DUNE: Uniform Navigational Environment  2019.02.1
DUNE::Navigation::Ranging Class Reference

Detailed Description

Ranging is responsible to contain functions necessary to process ranging data (assuming a transceiver plus one (at least) transponder setup.

Author
José Braga.

Public Member Functions

 Ranging (void)
 
 ~Ranging (void)
 
void updateOrigin (const IMC::GpsFix *msg)
 
void setup (const IMC::LblConfig *msg)
 
unsigned getSize (void)
 
bool exists (unsigned id)
 
void getLocation (unsigned id, double *i, double *j, double *k)
 
double getLat (unsigned id)
 
double getLon (unsigned id)
 
double getDepth (unsigned id)
 

Constructor & Destructor Documentation

DUNE::Navigation::Ranging::Ranging ( void  )
inline

Constructor.

DUNE::Navigation::Ranging::~Ranging ( void  )
inline

Destructor.

References DUNE::Memory::clear().

Member Function Documentation

bool DUNE::Navigation::Ranging::exists ( unsigned  id)
inline

See if specific transponder exists.

Parameters
[in]idtransponder id.
Returns
true if it exists, false otherwise.

Referenced by DUNE::Navigation::BasicNavigation::consume(), and Navigation::General::LBL::Task::consume().

double DUNE::Navigation::Ranging::getDepth ( unsigned  id)
inline

Get depth of transponder.

Parameters
[in]idtransponder id.
Returns
transponder depth.

References DUNE::Memory::clear(), DUNE::IMC::LblBeacon::depth, DUNE::IMC::LblBeacon::lat, DUNE::IMC::LblBeacon::lon, and DUNE::Memory::replace().

Referenced by Navigation::General::LBL::Task::consume().

double DUNE::Navigation::Ranging::getLat ( unsigned  id)
inline

Get latitude of transponder.

Parameters
[in]idtransponder id.
Returns
transponder latitude.
void DUNE::Navigation::Ranging::getLocation ( unsigned  id,
double *  i,
double *  j,
double *  k 
)
inline

Get 3D location of transponder.

Parameters
[in]idtransponder id.
[out]iNorth displacement.
[out]jEast displacement.
[out]ktransponder depth.

Referenced by DUNE::Navigation::BasicNavigation::consume(), and Navigation::General::LBL::Task::setState().

double DUNE::Navigation::Ranging::getLon ( unsigned  id)
inline

Get longitude of transponder.

Parameters
[in]idtransponder id.
Returns
transponder longitude.
void DUNE::Navigation::Ranging::setup ( const IMC::LblConfig msg)
inline

Set new LBL configuration.

Parameters
[in]msgnew LBL configuration.

References DUNE::IMC::LblConfig::beacons.

Referenced by DUNE::Navigation::BasicNavigation::consume(), and Navigation::General::LBL::Task::consume().

void DUNE::Navigation::Ranging::updateOrigin ( const IMC::GpsFix msg)
inline

Update setup navigation reference.

Parameters
[in]msgnew navigation reference.

References DUNE::Memory::replace().

Referenced by DUNE::Navigation::BasicNavigation::consume(), DUNE::Navigation::BasicNavigation::setup(), and Navigation::General::LBL::Task::startFilter().

Collaboration diagram for DUNE::Navigation::Ranging:
Collaboration graph