speed_units, DUNE::IMC::Loiter::speed_units, DUNE::Maneuvers::FigureEight::Properties::task, DUNE::Math::trimValueMod(), DUNE::Maneuvers::FigureEight::Properties::z, DUNE::IMC::Loiter::z, DUNE::Maneuvers::FigureEight::Properties::z_units, and DUNE::IMC::Loiter::z_units.

DUNE::Maneuvers::FigureEight::FigureEight

(

Properties *

prop

)

Default constructor.

Parameters

[in]

prop

pointer to required properties to perform behavior

Member Function Documentation

bool DUNE::Maneuvers::FigureEight::isLoitering ( void  ) const

virtual

Check if loitering.

Returns

true if loitering, false otherwise

Implements DUNE::Maneuvers::AbstractLoiter.

void DUNE::Maneuvers::FigureEight::onEstimatedState ( const IMC::EstimatedState *  msg )

virtual

Update behavior with EstimatedState.

Parameters

[in]

msg

pointer to EstimatedState message

Reimplemented from DUNE::Maneuvers::AbstractLoiter.

void DUNE::Maneuvers::FigureEight::onPathControlState ( const IMC::PathControlState *  pcs )

virtual

Update behavior with path control state.

Parameters

[in]

pcs

pointer to PathControlState message

Reimplemented from DUNE::Maneuvers::AbstractLoiter.

References DUNE::IMC::PathControlState::FL_LOITERING, and DUNE::IMC::PathControlState::flags.

Collaboration diagram for DUNE::Maneuvers::FigureEight: