auv_control::AlignedToBody Class Reference

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Controller that takes either velocities or efforts expressed in the aligned frame as input and outputs the same commands, but expressed in the body frame. More...

#include <AlignedToBody.hpp>

Inheritance diagram for auv_control::AlignedToBody:

Public Member Functions
	AlignedToBody (std::string const &name="auv_control::AlignedToBody")
	AlignedToBody (std::string const &name, RTT::ExecutionEngine *engine)
	~AlignedToBody ()
bool	configureHook ()
	The following lines are template definitions for the various state machine. More...
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
bool	calcOutput (const LinearAngular6DCommandStatus &merged_command)

Protected Attributes
base::samples::RigidBodyState	orientation_sample
base::Timeout	new_orientation_samples_timeout
bool	on_init

Friends
class	AlignedToBodyBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Controller that takes either velocities or efforts expressed in the aligned frame as input and outputs the same commands, but expressed in the body frame.

The name of a TaskContext is primarily defined via:

     deployment 'deployment_name'
         task('custom_task_name','auv_control::AlignedToBody')
     end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

AlignedToBody::AlignedToBody

(

std::string const &

name = "auv_control::AlignedToBody"

)

TaskContext constructor for AlignedToBody

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.

AlignedToBody::AlignedToBody	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for AlignedToBody

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

AlignedToBody::~AlignedToBody

(

)

Default deconstructor of AlignedToBody

Member Function Documentation

bool AlignedToBody::calcOutput ( const LinearAngular6DCommandStatus &  merged_command )

protected

void AlignedToBody::cleanupHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

bool AlignedToBody::configureHook

(

)

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

void AlignedToBody::errorHook

(

)

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

bool AlignedToBody::startHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

void AlignedToBody::stopHook

(

)

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

void AlignedToBody::updateHook

(

)

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Function Documentation

friend class AlignedToBodyBase

friend

Member Data Documentation

base::Timeout auv_control::AlignedToBody::new_orientation_samples_timeout

protected

bool auv_control::AlignedToBody::on_init

protected

base::samples::RigidBodyState auv_control::AlignedToBody::orientation_sample

protected

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

• /build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/AlignedToBody.hpp
• /build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/AlignedToBody.cpp