DUNE::Maneuvers::RowsStages Class Reference

Detailed Description

Class to parse a rows maneuver and to create and fire each stage.

Public Member Functions
	RowsStages (const fp64_t lat, const fp64_t lon, const fp64_t bearing, const fp64_t cross_angle, const fp32_t width, const fp32_t length, const fp32_t hstep, const uint8_t coff, const uint8_t alternation, const uint8_t flags, Tasks::Task *task)
	RowsStages (const IMC::Rows *maneuver, Tasks::Task *task)
bool	getNextPoint (double *lat, double *lon, double new_hstep=0)
bool	getFirstPoint (double *lat, double *lon)
float	getDistance (double *lat, double *lon)
std::vector< float > ::const_iterator	getDistancesBegin (void)
std::vector< float > ::const_iterator	getDistancesEnd (void)
unsigned	getIndex (void)

Constructor & Destructor Documentation

DUNE::Maneuvers::RowsStages::RowsStages	(	const fp64_t	lat,
		const fp64_t	lon,
		const fp64_t	bearing,
		const fp64_t	cross_angle,
		const fp32_t	width,
		const fp32_t	length,
		const fp32_t	hstep,
		const uint8_t	coff,
		const uint8_t	alternation,
		const uint8_t	flags,
		Tasks::Task *	task
	)

Default constructor.

Parameters

[in]	lat	Latitude as in IMC::Rows
[in]	lon	Longitude as in IMC::Rows
[in]	bearing	Bearing in radians as in IMC::Rows
[in]	cross_angle	Cross angle in radians as in IMC::Rows
[in]	width	Width as in IMC::Rows
[in]	length	Length as in IMC::Rows
[in]	hstep	Horizontal step as in IMC::Rows
[in]	coff	Curve offset as in IMC::Rows
[in]	alternation	Alternation as in IMC::Rows
[in]	flags	Flags as in IMC::Rows
[in]	task	pointer to task object (debug and inf)

DUNE::Maneuvers::RowsStages::RowsStages	(	const IMC::Rows *	maneuver,
		Tasks::Task *	task
	)

Parameters

[in]	maneuver	pointer to rows maneuver
[in]	task	pointer to task object (debug and inf)

References DUNE::IMC::Rows::alternation, DUNE::IMC::Rows::bearing, DUNE::IMC::Rows::coff, DUNE::IMC::Rows::cross_angle, DUNE::IMC::Rows::flags, DUNE::IMC::Rows::hstep, DUNE::IMC::Rows::lat, DUNE::IMC::Rows::length, DUNE::IMC::Rows::lon, and DUNE::IMC::Rows::width.

Member Function Documentation

float DUNE::Maneuvers::RowsStages::getDistance	(	double *	lat,
		double *	lon
	)

Get total distance and last point coordinates.

Parameters

[out]	lat	latitude of last point found
[out]	lon	longitude of last point found

Returns

total distance covered

std::vector<float>::const_iterator DUNE::Maneuvers::RowsStages::getDistancesBegin ( void  )

inline

Get an iterator to all_distances begin()

Returns

const iterator to m_all_distance.begin()

std::vector<float>::const_iterator DUNE::Maneuvers::RowsStages::getDistancesEnd ( void  )

inline

Get an iterator to all_distances begin()

Returns

const iterator to m_all_distance.begin()

bool DUNE::Maneuvers::RowsStages::getFirstPoint	(	double *	lat,
		double *	lon
	)

Get first point.

Parameters

[out]	lat	latitude of current point
[out]	lon	longitude of current point

Returns

true if reached the end of the maneuver

unsigned DUNE::Maneuvers::RowsStages::getIndex ( void  )

inline

Get current point index.

Returns

index

bool DUNE::Maneuvers::RowsStages::getNextPoint	(	double *	lat,
		double *	lon,
		double	new_hstep = 0
	)

Get next point.

Parameters

[out]	lat	latitude of current point
[out]	lon	longitude of current point
[in]	new_hstep	signals a new hstep to be used for this call

Returns

true if reached the end of the maneuver

Collaboration diagram for DUNE::Maneuvers::RowsStages: