tRunCtrl_Simulator Class Reference

走行制御モジュールのシミュレートタスク More...

#include <tRunCtrlSimulator.h>

Inheritance diagram for tRunCtrl_Simulator:

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Collaboration diagram for tRunCtrl_Simulator:

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List of all members.

Classes
class	TicksPosition
Public Member Functions
void	init (void)
	初期化
void	recv (void)
	受信処理
void	exec1msec (unsigned long total_msec)
	1msec 毎の処理
void	send (void)
	送信処理
bool	updatePosition (void)
	筐体位置を更新するか
void	setLocalPosition (const VXV::Position3D &position)
	シミュレータの筐体位置を更新
VXV::Position3D	getBodyPosition (const VXV::Position3D &position)
	更新された筐体位置
Friends
class	mRunCtrl

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Detailed Description

走行制御モジュールのシミュレートタスク

Definition at line 25 of file tRunCtrlSimulator.h.

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Member Function Documentation

void tRunCtrl_Simulator::exec1msec

(

unsigned long

total_msec

)

[virtual]

1msec 毎の処理

Parameters:

total_msec

[i] タイムスタンプ

Implements TaskInterface.

Definition at line 67 of file tRunCtrlSimulator.cpp.

References getBodyPosition().

bool tRunCtrl_Simulator::updatePosition

(

void

)

[virtual]

筐体位置を更新するか

Returns:

筐体位置を更新する場合に true

Implements TaskInterface.

Definition at line 79 of file tRunCtrlSimulator.cpp.

void tRunCtrl_Simulator::setLocalPosition

(

const VXV::Position3D &

position

)

シミュレータの筐体位置を更新

Parameters:

position

[i] 更新位置

Definition at line 84 of file tRunCtrlSimulator.cpp.

References bodyPosition_t::body_crd, runCtrl_t::bodyPos, bodyPosition_t::cnt_decimal, bodyPosition_t::cnt_integer, bodyPosition_t::cnt_per_m, bodyPosition_t::div16_cnt, bodyPosition_t::div16_cnt_max, bodyPosition_t::div16_cnt_mul, coordinateInfo_t::km, coordinateInfo_t::m, coordinateInfo_t::mm, bodyPosition_t::rotate_num, VXV::Grid::x, VXV::Grid::y, and VXV::Position::zt.

Referenced by mRunCtrl::getLocalPosition().

VXV::Position3D tRunCtrl_Simulator::getBodyPosition

(

const VXV::Position3D &

position

)

[virtual]

更新された筐体位置

Parameters:

position

[i] 更新前の筐体位置

Implements TaskInterface.

Definition at line 131 of file tRunCtrlSimulator.cpp.

References coordinateInfo_t::div16, runCtrl_t::gl_crd, and VXV::Direction::rad().

Referenced by exec1msec().

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

• src/monitor/cpp/tRunCtrlSimulator.h
• src/monitor/cpp/tRunCtrlSimulator.cpp