AuvUndulateMissionControl Class Reference

Inheritance diagram for AuvUndulateMissionControl:

Collaboration diagram for AuvUndulateMissionControl:

Classes
struct	Command
struct	Settings
	The track and the budget the mission law is evaluated against. More...

Public Types
enum	EPhase_t { Phase_Transit = 0 , Phase_Return , Phase_Finished }
	Where the mission has got to. More...

Public Member Functions
	AuvUndulateMissionControl (std::string simObjectName, ISimObjectCreator *creator)
	AuvUndulateMissionControl (std::string simObjectName, const Settings &settings, double updatePeriod=1.0)
void	OdeFcn (const double dT, const double *const adX, double *const adXDot) const override
	This SimObject has no states, so it has no derivatives.
void	AcceptedStep (const double dT, const double *const adX) override
void	Update (double posX, double posY, double battery, double headingMeasured)
const Command &	HeldCommand () const
	The held command.
double	MetresPerJoule () const
	The measured distance made good per joule spent, or zero before anything is known.

Static Public Member Functions
static double	WrapToPi (double angle)
static std::string	WaypointListError (int numX, int numY)
static bool	CanReachRecovery (const Settings &settings, double posX, double posY, double battery, double metresPerJoule)
static Command	CommandOf (const Settings &settings, const Command &previous, double posX, double posY, double battery, double headingMeasured, double metresPerJoule)

Protected Member Functions
const double *	OutSpeed (const double dT, const double *const adX)
	The commanded forward speed, m/s.
const double *	OutHeading (const double dT, const double *const adX)
	The commanded heading, rad, unwrapped against the measurement.
const double *	OutEndMission (const double dT, const double *const adX)
	One once the vehicle is home, zero before that.
const double *	OutWaypointIndex (const double dT, const double *const adX)
	The index of the waypoint being flown towards.
const double *	OutDistanceToWaypoint (const double dT, const double *const adX)
	The horizontal distance to the point being flown towards, m.
const double *	OutPhase (const double dT, const double *const adX)
	Zero while transiting, one while returning, two once finished.

Member Enumeration Documentation

EPhase_t

enum AuvUndulateMissionControl::EPhase_t

Enumerator
Phase_Transit	Flying the waypoint list.
Phase_Return	Flying to the recovery position.
Phase_Finished	Home. Speed zero and EndMission latched.

Constructor & Destructor Documentation

AuvUndulateMissionControl() [1/2]

AuvUndulateMissionControl::AuvUndulateMissionControl	(	std::string	simObjectName,
		ISimObjectCreator *	creator
	)

Constructs the controller from the simulation input file.

Parameters

simObjectName	The name of this object in the simulation.
creator	The creator of this object.

AuvUndulateMissionControl() [2/2]

AuvUndulateMissionControl::AuvUndulateMissionControl	(	std::string	simObjectName,
		const Settings &	settings,
		double	updatePeriod = 1.0
	)

Constructs the controller with its parameters given directly.

No ports are registered, so AcceptedStep does nothing and Update must be called with the measurements instead. This constructor exists so that the mission law can be unit tested without a host simulation.

Parameters

simObjectName	The name of this object.
settings	The track and the budget.
updatePeriod	The time between evaluations, s.

Member Function Documentation

AcceptedStep()

void AuvUndulateMissionControl::AcceptedStep ( const double  dT, const double *const  adX  )

override

Evaluates the law when the update period has elapsed.

Parameters

dT	The current simulation time, s.
adX	The state vector.

CanReachRecovery()

static bool AuvUndulateMissionControl::CanReachRecovery ( const Settings &  settings, double  posX, double  posY, double  battery, double  metresPerJoule  )

static

Reports whether the vehicle can still reach the recovery position with its reserve.

Parameters

settings	The track and the budget.
posX	The vehicle north coordinate, m.
posY	The vehicle east coordinate, m.
battery	The energy left in the battery, J.
metresPerJoule	The measured distance made good per joule spent, or zero when nothing has been measured yet.

Returns

True while the mission may continue.

CommandOf()

static Command AuvUndulateMissionControl::CommandOf ( const Settings &  settings, const Command &  previous, double  posX, double  posY, double  battery, double  headingMeasured, double  metresPerJoule  )

static

Evaluates the mission law.

A pure function of the measurements and the previous command, so the whole waypoint, unwrap and battery behaviour can be tested without a simulation.

Parameters

settings	The track and the budget.
previous	The command held since the previous evaluation.
posX	The vehicle north coordinate, m.
posY	The vehicle east coordinate, m.
battery	The energy left in the battery, J.
headingMeasured	The measured vehicle heading, rad.
metresPerJoule	The measured distance made good per joule spent, or zero when nothing has been measured yet.

Returns

The command to hold until the next evaluation.

Update()

void AuvUndulateMissionControl::Update	(	double	posX,
		double	posY,
		double	battery,
		double	headingMeasured
	)

Applies the law to one set of measurements and holds the result.

Parameters

posX	The vehicle north coordinate, m.
posY	The vehicle east coordinate, m.
battery	The energy left in the battery, J.
headingMeasured	The measured vehicle heading, rad.

WaypointListError()

static std::string AuvUndulateMissionControl::WaypointListError ( int  numX, int  numY  )

static

Returns the error message for a waypoint list of the given sizes.

Factored out of the constructor because ISimObjectCreator has no mock in FhSim, so a constructor-only check could not be tested at all.

Parameters

numX	The number of entries in WaypointsX.
numY	The number of entries in WaypointsY.

Returns

The message to report, or an empty string when the list is usable.

WrapToPi()

static double AuvUndulateMissionControl::WrapToPi ( double  angle )

static

Wraps an angle into the half-open interval \((-\pi, \pi]\).

Parameters

angle

The angle, rad.

Returns

The congruent angle in \((-\pi, \pi]\).

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The documentation for this class was generated from the following file:

• /update_root/webfhsim/reloadrepos/fhsim_fishery/src/auv/AuvUndulateMissionControl.h