#include <TerrainNavClient.h>

Inheritance diagram for TerrainNavClient:

Public Member Functions
	TerrainNavClient (char server_ip, int server_port, char mapName, char *vehicleSpecs, const int &filterType, const int &mapType)

virtual	~TerrainNavClient ()

virtual void	estimatePose (poseT *estimate, const int &type)

virtual void	measUpdate (measT *incomingMeas, const int &type)

virtual void	mbUpdate (mbT *incomingMB)

virtual void	motionUpdate (poseT *incomingNav)

virtual bool	outstandingMeas ()

virtual bool	lastMeasSuccessful ()

virtual void	setInterpMeasAttitude (bool set)

virtual void	setMapInterpMethod (const int &type)

virtual void	setVehicleDriftRate (const double &driftRate)

virtual bool	isConverged ()

virtual void	useLowGradeFilter ()

virtual void	useHighGradeFilter ()

virtual void	setFilterReinit (const bool allow)

virtual void	setModifiedWeighting (const bool use)

virtual int	getFilterState ()

virtual int	getNumReinits ()

virtual void	reinitFilter (const bool lowInfoTransition)

Public Member Functions inherited from TerrainNav
	TerrainNav ()

	TerrainNav (char *mapName)

	TerrainNav (char mapName, char vehicleSpecs)

	TerrainNav (char mapName, char vehicleSpecs, const int &filterType)

	TerrainNav (char mapName, char vehicleSpecs, const int &filterType, char *directory)

	TerrainNav (char mapName, char vehicleSpecs, const int &filterType, const int &mapType)

	TerrainNav (char mapName, char vehicleSpecs, const int &filterType, const int &mapType, char *directory)

virtual	~TerrainNav ()

virtual int	getFilterType ()

void	reinitFilter (bool lowInfoTransition)

virtual bool	initialized ()

Protected Member Functions
void	init_comms ()

void	init_server ()

bool	is_connected ()

int	send_msg (commsT &msg)

char	get_msg ()

bool	requestAndConfirm (commsT &msg, char expected_ret_type)

Protected Member Functions inherited from TerrainNav
void	createFilter (const int filterType, const double *windowVar)

void	initVariables ()

void	attemptInitFilter (poseT &initEstimate)

void	initMotion (poseT &initEstimate)

bool	interpolatePoses (const poseT &pose1, const poseT &pose2, poseT &newPose, const double newTime)

void	computeMeasVariance (measT &currMeas)

void	checkVelocityValidity (poseT &currPose)

void	checkRangeValidity (measT &currMeas)

bool	checkFilterHealth ()

Protected Attributes
char *	_map_name

char *	_vehicle_specs

bool	_connected

char *	_server_ip

int	_sockfd

int	_sockport

struct sockaddr_in	_server_addr

struct commsT	_server_msg

char	_comms_buf [TRN_MSG_SIZE]

Protected Attributes inherited from TerrainNav
measT	waitingMeas [MEAS_BUFFER_SIZE]
	static array containing all unincorporated sonar measurements More...

int	numWaitingMeas
	integer indicating the current number of unincorporated sonar measurements More...

bool	lastMeasSuccess

double	lastValidVel [3]

bool	lastVelBotLock

bool	lastMeasValid
	status of last measurement - only used for testing initialization More...

double	lastValidRange [4]

double	lastValidRangeTime [4]

bool	noValidRange [4]

double	lastMeasSuccessTime
	last time associated with successful measurement update More...

double	lastInitAttemptTime
	time of last filter init attempt More...

double	lastBottomLockTime
	time of last bottom lock velocity More...

poseT	estNavOffset
	last valid estimated navigation offset More...

bool	allowFilterReinits
	boolean indicating if filter reinitializations are allowed. More...

bool	useModifiedWeighting
	boolean indicating if modified weighting should be used. More...

int	numReinits
	counter for number of filter reinitializations More...

char *	saveDirectory

char *	vehicleSpecFile

char *	mapFile

int	filterType
	type of filter More...

int	mapType
	type of map More...

TerrainMap *	terrainMap
	terrainMap object containing information about current map being used More...

bool	_initialized
	current state of filter More...

Additional Inherited Members
Public Attributes inherited from TerrainNav
TNavFilter *	tNavFilter

Detailed Description

Class: TerrainNavClient

Constructor & Destructor Documentation

TerrainNavClient::TerrainNavClient	(	char *	server_ip,
		int	server_port,
		char *	mapName,
		char *	vehicleSpecs,
		const int &	filterType,
		const int &	mapType
	)

Initializes a new TerrainNav with terrain map "mapName.txt". The mapping AUV specs and the Point Mass Filter algorithm are used as defaults.

TerrainNavClient::~TerrainNavClient ( )

virtual

Frees all storage associated with the TerrainNav object.

Member Function Documentation

void TerrainNavClient::estimatePose	(	poseT *	estimate,
		const int &	type
	)

virtual

This is the primary function in the TerrainNav class. The function takes in a pointer to a poseT which it fills with the terrain correlation pose estimate based on previous measurements. The time stamp of the pose estimate indicates the last update time of the navigation filter. Type indicates the estimator type: 1: Maximum Likelihood Estimate 2: Minimum Mean Square Error Estimate.

Reimplemented from TerrainNav.

char TerrainNavClient::get_msg ( )

protected

int TerrainNavClient::getFilterState ( )

virtual

Returns the integer filterState describing the current filter state.

Reimplemented from TerrainNav.

int TerrainNavClient::getNumReinits ( )

virtual

Returns the integer numReinits describing the number of reinitializations.

Reimplemented from TerrainNav.

void TerrainNavClient::init_comms ( )

protected

void TerrainNavClient::init_server ( )

protected

bool TerrainNavClient::is_connected ( )

protected

bool TerrainNavClient::isConverged ( )

virtual

Returns a boolean indicating if the terrain navigation filter has converged to an estimate.

Reimplemented from TerrainNav.

bool TerrainNavClient::lastMeasSuccessful ( )

virtual

Returns a boolean indicating if the last sonar measurement was successfully incorporated into the filter or not.

Reimplemented from TerrainNav.

void TerrainNavClient::mbUpdate ( mbT * incomingMB )

virtual

Passes the current multibeam range information along to the TNavFilter object. The function takes in a pointer to a mbT containing the current multibeam measurement ranges.

Reimplemented from TerrainNav.

void TerrainNavClient::measUpdate	(	measT *	incomingMeas,
		const int &	type
	)

virtual

Passes the current sonar measurement information along to the TNavFilter object. The function takes in a pointer to a measT containing the current sonar measurement information. It also takes in an integer type variable which relates the sonar measurement type as follows: 1: DVL 2: Multibeam 3: Single Beam 4: Homer Relative Measurement

Reimplemented from TerrainNav.

void TerrainNavClient::motionUpdate ( poseT * incomingNav )

virtual

Passes the current inertial measurement information along to the TNavFilter object. The function takes in a pointer to a poseT containing the current inertial measurement information.

Reimplemented from TerrainNav.

bool TerrainNavClient::outstandingMeas ( )

virtual

Returns a boolean indicating if there are any measurements not yet incorporated into the PDF and waiting for more recent inertial measurement data.

Reimplemented from TerrainNav.

void TerrainNavClient::reinitFilter ( const bool lowInfoTransition )

virtual

Reinitializes the TRN filter.

bool TerrainNavClient::requestAndConfirm	(	commsT &	msg,
		char	expected_ret_type
	)

protected

int TerrainNavClient::send_msg ( commsT & msg )

protected

void TerrainNavClient::setFilterReinit ( const bool allow )

virtual

Overwrite boolean allowFilterReinits with input argument, allow.

Reimplemented from TerrainNav.

void TerrainNavClient::setInterpMeasAttitude ( bool set )

virtual

Sets a boolean indicating if the sonar measurement attitude information should be determined from interpolated inertial poses. Default = 0;

Reimplemented from TerrainNav.

void TerrainNavClient::setMapInterpMethod ( const int & type )

virtual

Specifies the interpolation method to use for determining inter-grid map depth values. 0: nearest-neighbor (no interpolation) 1: bilinear 2: bicubic 3: spline Default = 0;

Reimplemented from TerrainNav.

void TerrainNavClient::setModifiedWeighting ( const bool use )

virtual

Overwrite boolean useModifiedWeighting with input argument, use.

Reimplemented from TerrainNav.

void TerrainNavClient::setVehicleDriftRate ( const double & driftRate )

virtual

Sets the vehicle inertial drift rate parameter. The default value is determined by the vehicle specification sheet. The driftRate parameter is given in units of % drift in meters/sec.

Reimplemented from TerrainNav.

void TerrainNavClient::useHighGradeFilter ( )

virtual

Force filter settings for low grade system: 7DOF system with ALLOW_ATTITUDE_SEARCH=0, DEAD_RECKON=0, SEARCH_GYRO=0

Reimplemented from TerrainNav.

void TerrainNavClient::useLowGradeFilter ( )

virtual

Force filter settings for low grade system: 7DOF system with ALLOW_ATTITUDE_SEARCH=1, DEAD_RECKON=1, SEARCH_GYRO=1

Reimplemented from TerrainNav.

Member Data Documentation

char TerrainNavClient::_comms_buf[TRN_MSG_SIZE]

protected

bool TerrainNavClient::_connected

protected

char* TerrainNavClient::_map_name

protected

struct sockaddr_in TerrainNavClient::_server_addr

protected

char* TerrainNavClient::_server_ip

protected

struct commsT TerrainNavClient::_server_msg

protected

int TerrainNavClient::_sockfd

protected

int TerrainNavClient::_sockport

protected

char* TerrainNavClient::_vehicle_specs

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation