BeoSubSim Class Reference

#include <BeoSub/BeoSubSim.H>

Inheritance diagram for BeoSubSim:

[legend]Collaboration diagram for BeoSubSim:

[legend]List of all members.

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Detailed Description

Definition and access functions for the BeoSub.

BeoSub is an autonomous visually-guided submarine. This class implements the high-level functionality, relying on low-level drivers to handle motor activation, compass reading, etc

Definition at line 55 of file BeoSubSim.H.

Public Member Functions
void	updateCompass (const Angle heading, const Angle pitch, const Angle roll)
	Update compass - used by sensors.
void	updateDepth (const float depth)
	Update depth - used by sensors.
void	updatePosition (const float z, const float x)
	Update position.
float	getCurrentZ ()
float	getCurrentX ()
float	getRelDist ()
bool	isStrafing ()
void	setStrafing (const bool s=false)
void	setUpGrabFlag (const bool s=false)
bool	getUpGrabFlag ()
void	setDownGrabFlag (const bool s=false)
bool	getDownGrabFlag ()
void	setFrontGrabFlag (const bool s=false)
bool	getFrontGrabFlag ()
void	useDepthPID (const bool useit)
	Turn depth PID on/off.
void	useHeadingPID (const bool useit)
	Turn heading PID on/off.
void	usePitchPID (const bool useit)
	Turn pitch PID on/off.
Constructors and Destructors
	BeoSubSim (OptionManager &mgr)
	Constructor.
	~BeoSubSim ()
	Destructor.
mid-level overloads
virtual void	advanceRel (const float relDist, const bool stop=true)
	Advance the sub by some distance in meters.
virtual void	strafeRel (const float relDist)
	Strafe the sub by some distance in meters.
void	turnAbs (const Angle finalHeading, const bool blocking=false)
	Turn the sub to the given heading.
void	turnRel (const Angle relHeading, const bool blocking=false)
	Turns the sub to the given heading relative to our current heading.
void	turnOpen (const Angle relHeading, const bool blocking=false)
void	diveAbs (const float finalDepth, const bool blocking=false)
	Makes the sub dive to a specific depth in meters.
void	diveRel (const float relDepth, const bool blocking=false)
	Makes the sub dive to a specific depth relative to current.
Low-level access functions
void	thrust (const float leftval, const float rightval)
	Activate the thrusters.
void	getThrusters (float &leftval, float &rightval) const
	Get the current thruster settings.
void	setFrontBallast (const float val, const bool blocking=false)
	Set the front ballast. Value is between 0.0 (empty) and 1.0 (full).
void	setRearBallast (const float val, const bool blocking=false)
	Set the rear ballast. Value is between 0.0 (empty) and 1.0 (full).
void	setBallasts (const float f, const float r, const bool blocking=false)
	Set all ballasts.
float	getFrontBallast () const
	Get the front ballast. Value is between 0.0 (empty) and 1.0 (full).
float	getRearBallast () const
	Get the rear ballast. Value is between 0.0 (empty) and 1.0 (full).
void	getBallasts (float &f, float &r) const
	Get all ballasts.
virtual void	dropMarker (const bool blocking=false)
	Drop a marker.
virtual Image< PixRGB< byte > >	grabImage (const enum BeoSubCamera cam) const
	Grab a an image from one of the cameras.
Protected Member Functions
void	start1 ()
	get started, before our subcomponents start
void	start2 ()
	get started, after our subcomponents have started
Protected Attributes
NModelParam< int >	itsLeftThrusterServoNum
	servo num for left thruster
NModelParam< int >	itsRightThrusterServoNum
	servo num for right thruster
nub::soft_ref< HMR3300 >	itsHMR3300
	compass for heading
nub::soft_ref< BeoChip >	itsBeo
	our beochip
nub::soft_ref< BeoSubBallast >	itsFballast
nub::soft_ref< BeoSubBallast >	itsRballast
	our 2 ballasts
nub::soft_ref< BeoSubIMU >	itsIMU
	our IMU
nub::soft_ref< FrameIstream >	itsCameraFront
nub::soft_ref< FrameIstream >	itsCameraDown
nub::soft_ref< FrameIstream >	itsCameraUp
	our three cameras
float	itsThrustLeft
float	itsThrustRight
	our current thruster settings
float	relDistance
bool	isStrafe
int	imageCounter
float	itsCurrentZ
float	itsCurrentX
bool	upImageFlag
bool	frontImageFlag
bool	downImageFlag
BeoSubSensor< float >	itsDepthSensor
	sensor cleaner for depth
BeoSubSensor< Angle >	itsHeadingSensor
	sensor cleaner for heading
BeoSubSensor< Angle >	itsPitchSensor
	sensor cleaner for pitch
PID< float >	itsDepthPID
	PID for depth stabilization.
PID< Angle >	itsHeadingPID
	PID for heading stabilization.
PID< Angle >	itsPitchPID
	PID for pitch stabilization.
bool	itsDepthPIDon
bool	itsHeadingPIDon
bool	itsPitchPIDon
Friends
class	BeoSubListener
class	HMRlistener

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Constructor & Destructor Documentation

BeoSubSim::BeoSubSim (  OptionManager &  mgr  )

Constructor. This is the listener class that is attached to each BeoChip in the ballast tube of the submarine. This class is just a pass-through to the function dispatchBeoChipEvent() of class BeoSubOneBal. Definition at line 97 of file BeoSubSim.C.

BeoSubSim::~BeoSubSim (   )

Destructor. Definition at line 126 of file BeoSubSim.C.

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Member Function Documentation

void BeoSubSim::advanceRel (  const float  relDist, const bool  stop = true )  [virtual]

Advance the sub by some distance in meters. This is an overload of BeoSub::advanceRel() which ensures we turn off the heading PID during the advance Implements BeoSub. Definition at line 290 of file BeoSubSim.C. References relDistance, and thrust().

void BeoSubSim::diveAbs (  const float  finalDepth, const bool  blocking = false )

Makes the sub dive to a specific depth in meters. Reimplemented from BeoSub. Definition at line 320 of file BeoSubSim.C. References Attitude::depth, and BeoSub::itsTargetAttitude.

void BeoSubSim::diveRel (  const float  relDepth, const bool  blocking = false )

Makes the sub dive to a specific depth relative to current. Negative depth is up, positive is down. Distance is in meters. Reimplemented from BeoSub. Definition at line 324 of file BeoSubSim.C. References Attitude::depth, BeoSub::itsCurrentAttitude, and BeoSub::itsTargetAttitude.

void BeoSubSim::dropMarker (  const bool  blocking = false  )  [virtual]

Drop a marker. Implements BeoSub. Definition at line 247 of file BeoSubSim.C. References LFATAL.

void BeoSubSim::getBallasts (  float &  f, float &  r )  const

Get all ballasts. Definition at line 243 of file BeoSubSim.C.

float BeoSubSim::getFrontBallast (   )  const

Get the front ballast. Value is between 0.0 (empty) and 1.0 (full). Definition at line 235 of file BeoSubSim.C.

float BeoSubSim::getRearBallast (   )  const

Get the rear ballast. Value is between 0.0 (empty) and 1.0 (full). Definition at line 239 of file BeoSubSim.C.

void BeoSubSim::getThrusters (  float &  leftval, float &  rightval )  const

Get the current thruster settings. Definition at line 218 of file BeoSubSim.C. References itsThrustLeft, and itsThrustRight.

Image< PixRGB< byte > > BeoSubSim::grabImage (  const enum BeoSubCamera  cam  )  const [virtual]

Grab a an image from one of the cameras. Implements BeoSub. Definition at line 261 of file BeoSubSim.C. References downImageFlag, frontImageFlag, imageCounter, LERROR, Raster::ReadRGB(), sformat(), and upImageFlag.

void BeoSubSim::setBallasts (  const float  f, const float  r, const bool  blocking = false )

Set all ballasts. Definition at line 230 of file BeoSubSim.C. Referenced by start2().

void BeoSubSim::setFrontBallast (  const float  val, const bool  blocking = false )

Set the front ballast. Value is between 0.0 (empty) and 1.0 (full). Definition at line 222 of file BeoSubSim.C.

void BeoSubSim::setRearBallast (  const float  val, const bool  blocking = false )

Set the rear ballast. Value is between 0.0 (empty) and 1.0 (full). Definition at line 226 of file BeoSubSim.C.

void BeoSubSim::start1 (   )  [protected, virtual]

get started, before our subcomponents start Reimplemented from BeoSub. Definition at line 130 of file BeoSubSim.C. References BeoSub::start1().

void BeoSubSim::start2 (   )  [protected, virtual]

get started, after our subcomponents have started Reimplemented from ModelComponent. Definition at line 140 of file BeoSubSim.C. References CLINFO, itsHeadingPIDon, itsPitchPIDon, and setBallasts().

void BeoSubSim::strafeRel (  const float  relDist  )  [virtual]

Strafe the sub by some distance in meters. this is an overload of BeoSub::strafeRel() which ensures we turn the heading PID off during the strafe Reimplemented from BeoSub. Definition at line 298 of file BeoSubSim.C. References isStrafe, and relDistance.

void BeoSubSim::thrust (  const float  leftval, const float  rightval )

Activate the thrusters. Values should be between -1.0 (full reverse) and 1.0 (full forward), 0.0 being no motion Definition at line 211 of file BeoSubSim.C. References itsThrustLeft, and itsThrustRight. Referenced by advanceRel().

void BeoSubSim::turnAbs (  const Angle  finalHeading, const bool  blocking = false )

Turn the sub to the given heading. Parameters: blocking  if true will block until completion or some timeout occurs Reimplemented from BeoSub. Definition at line 304 of file BeoSubSim.C. References Attitude::heading, and BeoSub::itsTargetAttitude.

void BeoSubSim::turnRel (  const Angle  relHeading, const bool  blocking = false )

Turns the sub to the given heading relative to our current heading. Reimplemented from BeoSub. Definition at line 308 of file BeoSubSim.C. References Attitude::heading, BeoSub::itsCurrentAttitude, and BeoSub::itsTargetAttitude.

void BeoSubSim::updateCompass (  const Angle  heading, const Angle  pitch, const Angle  roll )

Update compass - used by sensors. Definition at line 168 of file BeoSubSim.C. References Attitude::compassTime, Timer::getSecs(), Attitude::heading, BeoSub::itsCurrentAttitude, BeoSub::itsLock, BeoSub::itsMasterClock, Attitude::pitch, and t.

void BeoSubSim::updateDepth (  const float  depth  )

Update depth - used by sensors. Definition at line 190 of file BeoSubSim.C. References Attitude::depth, Timer::getSecs(), BeoSub::itsCurrentAttitude, itsDepthSensor, BeoSub::itsLock, BeoSub::itsMasterClock, BeoSubSensor< T >::newMeasurement(), Attitude::pressureTime, and t.

void BeoSubSim::updatePosition (  const float  z, const float  x )

Update position. Definition at line 206 of file BeoSubSim.C. References itsCurrentX, and itsCurrentZ.

void BeoSubSim::useDepthPID (  const bool  useit  )

Turn depth PID on/off. Definition at line 329 of file BeoSubSim.C. References itsDepthPIDon.

void BeoSubSim::useHeadingPID (  const bool  useit  )

Turn heading PID on/off. Definition at line 333 of file BeoSubSim.C. References itsHeadingPIDon.

void BeoSubSim::usePitchPID (  const bool  useit  )

Turn pitch PID on/off. Definition at line 337 of file BeoSubSim.C. References itsPitchPIDon.

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Member Data Documentation

nub::soft_ref<BeoChip> BeoSubSim::itsBeo [protected]

our beochip Definition at line 165 of file BeoSubSim.H.

nub::soft_ref<FrameIstream> BeoSubSim::itsCameraUp [protected]

our three cameras Definition at line 168 of file BeoSubSim.H.

PID<float> BeoSubSim::itsDepthPID [protected]

PID for depth stabilization. Definition at line 180 of file BeoSubSim.H.

BeoSubSensor<float> BeoSubSim::itsDepthSensor [protected]

sensor cleaner for depth Definition at line 177 of file BeoSubSim.H. Referenced by updateDepth().

PID<Angle> BeoSubSim::itsHeadingPID [protected]

PID for heading stabilization. Definition at line 181 of file BeoSubSim.H.

BeoSubSensor<Angle> BeoSubSim::itsHeadingSensor [protected]

sensor cleaner for heading Definition at line 178 of file BeoSubSim.H.

nub::soft_ref<HMR3300> BeoSubSim::itsHMR3300 [protected]

compass for heading Definition at line 164 of file BeoSubSim.H.

nub::soft_ref<BeoSubIMU> BeoSubSim::itsIMU [protected]

our IMU Definition at line 167 of file BeoSubSim.H.

NModelParam<int> BeoSubSim::itsLeftThrusterServoNum [protected]

servo num for left thruster Definition at line 161 of file BeoSubSim.H.

PID<Angle> BeoSubSim::itsPitchPID [protected]

PID for pitch stabilization. Definition at line 182 of file BeoSubSim.H.

BeoSubSensor<Angle> BeoSubSim::itsPitchSensor [protected]

sensor cleaner for pitch Definition at line 179 of file BeoSubSim.H.

nub::soft_ref<BeoSubBallast> BeoSubSim::itsRballast [protected]

our 2 ballasts Definition at line 166 of file BeoSubSim.H.

NModelParam<int> BeoSubSim::itsRightThrusterServoNum [protected]

servo num for right thruster Definition at line 162 of file BeoSubSim.H.

float BeoSubSim::itsThrustRight [protected]

our current thruster settings Definition at line 170 of file BeoSubSim.H. Referenced by getThrusters(), and thrust().

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

• src/BeoSub/BeoSubSim.H
• src/BeoSub/BeoSubSim.C

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