#include <MOOSNavEngine.h>

Inheritance diagram for CMOOSNavEngine:

Collaboration diagram for CMOOSNavEngine:

Classes
class	CObservationStatistic
Public Member Functions
virtual bool	DoObservationSummary ()
double	GetTimeStarted ()
bool	SetTimeStarted (double dfTime)
bool	SetMissionFileName (const string &sFileName)
double	GetYoungestDataTime ()
CMOOSSensorChannel *	GetSensorChannel (const string &sKey)
bool	IsEnabled ()
bool	Enable (bool bEnable)
int	GetIterations ()
bool	SetOnline (bool bOnline)
bool	IsOnline ()
virtual bool	Reset ()
bool	ForceTrackedPosition (double dfX, double dfY, double dfZ, double dfH=0)
bool	GetTrackedPosition (double &dfX, double &dfY, double &dfZ, double &dfH, double &dfLastUpdate)
bool	GetTrackedUncertainty (double &dfPX, double &dfPY, double &dfPZ, double &dfPH)
bool	MakeObsMatrices ()
bool	GuessVehicleLocation ()
bool	GetNextResult (CMOOSMsg &ResultMsg)
bool	AddFixedObservation (CMOOSObservation::Type eType, double dfVal, double dfVariance=-1)
bool	AddAcousticBeacon (const string &sName, int nChan, double dfTAT, double dfX, double dfY, double dfZ)
bool	AddSensor (const string &sSource, const string &sName, CMOOSNavSensor::Type eType, double dfX, double dfY, double dfZ, double dfNoise=-1)
virtual bool	Initialise (STRING_LIST sParams)
virtual bool	AddData (const CMOOSMsg &Msg)
virtual bool	Iterate (double dfTimeNow)
	CMOOSNavEngine ()
virtual	~CMOOSNavEngine ()
Protected Member Functions
bool	DoObservationStatistics ()
bool	TraceDiagPhat ()
bool	RecordObsStatistics (Matrix pInnov, Matrix pS)
bool	MarkObservationsDA (bool bGoodDA)
virtual bool	LogObservationSet (double dfTimeNow, int nthUpdate)
bool	LimitObservationTypes ()
virtual bool	AddTheVehicle (STRING_LIST &sParams)
bool	GetTATByChannel (int nChannel, double &dfTAT)
bool	WrapAngleStates ()
bool	LimitObservations (CMOOSObservation::Type eType, int nNumber)
bool	SetUpGlobalStates ()
bool	TraceObservationSet ()
bool	IndexObservations (int &nObsDim)
bool	AddEntity (CMOOSNavEntity pEntity, Matrix pCovariance=NULL, Matrix *pCrossCovariance=NULL)
bool	DataToObservations (const CMOOSMsg &Msg, OBSLIST &Obs)
bool	MakeControlObservations (const CMOOSMsg &Msg, OBSLIST &ObsList)
bool	MakeBodyVelObservations (const CMOOSMsg &Msg, OBSLIST &ObsList, double dfSF=1)
bool	MakeXYObservations (const CMOOSMsg &Msg, OBSLIST &ObsList)
bool	MakeLBLObservations (const CMOOSMsg &Msg, OBSLIST &Obs)
bool	MakeDepthObservations (const CMOOSMsg &Msg, OBSLIST &Obs)
bool	MakeYawObservations (const CMOOSMsg &Msg, OBSLIST &Obs)
bool	AgreesWithHistory (CMOOSObservation &rObs)
bool	AddToHistory (CMOOSObservation &rObs)
bool	SetUpSensorChannels (STRING_LIST sParams, string sToken)
bool	PreFilterData ()
int	GetNextID ()
CMOOSNavSensor *	GetSensorBySource (const string &sMOOSSource, const string &sDataName)
CMOOSNavBeacon *	GetBeaconByChannel (int nChannel)
CMOOSNavBeacon *	GetBeaconByName (const string &sName)
CMOOSNavSensor *	GetSensorByName (const string &sSensorName)
CMOOSNavSensor::Type	SensorTypeFromDataName (const string &sDataName)
Protected Attributes
BEACONLIST	m_Beacons
int	m_nNextID
double	m_dfTimeStarted
CMOOSNavLogger	m_Logger
SENSOR_MAP	m_SourceToSensorMap
SOURCE_SENSORCHANNEL_MAP	m_SensorChannelMap
OBSLIST	m_Observations
OBSLIST	m_FixedObservations
Matrix	m_jH
Matrix	m_R
Matrix	m_Innov
Matrix	m_Xhat
Matrix	m_Phat
Matrix	m_XhatTmp
Matrix	m_PhatTmp
Matrix	m_Ihat
CMOOSNavObsStore *	m_pStore
CMOOSNavVehicle *	m_pTracked
MOOSMSG_LIST	m_ResultsList
CMOOSNavEntity::Type	m_eVehicleType
double	m_dfLastUpdate
double	m_dfUpdatePeriod
double	m_dfTimeNow
int	m_nIterations
bool	m_bEnabled
bool	m_bOnline
bool	m_bInitialOnline
bool	m_bThrust2Vel
double	m_dfThrust2VelGain
double	m_dfSV
bool	m_bEstimateHeadingBias
string	m_sMissionFileName

Detailed Description

Definition at line 67 of file MOOSNavEngine.h.

Constructor & Destructor Documentation

CMOOSNavEngine::CMOOSNavEngine ( )

Definition at line 62 of file MOOSNavEngine.cpp.

CMOOSNavEngine::~CMOOSNavEngine ( ) [virtual]

Definition at line 98 of file MOOSNavEngine.cpp.

Member Function Documentation

bool CMOOSNavEngine::AddAcousticBeacon	(	const string &	sName,
		int	nChan,
		double	dfTAT,
		double	dfX,
		double	dfY,
		double	dfZ
	)

Definition at line 749 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AddData ( const CMOOSMsg & Msg ) [virtual]

Reimplemented in CMOOSNavEKFEngine, CMOOSNavLSQEngine, and CMOOSNavTopDownCalEngine.

Definition at line 104 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AddEntity	(	CMOOSNavEntity *	pEntity,
		Matrix *	pCovariance = `NULL`,
		Matrix *	pCrossCovariance = `NULL`
	)		`[protected]`

Definition at line 599 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AddFixedObservation	(	CMOOSObservation::Type	eType,
		double	dfVal,
		double	dfVariance = `-1`
	)

Definition at line 783 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AddSensor	(	const string &	sSource,
		const string &	sName,
		CMOOSNavSensor::Type	eType,
		double	dfX,
		double	dfY,
		double	dfZ,
		double	dfNoise = `-1`
	)

Definition at line 708 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AddTheVehicle ( STRING_LIST & sParams ) [protected, virtual]

Definition at line 970 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AddToHistory ( CMOOSObservation & rObs ) [protected]

Definition at line 1357 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::AgreesWithHistory ( CMOOSObservation & rObs ) [protected]

Definition at line 1373 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::DataToObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	Obs
	)		`[protected]`

Definition at line 124 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::DoObservationStatistics ( ) [protected]

Definition at line 1516 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::DoObservationSummary ( ) [virtual]

Definition at line 1544 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::Enable ( bool bEnable )

Definition at line 1147 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::ForceTrackedPosition	(	double	dfX,
		double	dfY,
		double	dfZ,
		double	dfH = `0`
	)

Definition at line 1059 of file MOOSNavEngine.cpp.

CMOOSNavBeacon * CMOOSNavEngine::GetBeaconByChannel ( int nChannel ) [protected]

Definition at line 495 of file MOOSNavEngine.cpp.

CMOOSNavBeacon * CMOOSNavEngine::GetBeaconByName ( const string & sName ) [protected]

Definition at line 478 of file MOOSNavEngine.cpp.

int CMOOSNavEngine::GetIterations ( )

Definition at line 1142 of file MOOSNavEngine.cpp.

int CMOOSNavEngine::GetNextID ( ) [inline, protected]

Definition at line 170 of file MOOSNavEngine.h.

bool CMOOSNavEngine::GetNextResult ( CMOOSMsg & ResultMsg )

Definition at line 864 of file MOOSNavEngine.cpp.

CMOOSNavSensor * CMOOSNavEngine::GetSensorByName ( const string & sSensorName ) [protected]

Definition at line 808 of file MOOSNavEngine.cpp.

CMOOSNavSensor * CMOOSNavEngine::GetSensorBySource	(	const string &	sMOOSSource,
		const string &	sDataName
	)		`[protected]`

Definition at line 825 of file MOOSNavEngine.cpp.

CMOOSSensorChannel * CMOOSNavEngine::GetSensorChannel ( const string & sKey )

Definition at line 185 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::GetTATByChannel	(	int	nChannel,
		double &	dfTAT
	)		`[protected]`

Definition at line 955 of file MOOSNavEngine.cpp.

double CMOOSNavEngine::GetTimeStarted ( )

Definition at line 1232 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::GetTrackedPosition	(	double &	dfX,
		double &	dfY,
		double &	dfZ,
		double &	dfH,
		double &	dfLastUpdate
	)

Definition at line 1031 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::GetTrackedUncertainty	(	double &	dfPX,
		double &	dfPY,
		double &	dfPZ,
		double &	dfPH
	)

Definition at line 1044 of file MOOSNavEngine.cpp.

double CMOOSNavEngine::GetYoungestDataTime ( )

Definition at line 1158 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::GuessVehicleLocation ( )

Definition at line 917 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::IndexObservations ( int & nObsDim ) [protected]

Definition at line 656 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::Initialise ( STRING_LIST sParams ) [virtual]

Reimplemented in CMOOSNavEKFEngine, CMOOSNavLSQEngine, and CMOOSNavTopDownCalEngine.

Definition at line 519 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::IsEnabled ( )

Definition at line 1153 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::IsOnline ( )

Definition at line 1122 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::Iterate ( double dfTimeNow ) [virtual]

Reimplemented in CMOOSNavEKFEngine, CMOOSNavLSQEngine, and CMOOSNavTopDownCalEngine.

Definition at line 513 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::LimitObservations	(	CMOOSObservation::Type	eType,
		int	nNumber
	)		`[protected]`

Definition at line 877 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::LimitObservationTypes ( ) [protected]

Definition at line 1082 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::LogObservationSet	(	double	dfTimeNow,
		int	nthUpdate
	)		`[protected, virtual]`

Definition at line 1184 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeBodyVelObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	ObsList,
		double	dfSF = `1`
	)		`[protected]`

Definition at line 294 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeControlObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	ObsList
	)		`[protected]`

Definition at line 264 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeDepthObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	Obs
	)		`[protected]`

Definition at line 200 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeLBLObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	Obs
	)		`[protected]`

Definition at line 364 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeObsMatrices ( )

Reimplemented in CMOOSNavBBCMLEngine.

Definition at line 984 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeXYObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	ObsList
	)		`[protected]`

Definition at line 228 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MakeYawObservations	(	const CMOOSMsg &	Msg,
		OBSLIST &	Obs
	)		`[protected]`

Definition at line 331 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::MarkObservationsDA ( bool bGoodDA ) [protected]

Definition at line 1169 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::PreFilterData ( ) [protected]

Definition at line 1397 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::RecordObsStatistics	(	Matrix *	pInnov,
		Matrix *	pS
	)		`[protected]`

Definition at line 1201 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::Reset ( ) [virtual]

Reimplemented in CMOOSNavEKFEngine.

Definition at line 1117 of file MOOSNavEngine.cpp.

CMOOSNavSensor::Type CMOOSNavEngine::SensorTypeFromDataName ( const string & sDataName ) [protected]

Definition at line 1237 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::SetMissionFileName ( const string & sFileName )

Definition at line 1163 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::SetOnline ( bool bOnline )

Definition at line 1127 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::SetTimeStarted ( double dfTime )

Definition at line 1225 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::SetUpGlobalStates ( ) [protected]

Definition at line 848 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::SetUpSensorChannels	(	STRING_LIST	sParams,
		string	sToken
	)		`[protected]`

Definition at line 1303 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::TraceDiagPhat ( ) [protected]

Definition at line 1261 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::TraceObservationSet ( ) [protected]

Definition at line 679 of file MOOSNavEngine.cpp.

bool CMOOSNavEngine::WrapAngleStates ( ) [protected]

Definition at line 901 of file MOOSNavEngine.cpp.

Member Data Documentation

BEACONLIST CMOOSNavEngine::m_Beacons [protected]

Definition at line 180 of file MOOSNavEngine.h.

bool CMOOSNavEngine::m_bEnabled [protected]

Definition at line 213 of file MOOSNavEngine.h.

bool CMOOSNavEngine::m_bEstimateHeadingBias [protected]

Definition at line 223 of file MOOSNavEngine.h.

bool CMOOSNavEngine::m_bInitialOnline [protected]

Definition at line 215 of file MOOSNavEngine.h.

bool CMOOSNavEngine::m_bOnline [protected]

Definition at line 214 of file MOOSNavEngine.h.

bool CMOOSNavEngine::m_bThrust2Vel [protected]

Definition at line 218 of file MOOSNavEngine.h.

double CMOOSNavEngine::m_dfLastUpdate [protected]

Definition at line 208 of file MOOSNavEngine.h.

double CMOOSNavEngine::m_dfSV [protected]

Definition at line 220 of file MOOSNavEngine.h.

double CMOOSNavEngine::m_dfThrust2VelGain [protected]

Definition at line 219 of file MOOSNavEngine.h.

double CMOOSNavEngine::m_dfTimeNow [protected]

Definition at line 210 of file MOOSNavEngine.h.

double CMOOSNavEngine::m_dfTimeStarted [protected]

Definition at line 182 of file MOOSNavEngine.h.

double CMOOSNavEngine::m_dfUpdatePeriod [protected]

Definition at line 209 of file MOOSNavEngine.h.

CMOOSNavEntity::Type CMOOSNavEngine::m_eVehicleType [protected]

Definition at line 203 of file MOOSNavEngine.h.

OBSLIST CMOOSNavEngine::m_FixedObservations [protected]

Definition at line 187 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_Ihat [protected]

Definition at line 197 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_Innov [protected]

Definition at line 192 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_jH [protected]

Definition at line 190 of file MOOSNavEngine.h.

CMOOSNavLogger CMOOSNavEngine::m_Logger [protected]

Definition at line 183 of file MOOSNavEngine.h.

int CMOOSNavEngine::m_nIterations [protected]

Definition at line 211 of file MOOSNavEngine.h.

int CMOOSNavEngine::m_nNextID [protected]

Definition at line 181 of file MOOSNavEngine.h.

OBSLIST CMOOSNavEngine::m_Observations [protected]

Definition at line 186 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_Phat [protected]

Definition at line 194 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_PhatTmp [protected]

Definition at line 196 of file MOOSNavEngine.h.

CMOOSNavObsStore* CMOOSNavEngine::m_pStore [protected]

Definition at line 199 of file MOOSNavEngine.h.

CMOOSNavVehicle* CMOOSNavEngine::m_pTracked [protected]

Definition at line 200 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_R [protected]

Definition at line 191 of file MOOSNavEngine.h.

MOOSMSG_LIST CMOOSNavEngine::m_ResultsList [protected]

Definition at line 201 of file MOOSNavEngine.h.

SOURCE_SENSORCHANNEL_MAP CMOOSNavEngine::m_SensorChannelMap [protected]

Definition at line 185 of file MOOSNavEngine.h.

string CMOOSNavEngine::m_sMissionFileName [protected]

Definition at line 226 of file MOOSNavEngine.h.

SENSOR_MAP CMOOSNavEngine::m_SourceToSensorMap [protected]

Definition at line 184 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_Xhat [protected]

Definition at line 193 of file MOOSNavEngine.h.

Matrix CMOOSNavEngine::m_XhatTmp [protected]

Definition at line 195 of file MOOSNavEngine.h.

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

/home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSNavEngine.h
/home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSNavEngine.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation