#include <uwsmposition.h>

Inheritance diagram for UWSMPosition:

Collaboration diagram for UWSMPosition:

Public Member Functions
	UWSMPosition ()

virtual	~UWSMPosition ()=default

virtual double	getX () override

virtual double	getY () override

virtual double	getZ () override

virtual double	getXdest () const

virtual double	getYdest () const

virtual double	getZdest () const

double	getSpeed () const

virtual int	command (int argc, const char const argv) override

virtual void	setdest (double x_dest, double y_dest, double z_dest, double speed)

virtual void	setdest (double x_dest, double y_dest, double z_dest)

virtual bool	isDestReached () const

virtual void	setX (double x) override

virtual void	setY (double y) override

virtual void	setZ (double z) override

Private Member Functions
virtual void	update (double now)

Private Attributes
int	debug_

double	trgTime_

double	lastUpdateTime_

double	Xdest_

double	Ydest_

double	Zdest_

double	Xsorg_

double	Ysorg_

double	Zsorg_

double	speed_

Constructor & Destructor Documentation

◆ UWSMPosition()

UWSMPosition::UWSMPosition ( )

UWSMPosition constructor

References debug_.

◆ ~UWSMPosition()

virtual UWSMPosition::~UWSMPosition ( )

virtualdefault

UWSMPosition destructor

Member Function Documentation

◆ command()

int UWSMPosition::command	(	int	argc,
		const char const	argv
	)

overridevirtual

TCL command interpreter. It implements the following OTcl methods:

setdest <x> <y> <z> <speed>
setdest <x>< y>< z>
update

Moreover it inherits all the OTcl method of Position

Parameters

argc	number of arguments in argv
argv	array of strings which are the comand parameters (Note that argv[0] is the name of the object)

Returns: TCL_OK or TCL_ERROR whether the command has been dispatched succesfully or not.

References debug_, setdest(), and update().

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◆ getSpeed()

double UWSMPosition::getSpeed ( ) const

Get the current speed of the node.

Returns: double Current speed of the node

References speed_.

Referenced by UnderwaterPhysicalNoise::getSpeedKnots(), UwPosBasedRtROV::initPkt(), and UwTrackerModule::updateTrackMeasure().

◆ getX()

double UWSMPosition::getX ( )

overridevirtual

Get the current projection on x-axis of the node postion If necessary (updating time expired), update the position values.

Returns: double Current projection on x-axis of the node postion

References lastUpdateTime_, trgTime_, and update().

Referenced by UwROVModule::command(), UwPosBasedRtROV::command(), UwPosBasedRtROV::initPkt(), UwROVModule::initPkt(), UwROVModule::recv(), UwTrackerModule::updateTrackMeasure(), and UwSCFTrackerModule::updateTrackPosition().

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◆ getXdest()

double UWSMPosition::getXdest ( ) const

virtual

Get the x coordinate of the destination point

Returns: double Coordinate along x-axis of destination point

References Xdest_.

Referenced by UwPosBasedRtROV::initPkt().

◆ getY()

double UWSMPosition::getY ( )

overridevirtual

Get the current projection on y-axis of the node postion If necessary (updating time expired), update the position values.

Returns: double Current projection on y-axis of the node postion

References lastUpdateTime_, trgTime_, and update().

Referenced by UwROVModule::command(), UwPosBasedRtROV::command(), UwPosBasedRtROV::initPkt(), UwROVModule::initPkt(), UwROVModule::recv(), UwTrackerModule::updateTrackMeasure(), and UwSCFTrackerModule::updateTrackPosition().

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◆ getYdest()

double UWSMPosition::getYdest ( ) const

virtual

Get the y coordinate of the destination point

Returns: double Coordinate along y-axis of destination point

References Ydest_.

Referenced by UwPosBasedRtROV::initPkt().

◆ getZ()

double UWSMPosition::getZ ( )

overridevirtual

Get the current projection on z-axis of the node postion If necessary (updating time expired), update the position values.

Returns: double Current projection on z-axis of the node postion

References lastUpdateTime_, trgTime_, and update().

Referenced by UwROVModule::command(), UwPosBasedRtROV::command(), UwPosBasedRtROV::initPkt(), UwROVModule::initPkt(), UwROVModule::recv(), UwTrackerModule::updateTrackMeasure(), and UwSCFTrackerModule::updateTrackPosition().

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◆ getZdest()

double UWSMPosition::getZdest ( ) const

virtual

Get the z coordinate of the destination point

Returns: double Coordinate along z-axis of destination point

References Zdest_.

Referenced by UwPosBasedRtROV::initPkt().

◆ isDestReached()

bool UWSMPosition::isDestReached ( ) const

virtual

References Xdest_, Ydest_, and Zdest_.

Referenced by UnderwaterPhysicalNoise::getSpeedKnots().

◆ setdest() [1/2]

void UWSMPosition::setdest	(	double	x_dest,
		double	y_dest,
		double	z_dest
	)

virtual

References debug_, lastUpdateTime_, speed_, trgTime_, update(), Xdest_, Xsorg_, Ydest_, Ysorg_, Zdest_, and Zsorg_.

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◆ setdest() [2/2]

void UWSMPosition::setdest	(	double	x_dest,
		double	y_dest,
		double	z_dest,
		double	speed
	)

virtual

References debug_, lastUpdateTime_, speed_, trgTime_, update(), Xdest_, Xsorg_, Ydest_, Ysorg_, Zdest_, and Zsorg_.

Referenced by UwROVModule::command(), command(), and UwROVModule::recv().

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◆ setX()

void UWSMPosition::setX ( double x )

overridevirtual

Set the projection on x-axis of the node postion

Parameters

double Projection on the x-axis of the node position

References Xdest_, and Xsorg_.

Referenced by UwSCFTrackerModule::start().

◆ setY()

void UWSMPosition::setY ( double y )

overridevirtual

Set the projection on y-axis of the node postion

Parameters

double Projection on the y-axis of the node position

References Ydest_, and Ysorg_.

◆ setZ()

void UWSMPosition::setZ ( double z )

overridevirtual

Set the projection on z-axis of the node postion

Parameters

double Projection on the z-axis of the node position

References Zdest_, and Zsorg_.

◆ update()

void UWSMPosition::update ( double now )

privatevirtual

Update both the current position coordinates.

Parameters

double Time when to update position

References debug_, lastUpdateTime_, speed_, trgTime_, Xdest_, Xsorg_, Ydest_, Ysorg_, Zdest_, and Zsorg_.

Referenced by command(), getX(), getY(), getZ(), setdest(), and setdest().

Member Data Documentation

◆ debug_

int UWSMPosition::debug_

private

Referenced by command(), setdest(), setdest(), update(), and UWSMPosition().

◆ lastUpdateTime_

double UWSMPosition::lastUpdateTime_

private

Time when last update of the coordinates was computed.

Referenced by getX(), getY(), getZ(), setdest(), setdest(), and update().

◆ speed_

double UWSMPosition::speed_

private

Speed of the node.

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

◆ trgTime_

double UWSMPosition::trgTime_

private

Time when the TCL command setdest is invoked.

Referenced by getX(), getY(), getZ(), setdest(), setdest(), and update().

◆ Xdest_

double UWSMPosition::Xdest_

private

Position along x-axis of the destination point.

Referenced by getXdest(), isDestReached(), setdest(), setdest(), setX(), and update().

◆ Xsorg_

double UWSMPosition::Xsorg_

private

Position along x-axis of the starting point.

Referenced by setdest(), setdest(), setX(), and update().

◆ Ydest_

double UWSMPosition::Ydest_

private

Position along y-axis of the destination point.

Referenced by getYdest(), isDestReached(), setdest(), setdest(), setY(), and update().

◆ Ysorg_

double UWSMPosition::Ysorg_

private

Position along y-axis of the starting point.

Referenced by setdest(), setdest(), setY(), and update().

◆ Zdest_

double UWSMPosition::Zdest_

private

Position along z-axis of the destination point.

Referenced by getZdest(), isDestReached(), setdest(), setdest(), setZ(), and update().

◆ Zsorg_

double UWSMPosition::Zsorg_

private

Position along z-axis of the starting point.

Referenced by setdest(), setdest(), setZ(), and update().

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

DESERT_Framework/DESERT/mobility/uwsmposition/uwsmposition.h
DESERT_Framework/DESERT/mobility/uwsmposition/uwsmposition.cpp

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ UWSMPosition()

◆ ~UWSMPosition()

Member Function Documentation

◆ command()

◆ getSpeed()

◆ getX()

◆ getXdest()

◆ getY()

◆ getYdest()

◆ getZ()

◆ getZdest()

◆ isDestReached()

◆ setdest() [1/2]

◆ setdest() [2/2]

◆ setX()

◆ setY()

◆ setZ()

◆ update()

Member Data Documentation

◆ debug_

◆ lastUpdateTime_

◆ speed_

◆ trgTime_

◆ Xdest_

◆ Xsorg_

◆ Ydest_

◆ Ysorg_

◆ Zdest_

◆ Zsorg_