Simulators::DepthSensor::Task Struct Reference

Detailed Description

DepthSensor simulator task.

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

Public Attributes
IMC::SimulatedState	m_sstate
IMC::Depth	m_depth
Random::Generator *	m_prng
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References Simulators::DepthSensor::Arguments::prng_seed, Simulators::DepthSensor::Arguments::prng_type, and Simulators::DepthSensor::Arguments::std_dev.

Member Function Documentation

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

inline

Requests activation if not already active and updates m_sstate with the value of #msg.

void Simulators::DepthSensor::Task::onResourceAcquisition ( void  )

inline

Acquire resources. Initializes random number generator.

References Simulators::DepthSensor::Arguments::prng_seed, and Simulators::DepthSensor::Arguments::prng_type.

void Simulators::DepthSensor::Task::onResourceRelease ( void  )

inline

Release resources.

void Simulators::DepthSensor::Task::task ( void  )

inline

Dispatches a DUNE::IMC::Depth message with the depth stored in m_sstate plus some gaussian noise (according to parametrized standard deviation).

If task is not active, returns immediately.

References DUNE::Math::Random::Generator::gaussian(), and Simulators::DepthSensor::Arguments::std_dev.

Member Data Documentation

Arguments Simulators::DepthSensor::Task::m_args

Task arguments.

IMC::Depth Simulators::DepthSensor::Task::m_depth

Current depth.

Random::Generator* Simulators::DepthSensor::Task::m_prng

PRNG handle.

IMC::SimulatedState Simulators::DepthSensor::Task::m_sstate

Last received simulated state.

Collaboration diagram for Simulators::DepthSensor::Task: