DUNE: Uniform Navigational Environment  2017.01.0
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::Maneuverm_task
 

Constructor & Destructor Documentation

DUNE::Maneuvers::FigureEight::FigureEight ( Properties prop)

Default constructor.

Parameters
[in]proppointer 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]msgpointer 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]pcspointer 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:
Collaboration graph