DUNE::Navigation::BeamFilter Class Reference

Detailed Description

BeamFilter is responsible to gather beam distance values from a DVL unit and compute one local distance output.

Author

José Braga

Public Types
enum	Spacing { STANDARD, CROSSED }

Public Member Functions
	BeamFilter (Tasks::Task *task)
	BeamFilter (Tasks::Task *task, size_t size)
	BeamFilter (Tasks::Task *task, size_t size, float width, float offset, float off_ang, std::vector< float > &pos, std::vector< float > &ang, Spacing type)
void	update (size_t index, float value)
float	get (void)
void	setValidity (size_t index, IMC::Distance::ValidityEnum val)
void	setSourceEntities (std::vector< unsigned > &entities)
void	dispatch (void)
void	dispatch (double tstamp)
IMC::Distance &	getAltitude (size_t index)

Member Enumeration Documentation

enum DUNE::Navigation::BeamFilter::Spacing

Filter spacing.

Enumerator
STANDARD
CROSSED

Constructor & Destructor Documentation

DUNE::Navigation::BeamFilter::BeamFilter ( Tasks::Task *  task )

inline

Constructor.

Parameters

[in]

task

pointer to parent task.

DUNE::Navigation::BeamFilter::BeamFilter ( Tasks::Task *  task, size_t  size  )

inline

Constructor.

Parameters

[in]	task	pointer to parent task.
[in]	size	number of device beams.

DUNE::Navigation::BeamFilter::BeamFilter ( Tasks::Task *  task, size_t  size, float  width, float  offset, float  off_ang, std::vector< float > &  pos, std::vector< float > &  ang, Spacing  type  )

inline

Constructor.

Parameters

[in]	task	pointer to parent task.
[in]	size	number of device beams.
[in]	width	beam width.
[in]	offset	beam offset from center of device.
[in]	off_ang	beam angle offset.
[in]	pos	device position.
[in]	ang	device orientation.
[in]	type	type of beam disposition.

Member Function Documentation

void DUNE::Navigation::BeamFilter::dispatch ( void  )

inline

Dispatch Distance messages to bus.

References DUNE::Tasks::DF_KEEP_TIME, and DUNE::Tasks::Task::dispatch().

void DUNE::Navigation::BeamFilter::dispatch ( double  tstamp )

inline

Set timestamp and dispatch Distance messages to bus.

Parameters

[in]

tstamp

timestamp value.

References DUNE::Tasks::DF_KEEP_TIME, and DUNE::Tasks::Task::dispatch().

float DUNE::Navigation::BeamFilter::get ( void  )

inline

Get distance using current beam data.

Returns

distance.

References DUNE::IMC::Distance::DV_VALID.

IMC::Distance& DUNE::Navigation::BeamFilter::getAltitude ( size_t  index )

inline

Get reference to distance message.

Parameters

[in]

index

beam index.

Returns

reference to distance.

void DUNE::Navigation::BeamFilter::setSourceEntities ( std::vector< unsigned > &  entities )

inline

Set source entities ids.

Parameters

[in]

entities

list of entity ids.

void DUNE::Navigation::BeamFilter::setValidity ( size_t  index, IMC::Distance::ValidityEnum  val  )

inline

Set beam distance validity.

Parameters

[in]	index	beam index.
[in]	val	distance validity.

void DUNE::Navigation::BeamFilter::update ( size_t  index, float  value  )

inline

Update beam index with new measurement.

Parameters

[in]	index	beam index.
[in]	value	distance measurement.

Collaboration diagram for DUNE::Navigation::BeamFilter: