mars::AuvMotion 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. More...

#include <AuvMotion.hpp>

Inheritance diagram for mars::AuvMotion:

Public Member Functions
	AuvMotion (std::string const &name="mars::AuvMotion")
	AuvMotion (std::string const &name, RTT::ExecutionEngine *engine)
	~AuvMotion ()
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
void	update (double time)
base::Vector6d	gravity_buoyancy (const Eigen::Quaternion< double > q)

Friends
class	AuvMotionBase

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','mars::AuvMotion')
end

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

Constructor & Destructor Documentation

AuvMotion() [1/2]

AuvMotion::AuvMotion

(

std::string const &

name = "mars::AuvMotion"

)

TaskContext constructor for AuvMotion

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.

AuvMotion() [2/2]

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

TaskContext constructor for AuvMotion

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.

~AuvMotion()

AuvMotion::~AuvMotion

(

)

Default deconstructor of AuvMotion

Member Function Documentation

cleanupHook()

void AuvMotion::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.

configureHook()

bool AuvMotion::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

errorHook()

void AuvMotion::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.

gravity_buoyancy()

base::Vector6d AuvMotion::gravity_buoyancy ( const Eigen::Quaternion< double >  q )

protected

Calculates the gravity forces to the vehicle, according to the actual orientation

Parameters

q	Quaternion, representing the actual vehicle orientation

startHook()

bool AuvMotion::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.

stopHook()

void AuvMotion::stopHook

(

)

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

update()

void AuvMotion::update ( double  time )

protected

updateHook()

void AuvMotion::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

AuvMotionBase

friend class AuvMotionBase

friend

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

• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/AuvMotion.hpp
• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/AuvMotion.cpp