WossWpPosition Class Reference

#include <uw-woss-waypoint-position.h>

Inheritance diagram for WossWpPosition:

Collaboration diagram for WossWpPosition:

Classes
class	WayPoint

Public Member Functions
	WossWpPosition ()
virtual	~WossWpPosition () override=default
virtual int	command (int argc, const char *const *argv) override
virtual bool	isEquivalentTo (const woss::CoordZ &coordz) override
virtual woss::CoordZ	getLocation () override
virtual double	getVerticalOrientation () override
virtual double	getBearing () override
virtual double	getSpeed ()
Public Member Functions inherited from WossPosition
	WossPosition (double latitude, double longitude, double depth=0, double dist=woss::LOCATION_COMPARISON_DISTANCE)
	WossPosition (const woss::CoordZ &coordz=woss::CoordZ(), double dist=woss::LOCATION_COMPARISON_DISTANCE)
virtual	~WossPosition () override=default
virtual std::unique_ptr< Location >	create (double latitude, double longitude, double depth=0, double dist=woss::LOCATION_COMPARISON_DISTANCE) const
virtual std::unique_ptr< Location >	create (const woss::CoordZ &coordz=woss::CoordZ(), double dist=woss::LOCATION_COMPARISON_DISTANCE) const
virtual std::unique_ptr< Location >	clone () const
virtual void	setLatitude (double val)
virtual void	setLongitude (double val)
virtual void	setDepth (double val)
virtual void	setAltitude (double val)
virtual void	setMinVerticalOrientation (double val)
virtual void	setMaxVerticalOrientation (double val)
virtual void	setX (double val)
virtual void	setY (double val)
virtual void	setZ (double val)
virtual double	getX ()
virtual double	getY ()
virtual double	getZ ()
virtual double	getLatitude ()
virtual double	getLongitude ()
virtual double	getDepth ()
virtual double	getAltitude ()
virtual double	getMinVerticalOrientation ()
virtual double	getMaxVerticalOrientation ()
Public Member Functions inherited from woss::Location
	Location (const CoordZ &coordz=CoordZ(), double dist=LOCATION_COMPARISON_DISTANCE)
	Location (double latitude, double longitude, double depth=0, double dist=LOCATION_COMPARISON_DISTANCE)
	Location (const Location &copy)=default
	Location (Location &&tmp)=default
virtual	~Location ()=default
Location &	operator= (const Location &copy)=default
Location &	operator= (Location &&tmp)=default
virtual bool	isValid () const
virtual void	setLocation (const CoordZ &coordz)
virtual void	setVerticalOrientation (double angle)
virtual void	setHorizontalOrientation (double angle)
virtual double	getHorizontalOrientation ()

Protected Types
using	WayPointVect = std::vector< WayPoint >
using	TimeIdMap = std::map< double, int >
using	TIMIter = TimeIdMap::iterator
using	TIMRIter = TimeIdMap::reverse_iterator

Protected Member Functions
virtual void	update (double now)
virtual void	updateVerticalOrientation (const woss::CoordZ &prev, const woss::CoordZ &curr)
virtual void	updateBearing (const woss::CoordZ &prev, const woss::CoordZ &curr)
virtual double	addWayPoint (const WayPoint &waypoint)
virtual double	addLoopPoint (const WayPoint &waypoint)

Protected Attributes
double	time_threshold
double	last_time_update
double	current_speed
WayPointVect	waypoint_vect
TimeIdMap	timeid_map
Protected Attributes inherited from WossPosition
double	min_vertical_orientation
double	max_vertical_orientation
Protected Attributes inherited from woss::Location
double	comparison_distance
CoordZ	curr_coordz
double	vertical_orientation
double	horizontal_orientation
double	bearing

Member Typedef Documentation

TimeIdMap

using WossWpPosition::TimeIdMap = std::map< double, int >

protected

TIMIter

using WossWpPosition::TIMIter = TimeIdMap::iterator

protected

TIMRIter

using WossWpPosition::TIMRIter = TimeIdMap::reverse_iterator

protected

WayPointVect

using WossWpPosition::WayPointVect = std::vector< WayPoint >

protected

Constructor & Destructor Documentation

WossWpPosition()

WossWpPosition::WossWpPosition

(

)

References current_speed, last_time_update, time_threshold, timeid_map, and waypoint_vect.

~WossWpPosition()

virtual WossWpPosition::~WossWpPosition ( )

overridevirtualdefault

Member Function Documentation

addLoopPoint()

double WossWpPosition::addLoopPoint ( const WayPoint & waypoint )

protectedvirtual

References addWayPoint(), WossWpPosition::WayPoint::getLoopId(), WossWpPosition::WayPoint::getSpeed(), WossWpPosition::WayPoint::getTotalLoops(), and waypoint_vect.

Referenced by command().

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addWayPoint()

double WossWpPosition::addWayPoint ( const WayPoint & waypoint )

protectedvirtual

References timeid_map, and waypoint_vect.

Referenced by addLoopPoint(), and command().

command()

int WossWpPosition::command ( int argc, const char *const * argv )

overridevirtual

Reimplemented from WossPosition.

References addLoopPoint(), addWayPoint(), WossPosition::command(), WossPosition::getDepth(), WossPosition::getLatitude(), WossPosition::getLongitude(), woss::Location::setLocation(), and waypoint_vect.

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getBearing()

double WossWpPosition::getBearing ( )

overridevirtual

Gets current bearing in [-pi,pi]

Returns

bearing [dec degrees]

Reimplemented from woss::Location.

References woss::Location::bearing, last_time_update, time_threshold, and update().

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getLocation()

woss::CoordZ WossWpPosition::getLocation ( )

overridevirtual

Gets current coordinates

Returns

valid woss::CoordZ

Reimplemented from woss::Location.

References woss::Location::getLocation(), last_time_update, time_threshold, and update().

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getSpeed()

double WossWpPosition::getSpeed ( )

virtual

References current_speed, last_time_update, time_threshold, and update().

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getVerticalOrientation()

double WossWpPosition::getVerticalOrientation ( )

overridevirtual

Gets current vertical orientation from reference line (0 degrees = parallel to sea surface / bottom ). Negative values are towards the surface, while positive ones are towards sea bottom

Returns

difference angle [dec degrees]

Reimplemented from woss::Location.

References last_time_update, time_threshold, update(), and woss::Location::vertical_orientation.

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isEquivalentTo()

bool WossWpPosition::isEquivalentTo ( const woss::CoordZ & coordz )

overridevirtual

Checks if the woss::CoordZ given is equivalent to this Location

Parameters

coordz

valid woss::CoordZ to check

Returns

true if assumption is valid, false otherwise

Reimplemented from woss::Location.

References woss::Location::comparison_distance, and woss::Location::curr_coordz.

update()

void WossWpPosition::update ( double now )

protectedvirtual

References current_speed, last_time_update, woss::Location::setLocation(), timeid_map, updateBearing(), updateVerticalOrientation(), and waypoint_vect.

Referenced by getBearing(), getLocation(), getSpeed(), and getVerticalOrientation().

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updateBearing()

void WossWpPosition::updateBearing ( const woss::CoordZ & prev, const woss::CoordZ & curr )

protectedvirtual

References woss::Location::bearing, and woss::Coord::getInitialBearing().

Referenced by update().

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updateVerticalOrientation()

void WossWpPosition::updateVerticalOrientation ( const woss::CoordZ & prev, const woss::CoordZ & curr )

protectedvirtual

References woss::CoordZ::getDepth(), woss::Coord::getGreatCircleDistance(), WossPosition::max_vertical_orientation, WossPosition::min_vertical_orientation, and woss::Location::vertical_orientation.

Referenced by update().

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Member Data Documentation

current_speed

double WossWpPosition::current_speed

protected

Referenced by getSpeed(), update(), and WossWpPosition().

last_time_update

double WossWpPosition::last_time_update

protected

Referenced by getBearing(), getLocation(), getSpeed(), getVerticalOrientation(), update(), and WossWpPosition().

time_threshold

double WossWpPosition::time_threshold

protected

Referenced by getBearing(), getLocation(), getSpeed(), getVerticalOrientation(), and WossWpPosition().

timeid_map

TimeIdMap WossWpPosition::timeid_map

protected

Referenced by addWayPoint(), update(), and WossWpPosition().

waypoint_vect

WayPointVect WossWpPosition::waypoint_vect

protected

Referenced by addLoopPoint(), addWayPoint(), command(), update(), and WossWpPosition().

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

• woss_phy/uw-woss-waypoint-position.h
• woss_phy/uw-woss-waypoint-position.cpp