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. More...

#include <VelocityEstimator.hpp>

Inheritance diagram for uwv_dynamic_model::VelocityEstimator:

Public Member Functions
	VelocityEstimator (std::string const &name="uwv_dynamic_model::VelocityEstimator", ModelSimulator simulator=DYNAMIC)

	VelocityEstimator (std::string const &name, RTT::ExecutionEngine *engine, ModelSimulator simulator=DYNAMIC)

	~VelocityEstimator ()

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	getTransformation (const transformer::Transformation &transformer, Eigen::Affine3d &transformationMatrix)

void	handleStates (const base::samples::RigidBodyState &state, const base::LinearAngular6DCommand &control_input)

void	setRuntimeState ()

base::samples::RigidBodyState	updatePoseWithXYVelocity (const base::samples::RigidBodyState &pose, const base::samples::RigidBodyState &dvl_sample)

double	verticalVelocityEstimation (const base::samples::RigidBodyState &depth_sample)

base::samples::RigidBodyState	replayModel (const base::samples::RigidBodyState &dvl_sample)

Protected Attributes
ModelSimulation *	model_simulation2

std::vector< double >	filter_coeff

std::deque< base::samples::RigidBodyState >	queueOfDepthData

std::queue< std::pair< base::LinearAngular6DCommand, base::samples::RigidBodyState > >	queueOfStates

Friends
class	VelocityEstimatorBase

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.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','uwv_dynamic_model::VelocityEstimator')
end

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

Constructor & Destructor Documentation

VelocityEstimator::VelocityEstimator	(	std::string const &	name = `"uwv_dynamic_model::VelocityEstimator"`,
		ModelSimulator	simulator = `DYNAMIC`
	)

TaskContext constructor for VelocityEstimator

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

VelocityEstimator::VelocityEstimator	(	std::string const &	name,
		RTT::ExecutionEngine *	engine,
		ModelSimulator	simulator = `DYNAMIC`
	)

TaskContext constructor for VelocityEstimator

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.

VelocityEstimator::~VelocityEstimator ( )

Default deconstructor of VelocityEstimator

Member Function Documentation

void VelocityEstimator::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 VelocityEstimator::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 VelocityEstimator::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 VelocityEstimator::getTransformation	(	const transformer::Transformation &	transformer,
		Eigen::Affine3d &	transformationMatrix
	)

protected

void VelocityEstimator::handleStates	(	const base::samples::RigidBodyState &	state,
		const base::LinearAngular6DCommand &	control_input
	)

protected

Enqueue pose&effort states

Parameters

pose	state
effort	control_input

base::samples::RigidBodyState VelocityEstimator::replayModel ( const base::samples::RigidBodyState & dvl_sample )

protected

Replay model simulation.

Replay simulation from dvl_sample.time until last control_input data. The aim is to update the X-Y linear velocity.

Parameters

dvl_sample. Use X-Y velocities

Returns: updated state

void VelocityEstimator::setRuntimeState ( void )

protected

Set RunTime component state idepently

bool VelocityEstimator::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 VelocityEstimator::stopHook ( )

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

void VelocityEstimator::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.

base::samples::RigidBodyState VelocityEstimator::updatePoseWithXYVelocity	(	const base::samples::RigidBodyState &	pose,
		const base::samples::RigidBodyState &	dvl_sample
	)

protected

Update X-Y dvl velocity in pose.

Parameters

pose	to be updated
dvl_sample	new velocity data

Returns: updated pose

double VelocityEstimator::verticalVelocityEstimation ( const base::samples::RigidBodyState & depth_sample )

protected

Estimate Z velocity, based on depth derivative.

Parameters

depth_sample

Returns: estiamted z velocity

Friends And Related Function Documentation

friend class VelocityEstimatorBase

friend

Member Data Documentation

std::vector<double> uwv_dynamic_model::VelocityEstimator::filter_coeff

protected

ModelSimulation* uwv_dynamic_model::VelocityEstimator::model_simulation2

protected

std::deque<base::samples::RigidBodyState> uwv_dynamic_model::VelocityEstimator::queueOfDepthData

protected

std::queue<std::pair<base::LinearAngular6DCommand, base::samples::RigidBodyState> > uwv_dynamic_model::VelocityEstimator::queueOfStates

protected

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

/build/rock-master-18.09-control-orogen-uwv-dynamic-model-0.20171123/tasks/VelocityEstimator.hpp
/build/rock-master-18.09-control-orogen-uwv-dynamic-model-0.20171123/tasks/VelocityEstimator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation