M_VideoTrackerLosCtrl::IService Class Reference

Public Member Functions
virtual	~IService ()
virtual void	ConfigHelpRateInputSource (std::string const &ClientId)
virtual void	CmdLeadOn (M_Common::ObjectIdOptionalType const &ObjId)
virtual void	CmdApdAbsolute (M_Common::SphericalPositionType const &Pos)
virtual void	CmdApdByStep (int32_t StepsAzimuth, int32_t StepsElevation)
virtual void	CmdApdByCenterOffset (M_Common::SphericalPositionType const &Pos)
virtual void	ConfigAutoLeadOn (bool Enable)
virtual void	NotifyMountTrackingState (M_VideoTracker::MountTrackingState::Type State)
virtual void	NotifyHelpRate (M_Common::AngularVelocityType const &HelpRate)

Detailed Description

Line-of-Sight Control (LOS) Service interface. Contains operations that a client can command the Line-of-Sight Control (LOS) Service to perform.

VideoTracker State Chart

Constructor & Destructor Documentation

~IService()

M_VideoTrackerLosCtrl::IService::~IService ( )

virtual

Member Function Documentation

CmdApdAbsolute()

void M_VideoTrackerLosCtrl::IService::CmdApdAbsolute ( M_Common::SphericalPositionType const &  Pos )

virtual

Set offset between aligned image centre and object centre (Aim Point Designation - APD) by selecting a position in the image.
The current difference between leading object centre and selected position is applied as aim point offset.
Note: APD is applied to the current leading object only and is not persistent. It is reset to zero at every lead-on.

Parameters

Pos	Position in camera field of view w.r.t. image centre.

CmdApdByCenterOffset()

void M_VideoTrackerLosCtrl::IService::CmdApdByCenterOffset ( M_Common::SphericalPositionType const &  Pos )

virtual

Set offset between aligned image centre and object centre (Aim Point Designation - APD).
Note: APD is applied to current leading object only and is not persistent. It is reset to zero at every lead-on.

Parameters

Pos	Offset from object centre.

CmdApdByStep()

void M_VideoTrackerLosCtrl::IService::CmdApdByStep ( int32_t  StepsAzimuth, int32_t  StepsElevation  )

virtual

Increment/decrement current offset between aligned image centre and object centre (Aim Point Designation - APD).
Note: APD is applied to current leading object only and is not persistent. It is reset to zero at every lead-on.
Note: One step corresponds to the angular extent of one pixel of the current VideoTracker input video.

Parameters

StepsAzimuth	The number of steps to increase/decrease in azimuth direction.
StepsElevation	The number of steps to increase/decrease in elevation direction.

CmdLeadOn()

void M_VideoTrackerLosCtrl::IService::CmdLeadOn ( M_Common::ObjectIdOptionalType const &  ObjId )

virtual

Lead-on an object.

Parameters

ObjId

Identifies an existing currently tracked object. Note: If not present then the VideoTracker should initiate a lead-on at the aligned image centre. Note: If ObjId is "Selected", a lead-on on the currently selected object (if available) is initiated. Note: If ObjId is "SelectedOrCenter", a leaded-on on the currently selected object (if available) is initiated. Which object will be leaded-on is described by M_VideoTracker::VtObjectType::IsSelected flag.

ConfigAutoLeadOn()

void M_VideoTrackerLosCtrl::IService::ConfigAutoLeadOn ( bool  Enable )

virtual

Set automatic Lock-On and Lead-On enabled. When enabled, a lead-on the current or first upcoming selected ATR object is initiated.

Parameters

Enable

Enable or disable (True = Enable, False = Disable).

ConfigHelpRateInputSource()

void M_VideoTrackerLosCtrl::IService::ConfigHelpRateInputSource ( std::string const &  ClientId )

virtual

Configure the client source for help rate input.

Note: The "NotifyHelpRate" calls should only be handled from this configured client.

Parameters

ClientId

Name of client to accept data inputs from. Empty string indicates data shall be accepted from all clients.

NotifyHelpRate()

void M_VideoTrackerLosCtrl::IService::NotifyHelpRate ( M_Common::AngularVelocityType const &  HelpRate )

virtual

Set help rate to influence rate that VideoTracker generates. E.g. to support the VideoTracker while coasting.

Parameters

HelpRate

Angular rate [deg/s].

NotifyMountTrackingState()

void M_VideoTrackerLosCtrl::IService::NotifyMountTrackingState ( M_VideoTracker::MountTrackingState::Type  State )

virtual

Inform LOS-Control about the state of mount regarding being controlled by VideoTracker. This information is needed to close the LosCtrl loop.

Parameters

State

Tracking state of a Mount.