Contains the Point Behavior/Command. More...

#include <Point.h>

Inheritance diagram for Point:

Collaboration diagram for Point:

Public Member Functions
	Point (const Str &prefix, const Module *module)
	Is our starting point latitude > than the latitude of the starting longitude on the crossing line? More...

virtual	~Point ()

void	initialize ()
	Initialize function. More...

bool	readParams ()
	Read in the parameters for satisfied or runIfUnsatisfied: return true if OK. More...

bool	calcSatisfied ()
	Perform the satisfied: return true if envelope "satisfied". More...

void	run ()
	Just do the run: ignore the results of the satisfied. More...

bool	isSatisfied ()
	Just do the satisfied: return true if envelope "satisfied". More...

bool	runIfUnsatisfied ()
	Do the run, and return true if envelope "satisfied". More...

void	uninitialize ()
	Uninit function. More...

Public Member Functions inherited from Behavior
virtual	~Behavior ()

bool	executeIfUnsatisfied ()
	Combined run and test with metrics generation. More...

virtual void	preempted ()

virtual bool	isRunnable ()

virtual bool	isSatisfiable ()

virtual bool	isCommand ()

BehaviorState	getBehaviorState () const

void	setBehaviorState (BehaviorState behaviorState)

virtual bool	isCompleted (void)
	Query if this component is completed. More...

SettingReader *	findSettingReader (const Str &settingURI)

SettingReader *	addValueClause (const Str &uriPart, ValueClause *valueClause)

void	addArgWriter (const Str &uriPart, DataWriter *argWriter)

const Timespan &	getTimeout ()

void	setTimeout (const Timespan &timeout)

Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...

void	registerReader (DataReader *reader)

void	unregisterReader (DataReader *reader)

void	registerWriter (DataWriter *writer)

void	unregisterWriter (DataWriter *writer)

void	disableMetering (void)

FlexArray< DataReader * > &	getReaderList (void)

FlexArray< DataWriter * > &	getWriterList (void)

const Module *	getModule ()

virtual void	configure ()
	Read (or re-read!) configuration settings. More...

virtual void	execute (void)

bool	isActive () const
	Indicates if the component is active. More...

const CodedStr &	getName (void) const
	Returns the name. More...

const Timestamp &	getTimeOfLastRun (void) const

ComponentState	getState (void)
	Return the component's current state. More...

void	setState (ComponentState state)

RunState	getRunState (void)
	Return the component's run state. More...

bool	isUsingRunState ()
	Return true if using runState. More...

void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...

void	requestStart ()
	Tell the component to start runnning. More...

void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...

void	requestResume ()
	Tell the component resume from pause. More...

void	requestStop ()
	Tell the component to stop runnning. More...

virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...

virtual RunState	starting ()
	Might follow a STOP...START sequence Subseqent. More...

virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...

virtual RunState	satisfied ()
	Possible return value of a Behavior. More...

virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...

virtual RunState	pausing ()
	Might follow a PAUSE request. More...

virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...

virtual RunState	resume ()
	Resume from PAUSE. More...

virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...

virtual RunState	resetting ()
	Might occur in case of Error. More...

virtual RunState	stop ()
	Initial state – can be later followed by START. More...

virtual RunState	stopping ()
	Might follow a STOP request. More...

virtual RunState	stopped ()
	Should eventually follow a STOP request. More...

void	setCriticalFailureReported (bool boolVal)

void	setRecoveringFromCritical (bool boolVal)

void	setFailureReported (bool boolVal)

bool	isFailureUninitialized ()

void	setFailureUninitialized (bool boolVal)

void	setRetryTimeout (const Timespan &timeout)

void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...

const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...

ComponentType	getComponentType ()
	Getter function for ComponentType. More...

virtual bool	isFailed (void) const

virtual FailureMode::FailType	getFailureType (void) const

virtual bool	getCriticalFailureReported (void) const

virtual bool	getFailureReported (void) const

virtual Timespan	getRetryTimeout (void) const

virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)

virtual int	getFailCount (void) const

virtual bool	isFailureMissionCritical ()

virtual int	getAllowableFailures (void) const

virtual void	setAllowableFailures (int fails)

Logger &	getLogger (void)

virtual int	incrementFailCount (void)

virtual void	resetFailCount (void)

virtual int	getSkippedRunsSinceFail (void) const

virtual int	incrementSkippedRunsSinceFail (void)

virtual void	logVoltage (float voltage, float averageVoltage)

virtual void	logCurrent (float current, float averageCurrent)

const Timestamp &	getWriteTimestamp (void)

void	setWriteTimestamp (const Timestamp &writeTimestamp)

BlobReader *	newBlobReader (const BlobURI &blobURI)

BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)

BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

ConfigReader *	newConfigReader (const ConfigURI &configURI)

DataReader *	newDataReader (const DataURI &dataURI)

DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)

DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)

UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)

UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Static Public Member Functions
static Behavior *	CreateBehavior (const Str &prefix, const Module *module)
	Mission Component factory interface. More...

Protected Attributes
SettingReader *	headingSettingReader_
	Desired absolute bearing to direct the vehicle to. More...

SettingReader *	headingDeltaSettingReader_
	Desired change in heading to direct the vehicle to. More...

SettingReader *	headingRateSettingReader_
	Desired rate of change in heading. More...

SettingReader *	rudderAngleSettingReader_
	Desired rudder angle for the vehicle. More...

SettingReader *	latitudeSettingReader_
	Desired latitude to achieve. More...

SettingReader *	latitudeDeltaSettingReader_
	Desired change in latitude to achieve. More...

SettingReader *	northingsDeltaSettingReader_
	Desired change in latitude to achieve, expressed as a distance. More...

SettingReader *	longitudeSettingReader_
	Desired longitude to achieve. More...

SettingReader *	longitudeDeltaSettingReader_
	Desired change in longitude to achieve. More...

SettingReader *	eastingsDeltaSettingReader_
	Desired change in longitude to achieve, expressed as a distance. More...

UniversalDataReader *	latitudeReader_
	Current latitude of the vehicle. More...

UniversalDataReader *	longitudeReader_
	Current longitude of the vehicle. More...

UniversalDataReader *	orientationReader_
	Current orientation of the vehicle. More...

DataWriter *	horizontalModeWriter_
	Sets the mode for HorizontalControl. More...

DataWriter *	latitudeCmdWriter_
	Sets the specified latitude for HorizontalControl. More...

DataWriter *	longitudeCmdWriter_
	Sets the specified longitude for HorizontalControl. More...

DataWriter *	headingCmdWriter_
	Sets the specified bearing for HorizontalControl. More...

DataWriter *	headingRateCmdWriter_
	Sets the specified yaw rate for HorizontalControl. More...

DataWriter *	rudderAngleCmdWriter_
	Sets the specified rudder angle for HorizontalControl. More...

float	latitudeSetting_
	Desired latitude of the vehicle. More...

float	longitudeSetting_
	Desired longitude of the vehicle. More...

float	headingSetting_
	Desired orientation of the vehicle. More...

float	headingRateSetting_
	Desired yaw rate of the vehicle. More...

float	rudderAngleSetting_
	Desired rudder angle for the vehicle. More...

float	initialLatitude_
	Initial latitude of the vehicle. More...

float	initialLongitude_
	Initial longitude of the vehicle. More...

float	initialOrientation_
	Initial orientation of the vehicle. More...

float	latitude_
	Current Latitude of the vehicle. More...

float	longitude_
	Current Longitude of the vehicle. More...

float	orientation_
	Current Orientation of the vehicle. More...

float	lastOrientationDelta_
	Last orientation delta of the vehicle. More...

float	perpendicularSlope_
	Slope for crossing line (thru wapoint) More...

bool	startOverLine_
	Is our starting point latitude > than the latitude of the starting longitude on the crossing line? More...

bool	initialized_
	Have we learned all our initial settings? More...

Protected Attributes inherited from Behavior
bool	runnable_

bool	satisfiable_

BehaviorState	behaviorState_

Timespan	timeout_
	Time before this behavior must end – defaults no timeout. More...

FastMap< const Str, SettingReader * > *	settingReaderMap_

FastMap< const Str, DataWriter * > *	argWriterMap_

Protected Attributes inherited from Component
Logger	logger_

Syslog::Severity	debugLevel_

ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...

Timespan	desiredPeriod_

CodedStr &	name_
	Store the component's name (used for logging purposes) More...

Timestamp	timeOfRun_

Timestamp	timeOfLastRun_

Timespan	durationOfLastRun_

Timespan	dt_

Timespan	retryTimeout_

bool	enabled_

bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...

bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...

bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...

bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...

int	failCount_
	Number of failures logged by PCaller. More...

bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...

int	allowableFailures_
	Number of failures allowed to occur. More...

int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...

FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...

Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...

Timestamp	writeTimestamp_
	Time of last write. More...

FlexArray< DataReader * >	readers_

FlexArray< DataWriter * >	writers_

const Module *	module_

Timespan	pauseTime_

bool	meteringEnabled_
	If true, metering is enabled. More...

DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...

DataWriter *	voltageWriter_

DataWriter *	avgVoltageWriter_

DataWriter *	currentWriter_

DataWriter *	avgCurrentWriter_

bool	persistentPause_
	True if data is persistent while component is paused. More...

Private Member Functions
	Point (const Point &old)

Additional Inherited Members
Public Types inherited from Behavior
enum	BehaviorState { BEHAVIOR_INACTIVE, BEHAVIOR_CALLED, BEHAVIOR_ACTIVE, BEHAVIOR_TIMEOUT, BEHAVIOR_COMPLETED }

Public Types inherited from Component
enum	ComponentState { BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED, BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...

enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...

enum	RunState { NO_RUN_STATE = 0, START, STARTING, RUNNABLE, SATISFIED, PAUSE, PAUSING, PAUSED, RESUME, RESUMING, RESETTING, STOP, STOPPING, STOPPED }

Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }

Protected Member Functions inherited from Behavior
	Behavior (const Str &name, const Module *module, const bool runnable, const bool satisfiable)
	Protected constructor for abstract base class. More...

	Behavior (const Behavior &old)

SettingReader *	newSettingReader (const Str &uriPart, const DataValue *defaultValue, bool deleteDefaultValue=true)

SettingReader *	newSettingReader (const SettingURI &uriPart)

DataWriter *	findArgWriter (const OutputURI &uriPart)

Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...

virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...

virtual void	setDurationOfLastRun (const Timespan &span)

virtual void	setTimeOfRun (const Timestamp &time)

virtual void	setTimeOfLastRun (const Timestamp &time)

virtual void	setDt (const Timespan &dt)

virtual bool	setEnabled (bool enabled=true)

void	setRunState (const RunState runState)

const Timespan	getPauseTime () const

virtual void	setFailureMissionCritical (bool failureMissionCritical)

bool	simulateHardware ()

Detailed Description

Contains the Point Behavior/Command.

Points the nose of the vehicle in the indicated direction. Can point the vehicle towards a latitude, longitude, or both. Can point towards a depth.

Point.h should only be included by Point.cpp Other classes should include PointIF.h

Constructor & Destructor Documentation

Point::Point	(	const Str &	prefix,
		const Module *	module
	)

Is our starting point latitude > than the latitude of the starting longitude on the crossing line?

References eastingsDeltaSettingReader_, headingCmdWriter_, headingDeltaSettingReader_, headingRateCmdWriter_, headingRateSettingReader_, headingSettingReader_, horizontalModeWriter_, UniversalURI::LATITUDE, latitudeCmdWriter_, latitudeDeltaSettingReader_, latitudeReader_, latitudeSettingReader_, Component::logger_, UniversalURI::LONGITUDE, longitudeCmdWriter_, longitudeDeltaSettingReader_, longitudeReader_, longitudeSettingReader_, Component::newDataWriter(), Behavior::newSettingReader(), Component::newUniversalReader(), northingsDeltaSettingReader_, orientationReader_, UniversalURI::PLATFORM_ORIENTATION, rudderAngleCmdWriter_, rudderAngleSettingReader_, and Logger::syslog().

Referenced by CreateBehavior().

Point::~Point ( )

virtual

Point::Point ( const Point & old )

private

Member Function Documentation

bool Point::calcSatisfied ( )

Perform the satisfied: return true if envelope "satisfied".

References headingSetting_, initialLatitude_, initialLongitude_, lastOrientationDelta_, latitude_, latitudeSetting_, longitude_, longitudeSetting_, AuvMath::ModPi(), orientation_, perpendicularSlope_, Component::satisfied(), AuvMath::Sign(), and startOverLine_.

Referenced by isSatisfied(), and runIfUnsatisfied().

Behavior * Point::CreateBehavior	(	const Str &	prefix,
		const Module *	module
	)

static

Mission Component factory interface.

References Point().

Referenced by GuidanceModule::loadComponents().

void Point::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References Location::EastingsDelta(), eastingsDeltaSettingReader_, headingDeltaSettingReader_, headingRateSetting_, headingRateSettingReader_, headingSetting_, headingSettingReader_, initialized_, initialLatitude_, initialLongitude_, initialOrientation_, lastOrientationDelta_, latitude_, latitudeDeltaSettingReader_, latitudeReader_, latitudeSetting_, latitudeSettingReader_, Component::logger_, longitude_, longitudeDeltaSettingReader_, longitudeReader_, longitudeSetting_, longitudeSettingReader_, Units::METER, AuvMath::ModPi(), Location::NorthingsDelta(), northingsDeltaSettingReader_, orientation_, orientationReader_, perpendicularSlope_, Units::RADIAN, Units::RADIAN_PER_SECOND, SettingReader::read(), DataReader::read(), UniversalDataReader::requestData(), rudderAngleSetting_, rudderAngleSettingReader_, startOverLine_, and Logger::syslog().

Referenced by readParams().

bool Point::isSatisfied ( )

virtual

Just do the satisfied: return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), and readParams().

bool Point::readParams ( )

Read in the parameters for satisfied or runIfUnsatisfied: return true if OK.

References headingSetting_, initialize(), initialized_, latitude_, latitudeReader_, latitudeSetting_, longitude_, longitudeReader_, longitudeSetting_, orientation_, orientationReader_, Units::RADIAN, and DataReader::read().

Referenced by isSatisfied(), and runIfUnsatisfied().

void Point::run ( void )

virtual

Just do the run: ignore the results of the satisfied.

Just do the run.

Reimplemented from Component.

References runIfUnsatisfied().

bool Point::runIfUnsatisfied ( void )

virtual

Do the run, and return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), Units::ENUM, Location::GetBearing(), HorizontalControlIF::HEADING, HorizontalControlIF::HEADING_RATE, headingCmdWriter_, headingRateCmdWriter_, headingRateSetting_, headingSetting_, horizontalModeWriter_, latitude_, latitudeSetting_, longitude_, longitudeSetting_, Units::RADIAN, readParams(), HorizontalControlIF::RUDDER_ANGLE, rudderAngleCmdWriter_, rudderAngleSetting_, Component::satisfied(), and DataWriter::write().

Referenced by run().

void Point::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References orientationReader_, and UniversalDataReader::requestData().

Member Data Documentation

SettingReader* Point::eastingsDeltaSettingReader_

protected

Desired change in longitude to achieve, expressed as a distance.

If specified with Longitude, added to the specified Longitude Otherwise added to the Longitude at initialization time This variable is used as a test for sequential completion

Referenced by initialize(), and Point().

DataWriter* Point::headingCmdWriter_

protected

Sets the specified bearing for HorizontalControl.

Referenced by Point(), and runIfUnsatisfied().

SettingReader* Point::headingDeltaSettingReader_

protected

Desired change in heading to direct the vehicle to.

If specified with Bearing, Yaw is added to the Bearing. This variable is used as a test for sequential completion if none of Latitude, Longitude, Northings, or Eastings are specified

Referenced by initialize(), and Point().

DataWriter* Point::headingRateCmdWriter_

protected

Sets the specified yaw rate for HorizontalControl.

Referenced by Point(), and runIfUnsatisfied().

float Point::headingRateSetting_

protected

Desired yaw rate of the vehicle.

Referenced by initialize(), and runIfUnsatisfied().

SettingReader* Point::headingRateSettingReader_

protected

Desired rate of change in heading.

If specified with Bearing, Yaw, Latitude, or Longitude, only active until the desired heading change is achieved. Otherwise drives the vehicle in an arc. This variable is not used as a test for sequential completion

Referenced by initialize(), and Point().

float Point::headingSetting_

protected

Desired orientation of the vehicle.

Referenced by calcSatisfied(), initialize(), readParams(), and runIfUnsatisfied().

SettingReader* Point::headingSettingReader_

protected

Desired absolute bearing to direct the vehicle to.

If specified with Bearing, Yaw is added to the Bearing. This variable is used as a test for sequential completion if none of Latitude, Longitude, Northings, or Eastings are specified

Referenced by initialize(), and Point().

DataWriter* Point::horizontalModeWriter_

protected

Sets the mode for HorizontalControl.

Referenced by Point(), and runIfUnsatisfied().

bool Point::initialized_

protected

Have we learned all our initial settings?

Referenced by initialize(), and readParams().

float Point::initialLatitude_

protected

Initial latitude of the vehicle.

Referenced by calcSatisfied(), and initialize().

float Point::initialLongitude_

protected

Initial longitude of the vehicle.

Referenced by calcSatisfied(), and initialize().

float Point::initialOrientation_

protected

Initial orientation of the vehicle.

Referenced by initialize().

float Point::lastOrientationDelta_

protected

Last orientation delta of the vehicle.

Referenced by calcSatisfied(), and initialize().

float Point::latitude_

protected

Current Latitude of the vehicle.

Referenced by calcSatisfied(), initialize(), readParams(), and runIfUnsatisfied().

DataWriter* Point::latitudeCmdWriter_

protected

Sets the specified latitude for HorizontalControl.

Referenced by Point().

SettingReader* Point::latitudeDeltaSettingReader_

protected

Desired change in latitude to achieve.

If specified with Latitude, added to the specified Latitude Otherwise added to the Latitude at initialization time This variable is used as a test for sequential completion

Referenced by initialize(), and Point().

UniversalDataReader* Point::latitudeReader_

protected

Current latitude of the vehicle.

Referenced by initialize(), Point(), and readParams().

float Point::latitudeSetting_

protected

Desired latitude of the vehicle.

Referenced by calcSatisfied(), initialize(), readParams(), and runIfUnsatisfied().

SettingReader* Point::latitudeSettingReader_

protected

Desired latitude to achieve.

Nominally drives the vehicle due east or west. Can be specified with Longitude, Bearing, or Yaw to drive the vehicle diagonally. This variable is used as a test for sequential completion

Referenced by initialize(), and Point().

float Point::longitude_

protected

Current Longitude of the vehicle.

Referenced by calcSatisfied(), initialize(), readParams(), and runIfUnsatisfied().

DataWriter* Point::longitudeCmdWriter_

protected

Sets the specified longitude for HorizontalControl.

Referenced by Point().

SettingReader* Point::longitudeDeltaSettingReader_

protected

Desired change in longitude to achieve.

If specified with Longitude, added to the specified Longitude Otherwise added to the Longitude at initialization time This variable is used as a test for sequential completion

Referenced by initialize(), and Point().

UniversalDataReader* Point::longitudeReader_

protected

Current longitude of the vehicle.

Referenced by initialize(), Point(), and readParams().

float Point::longitudeSetting_

protected

Desired longitude of the vehicle.

Referenced by calcSatisfied(), initialize(), readParams(), and runIfUnsatisfied().

SettingReader* Point::longitudeSettingReader_

protected

Desired longitude to achieve.

Nominally drives the vehicle due north or south. Can be specified with Latitude, Bearing, or Yaw to drive the vehicle diagonally. This variable is used as a test for sequential completion

Referenced by initialize(), and Point().

SettingReader* Point::northingsDeltaSettingReader_

protected

Desired change in latitude to achieve, expressed as a distance.

If specified with Latitude, added to the specified Latitude Otherwise added to the Latitude at initialization time This variable is used as a test for sequential completion

Referenced by initialize(), and Point().

float Point::orientation_

protected

Current Orientation of the vehicle.

Referenced by calcSatisfied(), initialize(), and readParams().

UniversalDataReader* Point::orientationReader_

protected

Current orientation of the vehicle.

Referenced by initialize(), Point(), readParams(), and uninitialize().

float Point::perpendicularSlope_

protected

Slope for crossing line (thru wapoint)

Referenced by calcSatisfied(), and initialize().

DataWriter* Point::rudderAngleCmdWriter_

protected

Sets the specified rudder angle for HorizontalControl.

Referenced by Point(), and runIfUnsatisfied().

float Point::rudderAngleSetting_

protected

Desired rudder angle for the vehicle.

Referenced by initialize(), and runIfUnsatisfied().

SettingReader* Point::rudderAngleSettingReader_

protected

Desired rudder angle for the vehicle.

If specified with Bearing, Yaw, Latitude, or Longitude, only active until the desired heading change is achieved. Otherwise drives the vehicle in an arc. Overrides yawRate command. This variable is not used as a test for sequential completion

Referenced by initialize(), and Point().

bool Point::startOverLine_

protected

Is our starting point latitude > than the latitude of the starting longitude on the crossing line?

Referenced by calcSatisfied(), and initialize().

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

/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/Point.h
/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/Point.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation