SampledSensor Class Reference

#include <SampledSensor.h>

Public Member Functions
	SampledSensor (ISimObjectCreator *creator, std::string kind, std::string name)
	SampledSensor (std::string kind, std::string name, const double mountOffset[3], const double mountDirection[3], double period, unsigned int seed)
void	SetSamplePeriod (double period)
bool	HasPorts () const
	True when built by the creator, so the ports exist and the sensor runs.
unsigned int	Seed () const
	The random seed; zero is deterministic and noise free.
environment::EnvironmentProvider *	SetUpEnvironment (ISimObjectCreator *creator)
environment::EnvironmentProvider *	Environment () const
	The environment found by SetUpEnvironment, or null.
template<typename Measure >
int	ForEachDueSample (const double t, Measure &&measure)
const SensorFrame &	Frame () const
	The mounting geometry.
SensorNoise &	Noise ()
	The random draws.
const SensorNoise &	Noise () const
	The random draws.
double	NextSampleTime () const
	The time of the next sample, s.
const std::string &	Name () const
	The name of the owning SimObject.
std::string	Label () const
	The message prefix, e.g. "SensorCtd 'Ctd'".
void	Warn (const std::string &text) const
	Writes a warning to the host logger, if there is one.
void	Info (const std::string &text) const
	Writes an information line to the host logger, if there is one.

Detailed Description

Owns what every fixed-rate AUV sensor needs around its measurement.

A sampled sensor is a SimObject that takes a measurement at fixed instants of the accepted simulation time, at a point rigidly mounted on a moving body, with portable random imperfections. The CTD, the SilCam and the echosounder each own one SampledSensor member and supply only the measurement.

The member holds:

• the SensorFrame (the Pos and Quater inports and the mounting parameters);
• the SampleClock that decides when a sample is due;
• the SensorNoise, seeded by the NoiseSeed parameter (FISH-0027);
• the host logger, null under headless and mock hosts;
• the shared Environment, found once and only when the sensor has ports.

There are two constructors, as on the sensors. The creator one registers the ports and reads the parameters; it leaves no sample due until SetSamplePeriod, because each sensor reads its rate under its own parameter name. The port-free one exists so the sensors can be unit tested without a host: it has no ports, no logger and no environment.

Note

This is a helper, not a SimObject, so it has no @group block and appears in no model list.

Constructor & Destructor Documentation

SampledSensor() [1/2]

SampledSensor::SampledSensor	(	ISimObjectCreator *	creator,
		std::string	kind,
		std::string	name
	)

Registers the body ports, reads NoiseSeed and finds the host logger.

Parameters

creator	The creator of the owning SimObject.
kind	The sensor's class name, e.g. "SensorCtd", used in messages.
name	The name of the owning SimObject.

SampledSensor() [2/2]

SampledSensor::SampledSensor	(	std::string	kind,
		std::string	name,
		const double	mountOffset[3],
		const double	mountDirection[3],
		double	period,
		unsigned int	seed
	)

Constructs a sensor with no ports, for unit tests.

Parameters

kind	The sensor's class name, used in messages.
name	The name of the owning object.
mountOffset	The sensor position in the body frame, m.
mountDirection	The beam direction in the body frame.
period	The time between samples, s; must be positive.
seed	The random seed; zero is deterministic and noise free.

Member Function Documentation

ForEachDueSample()

template<typename Measure >

int SampledSensor::ForEachDueSample ( const double  t, Measure &&  measure  )

inline

Calls measure once for every sample due at time t.

A loop and not an if, so a long accepted step does not silently drop samples.

Parameters

t	The current simulation time, s.
measure	Takes one sample; called with no arguments.

Returns

The number of samples taken, which may be zero or more than one.

SetSamplePeriod()

void SampledSensor::SetSamplePeriod

(

double

period

)

Restarts the clock at time zero with the given period.

Parameters

period

The time between samples, s; must be positive.

SetUpEnvironment()

environment::EnvironmentProvider * SampledSensor::SetUpEnvironment

(

ISimObjectCreator *

creator

)

Finds the shared environment once.

Parameters

creator

The creator of the owning SimObject.

Returns

The environment, or null on the port-free path or when it is missing, in which case FindEnvironment has reported the error.

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

• webfhsim/reloadrepos/fhsim_fishery/src/auv/SampledSensor.h