Vector2Mission Class Reference

A return to mission handler using only vector commands.

#include <Handlers.hpp>

Inheritance diagram for Vector2Mission:

Public Member Functions
retVal_e	Initialize (CognitionState_t *state)
	perform all initialization activities for a specific task More...
retVal_e	Execute (CognitionState_t *state)
	perform the core activity More...
retVal_e	Terminate (CognitionState_t *state)
	perform termination activities More...
Public Member Functions inherited from EventHandler< CognitionState_t >
bool	RunEvent (CognitionState_t *state)
	Run this event. More...
void	ExecuteHandler (std::shared_ptr< EventHandler< CognitionState_t > > hdl, std::string eventName, float priorityNew=0)
	Spawn another handler. More...

Public Attributes
larcfm::Position	target
	target position we are currently vectoring to
double	gs
	ground speed
Public Attributes inherited from EventHandler< CognitionState_t >
std::string	eventName
	event name
execState_e	execState
	current execution state for this handler
std::list< std::shared_ptr< EventHandler< CognitionState_t > > >	children
	list of child handlers
float	priority
	current execution priority
float	defaultPriority
	user defined priority for this handler

Additional Inherited Members
Public Types inherited from EventHandler< CognitionState_t >
enum	execState_e
	enumerations for the execution state More...
enum	retVal_e
	enumerations for the return state

Member Function Documentation

Execute()

retVal_e Vector2Mission::Execute ( CognitionState_t *  state )

inlinevirtual

Parameters

state

Returns

retVal_e

get heading to target

compute proportial control to reach target altitude

Determine turn direction based on turn conflicts

• left turn if right turn conflict
• right turn if left turn conflict

speed reduction when near target to facilitate capture

Limit climb rate within [-2.5,2.5] m/s. TODO: Use parameters here

Enqueue the computed velocity commands

Finish vectoring if in the vicinity

Reimplemented from EventHandler< CognitionState_t >.

Initialize()

retVal_e Vector2Mission::Initialize ( CognitionState_t *  state )

inlinevirtual

Parameters

state

Returns

retVal_e

Extract current ground speed at initialization and maintain this speed

Two possible targets based on user input

• Vector to next feasible waypoint in the mission plan
• Vector to nearest point on the mission flightplan

Reimplemented from EventHandler< CognitionState_t >.

Terminate()

retVal_e Vector2Mission::Terminate ( CognitionState_t *  state )

inlinevirtual

Parameters

state

Returns

retVal_e

Engage nominal mission plan upon termination

Reimplemented from EventHandler< CognitionState_t >.

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

• Modules/Core/Cognition/Handlers.hpp