\hypertarget{classTerrainNavClient}{\section{Terrain\-Nav\-Client Class Reference}
\label{classTerrainNavClient}\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}}
}


{\ttfamily \#include $<$Terrain\-Nav\-Client.\-h$>$}

Inheritance diagram for Terrain\-Nav\-Client\-:\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2.000000cm]{classTerrainNavClient}
\end{center}
\end{figure}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hyperlink{classTerrainNavClient_a15014549dd8293c9256c6af311ef71c6}{Terrain\-Nav\-Client} (char $\ast$server\-\_\-ip, int server\-\_\-port, char $\ast$map\-Name, char $\ast$vehicle\-Specs, const int \&\hyperlink{classTerrainNav_a6d9969e84170a066a8e717251ebc3a19}{filter\-Type}, const int \&\hyperlink{classTerrainNav_a6cc9ef2df288c27467be10705c581133}{map\-Type})
\item 
virtual \hyperlink{classTerrainNavClient_a85e9e8fc27a9075b8164aa3768aedcdd}{$\sim$\-Terrain\-Nav\-Client} ()
\item 
virtual void \hyperlink{classTerrainNavClient_a88704f73147a21d40d2b2dadb001d9fd}{estimate\-Pose} (\hyperlink{structposeT}{pose\-T} $\ast$estimate, const int \&type)
\item 
virtual void \hyperlink{classTerrainNavClient_a7c6496e03d7a76e1513ddf9cbc5dde87}{meas\-Update} (\hyperlink{structmeasT}{meas\-T} $\ast$incoming\-Meas, const int \&type)
\item 
virtual void \hyperlink{classTerrainNavClient_ac6d124669aa0577144f1074a712001bc}{mb\-Update} (\hyperlink{structmbT}{mb\-T} $\ast$incoming\-M\-B)
\item 
virtual void \hyperlink{classTerrainNavClient_a83eeaa435486da9b9897b0b069a739c8}{motion\-Update} (\hyperlink{structposeT}{pose\-T} $\ast$incoming\-Nav)
\item 
virtual bool \hyperlink{classTerrainNavClient_a9a54bd6f48bbf9267834c4fae655d28e}{outstanding\-Meas} ()
\item 
virtual bool \hyperlink{classTerrainNavClient_a262a72e4a7595209a8455de4a8a8af8c}{last\-Meas\-Successful} ()
\item 
virtual void \hyperlink{classTerrainNavClient_a0013b81766208f45b419628e7933cad7}{set\-Interp\-Meas\-Attitude} (bool set)
\item 
virtual void \hyperlink{classTerrainNavClient_ab2f5f4ad9100584bc44cf1856ff2235e}{set\-Map\-Interp\-Method} (const int \&type)
\item 
virtual void \hyperlink{classTerrainNavClient_a026bf2107a5412ec43407a19ad793629}{set\-Vehicle\-Drift\-Rate} (const double \&drift\-Rate)
\item 
virtual bool \hyperlink{classTerrainNavClient_afc766bae88622049f7d8fd0641fa842d}{is\-Converged} ()
\item 
virtual void \hyperlink{classTerrainNavClient_a63e6ff3bae768f7c3abd7d3a69706ef8}{use\-Low\-Grade\-Filter} ()
\item 
virtual void \hyperlink{classTerrainNavClient_aff6f9e1cf3d809e668866afbb1a3e2dc}{use\-High\-Grade\-Filter} ()
\item 
virtual void \hyperlink{classTerrainNavClient_a15498be735207c31ee41de48fcad3273}{set\-Filter\-Reinit} (const bool allow)
\item 
virtual void \hyperlink{classTerrainNavClient_a7cb774a840ee73348f700aee6229cc97}{set\-Modified\-Weighting} (const bool use)
\item 
virtual int \hyperlink{classTerrainNavClient_ae467561d9412347ca95f066ffee89e67}{get\-Filter\-State} ()
\item 
virtual int \hyperlink{classTerrainNavClient_a65740a1c5b3cd5cbfa4bc70a79839087}{get\-Num\-Reinits} ()
\item 
virtual void \hyperlink{classTerrainNavClient_aa6890db9970366fcf8cf4cd69f01d608}{reinit\-Filter} (const bool low\-Info\-Transition)
\end{DoxyCompactItemize}
\subsection*{Protected Member Functions}
\begin{DoxyCompactItemize}
\item 
void \hyperlink{classTerrainNavClient_addd9ab08dd9904210937a4d3fda1f374}{init\-\_\-comms} ()
\item 
void \hyperlink{classTerrainNavClient_a6bc9074ffae16e68f63213efefdb24d6}{init\-\_\-server} ()
\item 
bool \hyperlink{classTerrainNavClient_aad8ac004350e901f6859731d60a428da}{is\-\_\-connected} ()
\item 
int \hyperlink{classTerrainNavClient_ab7e15ab255272e325d80d72126559737}{send\-\_\-msg} (\hyperlink{structcommsT}{comms\-T} \&msg)
\item 
char \hyperlink{classTerrainNavClient_a8c513fe4f7b0e5a10363b33a5eea7f2b}{get\-\_\-msg} ()
\item 
bool \hyperlink{classTerrainNavClient_a0d40078d9e3d4fcdc6c3cc54b7577c76}{request\-And\-Confirm} (\hyperlink{structcommsT}{comms\-T} \&msg, char expected\-\_\-ret\-\_\-type)
\end{DoxyCompactItemize}
\subsection*{Protected Attributes}
\begin{DoxyCompactItemize}
\item 
char $\ast$ \hyperlink{classTerrainNavClient_acc2ac49fbdfc0355ef3effacb8aa8bdb}{\-\_\-map\-\_\-name}
\item 
char $\ast$ \hyperlink{classTerrainNavClient_ab60e24af5e5b00b0892e8c2940b5e768}{\-\_\-vehicle\-\_\-specs}
\item 
bool \hyperlink{classTerrainNavClient_af874514ed438a16acd84a4398e2293f9}{\-\_\-connected}
\item 
char $\ast$ \hyperlink{classTerrainNavClient_addbd2685d50b00b59b9d8b10de4434a4}{\-\_\-server\-\_\-ip}
\item 
int \hyperlink{classTerrainNavClient_af22944691a93b521a3e77c6aa36e3568}{\-\_\-sockfd}
\item 
int \hyperlink{classTerrainNavClient_a4e8da30f5081d75c7b227b48f8089b1a}{\-\_\-sockport}
\item 
struct sockaddr\-\_\-in \hyperlink{classTerrainNavClient_a994ba8c046368c735430516123bf0b74}{\-\_\-server\-\_\-addr}
\item 
struct \hyperlink{structcommsT}{comms\-T} \hyperlink{classTerrainNavClient_a00af66f95397f2dc2e35330dbdd751c5}{\-\_\-server\-\_\-msg}
\item 
char \hyperlink{classTerrainNavClient_a23618ca5fd6c3cc826d8a6a3b9b25417}{\-\_\-comms\-\_\-buf} \mbox{[}\hyperlink{structDefs_8h_a8d6c8d0d803651575e38d86ac1bb6d27}{T\-R\-N\-\_\-\-M\-S\-G\-\_\-\-S\-I\-Z\-E}\mbox{]}
\end{DoxyCompactItemize}
\subsection*{Additional Inherited Members}


\subsection{Detailed Description}
Class\-: \hyperlink{classTerrainNavClient}{Terrain\-Nav\-Client} 

\subsection{Constructor \& Destructor Documentation}
\hypertarget{classTerrainNavClient_a15014549dd8293c9256c6af311ef71c6}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!Terrain\-Nav\-Client@{Terrain\-Nav\-Client}}
\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{Terrain\-Nav\-Client}]{\setlength{\rightskip}{0pt plus 5cm}Terrain\-Nav\-Client\-::\-Terrain\-Nav\-Client (
\begin{DoxyParamCaption}
\item[{char $\ast$}]{server\-\_\-ip, }
\item[{int}]{server\-\_\-port, }
\item[{char $\ast$}]{map\-Name, }
\item[{char $\ast$}]{vehicle\-Specs, }
\item[{const int \&}]{filter\-Type, }
\item[{const int \&}]{map\-Type}
\end{DoxyParamCaption}
)}}\label{classTerrainNavClient_a15014549dd8293c9256c6af311ef71c6}
Initializes a new \hyperlink{classTerrainNav}{Terrain\-Nav} with terrain map \char`\"{}map\-Name.\-txt\char`\"{}. The mapping A\-U\-V specs and the Point Mass Filter algorithm are used as defaults. \hypertarget{classTerrainNavClient_a85e9e8fc27a9075b8164aa3768aedcdd}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!$\sim$\-Terrain\-Nav\-Client@{$\sim$\-Terrain\-Nav\-Client}}
\index{$\sim$\-Terrain\-Nav\-Client@{$\sim$\-Terrain\-Nav\-Client}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{$\sim$\-Terrain\-Nav\-Client}]{\setlength{\rightskip}{0pt plus 5cm}Terrain\-Nav\-Client\-::$\sim$\-Terrain\-Nav\-Client (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a85e9e8fc27a9075b8164aa3768aedcdd}
Frees all storage associated with the \hyperlink{classTerrainNav}{Terrain\-Nav} object. 

\subsection{Member Function Documentation}
\hypertarget{classTerrainNavClient_a88704f73147a21d40d2b2dadb001d9fd}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!estimate\-Pose@{estimate\-Pose}}
\index{estimate\-Pose@{estimate\-Pose}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{estimate\-Pose}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::estimate\-Pose (
\begin{DoxyParamCaption}
\item[{{\bf pose\-T} $\ast$}]{estimate, }
\item[{const int \&}]{type}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a88704f73147a21d40d2b2dadb001d9fd}
This is the primary function in the \hyperlink{classTerrainNav}{Terrain\-Nav} class. The function takes in a pointer to a \hyperlink{structposeT}{pose\-T} 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 \hyperlink{classTerrainNav_ab20c3697ccdd0dbffad878c18895e6b5}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a8c513fe4f7b0e5a10363b33a5eea7f2b}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!get\-\_\-msg@{get\-\_\-msg}}
\index{get\-\_\-msg@{get\-\_\-msg}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{get\-\_\-msg}]{\setlength{\rightskip}{0pt plus 5cm}char Terrain\-Nav\-Client\-::get\-\_\-msg (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a8c513fe4f7b0e5a10363b33a5eea7f2b}
\hypertarget{classTerrainNavClient_ae467561d9412347ca95f066ffee89e67}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!get\-Filter\-State@{get\-Filter\-State}}
\index{get\-Filter\-State@{get\-Filter\-State}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{get\-Filter\-State}]{\setlength{\rightskip}{0pt plus 5cm}int Terrain\-Nav\-Client\-::get\-Filter\-State (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_ae467561d9412347ca95f066ffee89e67}
Returns the integer filter\-State describing the current filter state. 

Reimplemented from \hyperlink{classTerrainNav_ac7f3d1153084d6b6c2e185d641bf49f4}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a65740a1c5b3cd5cbfa4bc70a79839087}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!get\-Num\-Reinits@{get\-Num\-Reinits}}
\index{get\-Num\-Reinits@{get\-Num\-Reinits}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{get\-Num\-Reinits}]{\setlength{\rightskip}{0pt plus 5cm}int Terrain\-Nav\-Client\-::get\-Num\-Reinits (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a65740a1c5b3cd5cbfa4bc70a79839087}
Returns the integer num\-Reinits describing the number of reinitializations. 

Reimplemented from \hyperlink{classTerrainNav_a653ff20d7dbf19281b9827c630967599}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_addd9ab08dd9904210937a4d3fda1f374}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!init\-\_\-comms@{init\-\_\-comms}}
\index{init\-\_\-comms@{init\-\_\-comms}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{init\-\_\-comms}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::init\-\_\-comms (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_addd9ab08dd9904210937a4d3fda1f374}
\hypertarget{classTerrainNavClient_a6bc9074ffae16e68f63213efefdb24d6}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!init\-\_\-server@{init\-\_\-server}}
\index{init\-\_\-server@{init\-\_\-server}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{init\-\_\-server}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::init\-\_\-server (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a6bc9074ffae16e68f63213efefdb24d6}
\hypertarget{classTerrainNavClient_aad8ac004350e901f6859731d60a428da}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!is\-\_\-connected@{is\-\_\-connected}}
\index{is\-\_\-connected@{is\-\_\-connected}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{is\-\_\-connected}]{\setlength{\rightskip}{0pt plus 5cm}bool Terrain\-Nav\-Client\-::is\-\_\-connected (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_aad8ac004350e901f6859731d60a428da}
\hypertarget{classTerrainNavClient_afc766bae88622049f7d8fd0641fa842d}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!is\-Converged@{is\-Converged}}
\index{is\-Converged@{is\-Converged}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{is\-Converged}]{\setlength{\rightskip}{0pt plus 5cm}bool Terrain\-Nav\-Client\-::is\-Converged (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_afc766bae88622049f7d8fd0641fa842d}
Returns a boolean indicating if the terrain navigation filter has converged to an estimate. 

Reimplemented from \hyperlink{classTerrainNav_a011cc11697bea555a1d74c77efb58f2d}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a262a72e4a7595209a8455de4a8a8af8c}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!last\-Meas\-Successful@{last\-Meas\-Successful}}
\index{last\-Meas\-Successful@{last\-Meas\-Successful}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{last\-Meas\-Successful}]{\setlength{\rightskip}{0pt plus 5cm}bool Terrain\-Nav\-Client\-::last\-Meas\-Successful (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a262a72e4a7595209a8455de4a8a8af8c}
Returns a boolean indicating if the last sonar measurement was successfully incorporated into the filter or not. 

Reimplemented from \hyperlink{classTerrainNav_a0528af38cebc6a205a364da0de5c3c76}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_ac6d124669aa0577144f1074a712001bc}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!mb\-Update@{mb\-Update}}
\index{mb\-Update@{mb\-Update}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{mb\-Update}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::mb\-Update (
\begin{DoxyParamCaption}
\item[{{\bf mb\-T} $\ast$}]{incoming\-M\-B}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_ac6d124669aa0577144f1074a712001bc}
Passes the current multibeam range information along to the \hyperlink{classTNavFilter}{T\-Nav\-Filter} object. The function takes in a pointer to a \hyperlink{structmbT}{mb\-T} containing the current multibeam measurement ranges. 

Reimplemented from \hyperlink{classTerrainNav_a5b56c16a1518f72a1b04debdc221f745}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a7c6496e03d7a76e1513ddf9cbc5dde87}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!meas\-Update@{meas\-Update}}
\index{meas\-Update@{meas\-Update}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{meas\-Update}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::meas\-Update (
\begin{DoxyParamCaption}
\item[{{\bf meas\-T} $\ast$}]{incoming\-Meas, }
\item[{const int \&}]{type}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a7c6496e03d7a76e1513ddf9cbc5dde87}
Passes the current sonar measurement information along to the \hyperlink{classTNavFilter}{T\-Nav\-Filter} object. The function takes in a pointer to a \hyperlink{structmeasT}{meas\-T} containing the current sonar measurement information. It also takes in an integer type variable which relates the sonar measurement type as follows\-: 1\-: D\-V\-L 2\-: Multibeam 3\-: Single Beam 4\-: Homer Relative Measurement 

Reimplemented from \hyperlink{classTerrainNav_a170b571d596c66262e78e5fb62aabb5b}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a83eeaa435486da9b9897b0b069a739c8}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!motion\-Update@{motion\-Update}}
\index{motion\-Update@{motion\-Update}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{motion\-Update}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::motion\-Update (
\begin{DoxyParamCaption}
\item[{{\bf pose\-T} $\ast$}]{incoming\-Nav}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a83eeaa435486da9b9897b0b069a739c8}
Passes the current inertial measurement information along to the \hyperlink{classTNavFilter}{T\-Nav\-Filter} object. The function takes in a pointer to a \hyperlink{structposeT}{pose\-T} containing the current inertial measurement information. 

Reimplemented from \hyperlink{classTerrainNav_aecba66814225f2b8c610341672b30897}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a9a54bd6f48bbf9267834c4fae655d28e}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!outstanding\-Meas@{outstanding\-Meas}}
\index{outstanding\-Meas@{outstanding\-Meas}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{outstanding\-Meas}]{\setlength{\rightskip}{0pt plus 5cm}bool Terrain\-Nav\-Client\-::outstanding\-Meas (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a9a54bd6f48bbf9267834c4fae655d28e}
Returns a boolean indicating if there are any measurements not yet incorporated into the P\-D\-F and waiting for more recent inertial measurement data. 

Reimplemented from \hyperlink{classTerrainNav_a137986aa835ca311af064c87db869ace}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_aa6890db9970366fcf8cf4cd69f01d608}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!reinit\-Filter@{reinit\-Filter}}
\index{reinit\-Filter@{reinit\-Filter}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{reinit\-Filter}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::reinit\-Filter (
\begin{DoxyParamCaption}
\item[{const bool}]{low\-Info\-Transition}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_aa6890db9970366fcf8cf4cd69f01d608}
Reinitializes the T\-R\-N filter. \hypertarget{classTerrainNavClient_a0d40078d9e3d4fcdc6c3cc54b7577c76}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!request\-And\-Confirm@{request\-And\-Confirm}}
\index{request\-And\-Confirm@{request\-And\-Confirm}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{request\-And\-Confirm}]{\setlength{\rightskip}{0pt plus 5cm}bool Terrain\-Nav\-Client\-::request\-And\-Confirm (
\begin{DoxyParamCaption}
\item[{{\bf comms\-T} \&}]{msg, }
\item[{char}]{expected\-\_\-ret\-\_\-type}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a0d40078d9e3d4fcdc6c3cc54b7577c76}
\hypertarget{classTerrainNavClient_ab7e15ab255272e325d80d72126559737}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!send\-\_\-msg@{send\-\_\-msg}}
\index{send\-\_\-msg@{send\-\_\-msg}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{send\-\_\-msg}]{\setlength{\rightskip}{0pt plus 5cm}int Terrain\-Nav\-Client\-::send\-\_\-msg (
\begin{DoxyParamCaption}
\item[{{\bf comms\-T} \&}]{msg}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_ab7e15ab255272e325d80d72126559737}
\hypertarget{classTerrainNavClient_a15498be735207c31ee41de48fcad3273}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!set\-Filter\-Reinit@{set\-Filter\-Reinit}}
\index{set\-Filter\-Reinit@{set\-Filter\-Reinit}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{set\-Filter\-Reinit}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::set\-Filter\-Reinit (
\begin{DoxyParamCaption}
\item[{const bool}]{allow}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a15498be735207c31ee41de48fcad3273}
Overwrite boolean allow\-Filter\-Reinits with input argument, allow. 

Reimplemented from \hyperlink{classTerrainNav_a92366f964f951b344dcb957611154319}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a0013b81766208f45b419628e7933cad7}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!set\-Interp\-Meas\-Attitude@{set\-Interp\-Meas\-Attitude}}
\index{set\-Interp\-Meas\-Attitude@{set\-Interp\-Meas\-Attitude}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{set\-Interp\-Meas\-Attitude}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::set\-Interp\-Meas\-Attitude (
\begin{DoxyParamCaption}
\item[{bool}]{set}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a0013b81766208f45b419628e7933cad7}
Sets a boolean indicating if the sonar measurement attitude information should be determined from interpolated inertial poses. Default = 0; 

Reimplemented from \hyperlink{classTerrainNav_a8ecb008581d1156687b43c2c384a0f00}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_ab2f5f4ad9100584bc44cf1856ff2235e}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!set\-Map\-Interp\-Method@{set\-Map\-Interp\-Method}}
\index{set\-Map\-Interp\-Method@{set\-Map\-Interp\-Method}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{set\-Map\-Interp\-Method}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::set\-Map\-Interp\-Method (
\begin{DoxyParamCaption}
\item[{const int \&}]{type}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_ab2f5f4ad9100584bc44cf1856ff2235e}
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 \hyperlink{classTerrainNav_a6c7a50b7362dfa4cf5f84804fe2c8c49}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a7cb774a840ee73348f700aee6229cc97}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!set\-Modified\-Weighting@{set\-Modified\-Weighting}}
\index{set\-Modified\-Weighting@{set\-Modified\-Weighting}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{set\-Modified\-Weighting}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::set\-Modified\-Weighting (
\begin{DoxyParamCaption}
\item[{const bool}]{use}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a7cb774a840ee73348f700aee6229cc97}
Overwrite boolean use\-Modified\-Weighting with input argument, use. 

Reimplemented from \hyperlink{classTerrainNav_abb35a93f46a999bd1ef193ab5b09d266}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a026bf2107a5412ec43407a19ad793629}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!set\-Vehicle\-Drift\-Rate@{set\-Vehicle\-Drift\-Rate}}
\index{set\-Vehicle\-Drift\-Rate@{set\-Vehicle\-Drift\-Rate}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{set\-Vehicle\-Drift\-Rate}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::set\-Vehicle\-Drift\-Rate (
\begin{DoxyParamCaption}
\item[{const double \&}]{drift\-Rate}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a026bf2107a5412ec43407a19ad793629}
Sets the vehicle inertial drift rate parameter. The default value is determined by the vehicle specification sheet. The drift\-Rate parameter is given in units of \% drift in meters/sec. 

Reimplemented from \hyperlink{classTerrainNav_a0d30b069c096a544e656cfe8cee58829}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_aff6f9e1cf3d809e668866afbb1a3e2dc}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!use\-High\-Grade\-Filter@{use\-High\-Grade\-Filter}}
\index{use\-High\-Grade\-Filter@{use\-High\-Grade\-Filter}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{use\-High\-Grade\-Filter}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::use\-High\-Grade\-Filter (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_aff6f9e1cf3d809e668866afbb1a3e2dc}
Force filter settings for low grade system\-: 7\-D\-O\-F system with A\-L\-L\-O\-W\-\_\-\-A\-T\-T\-I\-T\-U\-D\-E\-\_\-\-S\-E\-A\-R\-C\-H=0, D\-E\-A\-D\-\_\-\-R\-E\-C\-K\-O\-N=0, S\-E\-A\-R\-C\-H\-\_\-\-G\-Y\-R\-O=0 

Reimplemented from \hyperlink{classTerrainNav_a98b9275aafb1778179441c72129d8805}{Terrain\-Nav}.

\hypertarget{classTerrainNavClient_a63e6ff3bae768f7c3abd7d3a69706ef8}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!use\-Low\-Grade\-Filter@{use\-Low\-Grade\-Filter}}
\index{use\-Low\-Grade\-Filter@{use\-Low\-Grade\-Filter}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{use\-Low\-Grade\-Filter}]{\setlength{\rightskip}{0pt plus 5cm}void Terrain\-Nav\-Client\-::use\-Low\-Grade\-Filter (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classTerrainNavClient_a63e6ff3bae768f7c3abd7d3a69706ef8}
Force filter settings for low grade system\-: 7\-D\-O\-F system with A\-L\-L\-O\-W\-\_\-\-A\-T\-T\-I\-T\-U\-D\-E\-\_\-\-S\-E\-A\-R\-C\-H=1, D\-E\-A\-D\-\_\-\-R\-E\-C\-K\-O\-N=1, S\-E\-A\-R\-C\-H\-\_\-\-G\-Y\-R\-O=1 

Reimplemented from \hyperlink{classTerrainNav_ab6251385f7632e3ba430c21de7444bef}{Terrain\-Nav}.



\subsection{Member Data Documentation}
\hypertarget{classTerrainNavClient_a23618ca5fd6c3cc826d8a6a3b9b25417}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-comms\-\_\-buf@{\-\_\-comms\-\_\-buf}}
\index{\-\_\-comms\-\_\-buf@{\-\_\-comms\-\_\-buf}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-comms\-\_\-buf}]{\setlength{\rightskip}{0pt plus 5cm}char Terrain\-Nav\-Client\-::\-\_\-comms\-\_\-buf\mbox{[}{\bf T\-R\-N\-\_\-\-M\-S\-G\-\_\-\-S\-I\-Z\-E}\mbox{]}\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a23618ca5fd6c3cc826d8a6a3b9b25417}
\hypertarget{classTerrainNavClient_af874514ed438a16acd84a4398e2293f9}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-connected@{\-\_\-connected}}
\index{\-\_\-connected@{\-\_\-connected}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-connected}]{\setlength{\rightskip}{0pt plus 5cm}bool Terrain\-Nav\-Client\-::\-\_\-connected\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_af874514ed438a16acd84a4398e2293f9}
\hypertarget{classTerrainNavClient_acc2ac49fbdfc0355ef3effacb8aa8bdb}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-map\-\_\-name@{\-\_\-map\-\_\-name}}
\index{\-\_\-map\-\_\-name@{\-\_\-map\-\_\-name}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-map\-\_\-name}]{\setlength{\rightskip}{0pt plus 5cm}char$\ast$ Terrain\-Nav\-Client\-::\-\_\-map\-\_\-name\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_acc2ac49fbdfc0355ef3effacb8aa8bdb}
\hypertarget{classTerrainNavClient_a994ba8c046368c735430516123bf0b74}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-server\-\_\-addr@{\-\_\-server\-\_\-addr}}
\index{\-\_\-server\-\_\-addr@{\-\_\-server\-\_\-addr}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-server\-\_\-addr}]{\setlength{\rightskip}{0pt plus 5cm}struct sockaddr\-\_\-in Terrain\-Nav\-Client\-::\-\_\-server\-\_\-addr\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a994ba8c046368c735430516123bf0b74}
\hypertarget{classTerrainNavClient_addbd2685d50b00b59b9d8b10de4434a4}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-server\-\_\-ip@{\-\_\-server\-\_\-ip}}
\index{\-\_\-server\-\_\-ip@{\-\_\-server\-\_\-ip}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-server\-\_\-ip}]{\setlength{\rightskip}{0pt plus 5cm}char$\ast$ Terrain\-Nav\-Client\-::\-\_\-server\-\_\-ip\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_addbd2685d50b00b59b9d8b10de4434a4}
\hypertarget{classTerrainNavClient_a00af66f95397f2dc2e35330dbdd751c5}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-server\-\_\-msg@{\-\_\-server\-\_\-msg}}
\index{\-\_\-server\-\_\-msg@{\-\_\-server\-\_\-msg}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-server\-\_\-msg}]{\setlength{\rightskip}{0pt plus 5cm}struct {\bf comms\-T} Terrain\-Nav\-Client\-::\-\_\-server\-\_\-msg\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a00af66f95397f2dc2e35330dbdd751c5}
\hypertarget{classTerrainNavClient_af22944691a93b521a3e77c6aa36e3568}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-sockfd@{\-\_\-sockfd}}
\index{\-\_\-sockfd@{\-\_\-sockfd}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-sockfd}]{\setlength{\rightskip}{0pt plus 5cm}int Terrain\-Nav\-Client\-::\-\_\-sockfd\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_af22944691a93b521a3e77c6aa36e3568}
\hypertarget{classTerrainNavClient_a4e8da30f5081d75c7b227b48f8089b1a}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-sockport@{\-\_\-sockport}}
\index{\-\_\-sockport@{\-\_\-sockport}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-sockport}]{\setlength{\rightskip}{0pt plus 5cm}int Terrain\-Nav\-Client\-::\-\_\-sockport\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_a4e8da30f5081d75c7b227b48f8089b1a}
\hypertarget{classTerrainNavClient_ab60e24af5e5b00b0892e8c2940b5e768}{\index{Terrain\-Nav\-Client@{Terrain\-Nav\-Client}!\-\_\-vehicle\-\_\-specs@{\-\_\-vehicle\-\_\-specs}}
\index{\-\_\-vehicle\-\_\-specs@{\-\_\-vehicle\-\_\-specs}!TerrainNavClient@{Terrain\-Nav\-Client}}
\subsubsection[{\-\_\-vehicle\-\_\-specs}]{\setlength{\rightskip}{0pt plus 5cm}char$\ast$ Terrain\-Nav\-Client\-::\-\_\-vehicle\-\_\-specs\hspace{0.3cm}{\ttfamily [protected]}}}\label{classTerrainNavClient_ab60e24af5e5b00b0892e8c2940b5e768}


The documentation for this class was generated from the following files\-:\begin{DoxyCompactItemize}
\item 
\hyperlink{TerrainNavClient_8h}{Terrain\-Nav\-Client.\-h}\item 
\hyperlink{TerrainNavClient_8cpp}{Terrain\-Nav\-Client.\-cpp}\end{DoxyCompactItemize}