Simulators::IMU::Task Struct Reference

Detailed Description

IMU simulator task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	onDeactivation (void)
void	consume (const IMC::SimulatedState *msg)
void	onMain (void)

Public Attributes
IMC::EulerAngles	m_euler
IMC::AngularVelocity	m_agvel
IMC::Acceleration	m_accel
double	m_vel [3]
Random::Generator *	m_prng
float	m_heading_offset
Time::Delta	m_delta
Arguments	m_args

Constructor & Destructor Documentation

Simulators::IMU::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Simulators::IMU::Arguments::activation_control, Simulators::IMU::Arguments::euler, Simulators::IMU::Arguments::gyro_bias, m_args, Simulators::IMU::Arguments::prng_seed, Simulators::IMU::Arguments::prng_type, Simulators::IMU::Arguments::stdev_agvel, Simulators::IMU::Arguments::stdev_euler, and Simulators::IMU::Arguments::stdev_heading_offset.

Member Function Documentation

void Simulators::IMU::Task::consume ( const IMC::SimulatedState *  msg )

inline

References Simulators::IMU::Arguments::activation_control, Simulators::IMU::Arguments::euler, DUNE::Math::Random::Generator::gaussian(), Simulators::IMU::Arguments::gyro_bias, m_accel, m_agvel, m_args, m_delta, m_euler, m_heading_offset, m_prng, m_vel, Simulators::IMU::Arguments::stdev_agvel, Simulators::IMU::Arguments::stdev_euler, and DUNE::Math::trimValue().

void Simulators::IMU::Task::onDeactivation ( void  )

inline

void Simulators::IMU::Task::onMain ( void  )

inline

void Simulators::IMU::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References DUNE::Math::Random::Generator::gaussian(), m_args, m_heading_offset, m_prng, Simulators::IMU::Arguments::prng_seed, Simulators::IMU::Arguments::prng_type, and Simulators::IMU::Arguments::stdev_heading_offset.

void Simulators::IMU::Task::onResourceInitialization ( void  )

inline

void Simulators::IMU::Task::onResourceRelease ( void  )

inline

Release resources.

References m_prng.

Member Data Documentation

IMC::Acceleration Simulators::IMU::Task::m_accel

Acceleration.

Referenced by consume().

IMC::AngularVelocity Simulators::IMU::Task::m_agvel

Angular Velocity.

Referenced by consume().

Arguments Simulators::IMU::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), and Task().

Time::Delta Simulators::IMU::Task::m_delta

Timestep.

Referenced by consume().

IMC::EulerAngles Simulators::IMU::Task::m_euler

Euler angles.

Referenced by consume().

float Simulators::IMU::Task::m_heading_offset

Random dynamic heading offset.

Referenced by consume(), and onResourceAcquisition().

Random::Generator* Simulators::IMU::Task::m_prng

Pseudo-random generator.

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

double Simulators::IMU::Task::m_vel[3]

Stored Velocity.

Referenced by consume().

Collaboration diagram for Simulators::IMU::Task: