Inheritance diagram for SensorCtd:

Collaboration diagram for SensorCtd:

Classes
struct	Channel
	The instrument imperfections of one measured channel. More...

struct	Reading
	One held instrument reading. More...

struct	Settings
	Everything that makes one instrument out of the shared sensor machinery. More...

Public Member Functions
	SensorCtd (std::string simObjectName, ISimObjectCreator *creator)

	SensorCtd (std::string simObjectName, const Settings &settings)

void	OdeFcn (const double dT, const double const adX, double const adXDot) const override
	Writes the three lag derivatives and nothing else.

void	AcceptedStep (const double dT, const double *const adX) override

void	InitialConditionSetup (const double dT, const double const adCurrentIC, double const adUpdatedIC, ISimObjectCreator *const creator) override

void	FinalSetup (const double dT, const double const adX, ISimObjectCreator const creator) override

bool	SampleIfDue (double t, double temperature, double salinity, double depth, const double position[3])

void	Update (double temperature, double salinity, double depth, const double position[3])

const Reading &	HeldReading () const
	The reading currently held on the output ports.

const Settings &	GetSettings () const
	The settings the instrument was built with.

double	NextSampleTime () const
	The time at which the next sample is due, s.

Static Public Member Functions
static double	LagDerivative (double fieldValue, double lagState, double timeConstant)

static double	MeasuredValueOf (double lagState, double fieldValue, double timeConstant)

static double	Quantize (double value, double resolution)

static double	PressureOf (double depth)

static double	Perturb (double trueValue, const Channel &channel, SensorNoise &noise)

Protected Member Functions
const double *	OutTemperature (const double dT, const double *const adX)
	The measured water temperature, degC.

const double *	OutSalinity (const double dT, const double *const adX)
	The measured salinity, PSU.

const double *	OutDepth (const double dT, const double *const adX)
	The measured depth of the sensor head, m.

const double *	OutPressure (const double dT, const double *const adX)
	The measured pressure, dbar.

const double *	OutMeasurement (const double dT, const double *const adX)
	The three measurements as [Salinity, Temperature, Depth].

const double *	OutPosition (const double dT, const double *const adX)
	The NED position the held sample was taken at, m.

Constructor & Destructor Documentation

◆ SensorCtd() [1/2]

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

Constructs the sensor from the simulation input file.

Parameters

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

◆ SensorCtd() [2/2]

SensorCtd::SensorCtd	(	std::string	simObjectName,
		const Settings &	settings
	)

Constructs the sensor with its settings given directly.

No ports and no states are registered, so OdeFcn, AcceptedStep and InitialConditionSetup all do nothing and the instrument must be driven through SampleIfDue or Update instead. This constructor exists so that the sampling and the imperfection model can be unit tested without a host simulation, which matters because ISimObjectCreator has some thirty pure virtuals and FhSim exports no mock.

Parameters

simObjectName	The name of this object.
settings	The instrument settings.

Member Function Documentation

◆ AcceptedStep()

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

override

Takes any samples that have fallen due since the previous accepted step.

Parameters

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

◆ FinalSetup()

void SensorCtd::FinalSetup	(	const double	dT,
		const double *const	adX,
		ISimObjectCreator *const	creator
	)

override

Resolves the environment and the two scalar field handles.

Parameters

dT	The initial simulation time, s.
adX	The state vector.
creator	The creator of this object.

◆ InitialConditionSetup()

void SensorCtd::InitialConditionSetup	(	const double	dT,
		const double *const	adCurrentIC,
		double *const	adUpdatedIC,
		ISimObjectCreator *const	creator
	)

override

Seeds the three lag states with the field values at the start position.

Parameters

dT	The initial simulation time, s.
adCurrentIC	The initial conditions known so far.
adUpdatedIC	The initial conditions this object can supply.
creator	The creator of this object.

◆ LagDerivative()

static double SensorCtd::LagDerivative	(	double	fieldValue,
		double	lagState,
		double	timeConstant
	)

static

The derivative of one first-order instrument lag.

Parameters

fieldValue	The value of the field at the sensor head.
lagState	The current lagged value.
timeConstant	The lag time constant, s. Zero or less means no lag.

Returns: The state derivative, which is zero when there is no lag.

◆ MeasuredValueOf()

static double SensorCtd::MeasuredValueOf	(	double	lagState,
		double	fieldValue,
		double	timeConstant
	)

static

Picks the value a channel measures, which bypasses the state when there is no lag.

Parameters

lagState	The current lagged value.
fieldValue	The value of the field at the sensor head.
timeConstant	The lag time constant, s.

Returns: The lagged value, or the field value when the time constant is zero.

◆ Perturb()

static double SensorCtd::Perturb	(	double	trueValue,
		const Channel &	channel,
		SensorNoise &	noise
	)

static

Applies one channel's bias, noise and quantisation.

Parameters

trueValue	The lagged, true value.
channel	The channel's imperfections.
noise	The random generator; a deterministic one leaves the value alone.

Returns: The value the instrument reports.

◆ PressureOf()

static double SensorCtd::PressureOf ( double depth )

static

Converts a depth to the nominal pressure this class reports.

Parameters

depth The depth below the mean water level, m.

Returns: The pressure, dbar.

◆ Quantize()

static double SensorCtd::Quantize	(	double	value,
		double	resolution
	)

static

Rounds a value to a multiple of a quantisation step.

Parameters

value	The value to quantise.
resolution	The quantisation step. Zero or less leaves the value alone.

Returns: The quantised value.

◆ SampleIfDue()

bool SensorCtd::SampleIfDue	(	double	t,
		double	temperature,
		double	salinity,
		double	depth,
		const double	position[3]
	)

Takes every sample that is due at a time, and holds the last one.

Parameters

t	The current simulation time, s.
temperature	The lagged temperature at the sensor head, degC.
salinity	The lagged salinity at the sensor head, PSU.
depth	The lagged depth of the sensor head, m.
position	The NED position of the sensor head, m.

Returns: True when at least one sample was taken, so the held reading changed.

◆ Update()

void SensorCtd::Update	(	double	temperature,
		double	salinity,
		double	depth,
		const double	position[3]
	)

Takes one sample unconditionally, applying the bias, the noise and the quantisation.

Parameters

temperature	The lagged temperature at the sensor head, degC.
salinity	The lagged salinity at the sensor head, PSU.
depth	The lagged depth of the sensor head, m.
position	The NED position of the sensor head, m.

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

/update_root/webfhsim/reloadrepos/fhsim_fishery/src/auv/SensorCtd.h

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ SensorCtd() [1/2]

◆ SensorCtd() [2/2]

Member Function Documentation

◆ AcceptedStep()

◆ FinalSetup()

◆ InitialConditionSetup()

◆ LagDerivative()

◆ MeasuredValueOf()

◆ Perturb()

◆ PressureOf()

◆ Quantize()

◆ SampleIfDue()

◆ Update()