diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/navigator/loiter.cpp | 29 | ||||
| -rw-r--r-- | src/modules/navigator/loiter.h | 16 | ||||
| -rw-r--r-- | src/modules/navigator/mission.cpp | 52 | ||||
| -rw-r--r-- | src/modules/navigator/mission.h | 18 | ||||
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 70 | ||||
| -rw-r--r-- | src/modules/navigator/mission_block.h | 12 | ||||
| -rw-r--r-- | src/modules/navigator/navigator.h | 4 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 15 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_mode.cpp | 39 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_mode.h | 17 | ||||
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 62 | ||||
| -rw-r--r-- | src/modules/navigator/rtl.h | 20 |
12 files changed, 185 insertions, 169 deletions
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 542483fb1..f827e70c9 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -36,6 +36,7 @@ * Helper class to loiter * * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <string.h> @@ -51,28 +52,42 @@ #include <uORB/topics/position_setpoint_triplet.h> #include "loiter.h" +#include "navigator.h" Loiter::Loiter(Navigator *navigator, const char *name) : MissionBlock(navigator, name) { /* load initial params */ updateParams(); - /* initial reset */ - on_inactive(); } Loiter::~Loiter() { } -bool -Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Loiter::on_inactive() { - /* set loiter item, don't reuse an existing position setpoint */ - return set_loiter_item(pos_sp_triplet); } void -Loiter::on_inactive() +Loiter::on_activation() +{ + /* set current mission item to loiter */ + set_loiter_item(&_mission_item); + + /* convert mission item to current setpoint */ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +Loiter::on_active() { } diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h index 65ff5c31e..37ab57a07 100644 --- a/src/modules/navigator/loiter.h +++ b/src/modules/navigator/loiter.h @@ -50,25 +50,15 @@ class Loiter : public MissionBlock { public: - /** - * Constructor - */ Loiter(Navigator *navigator, const char *name); - /** - * Destructor - */ ~Loiter(); - /** - * This function is called while the mode is inactive - */ virtual void on_inactive(); - /** - * This function is called while the mode is active - */ - virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(); + + virtual void on_active(); }; #endif diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 72255103b..1e86b1b6c 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -54,8 +54,8 @@ #include <uORB/topics/mission.h> #include <uORB/topics/mission_result.h> -#include "navigator.h" #include "mission.h" +#include "navigator.h" Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), @@ -82,8 +82,6 @@ Mission::~Mission() void Mission::on_inactive() { - _first_run = true; - /* check anyway if missions have changed so that feedback to groundstation is given */ bool onboard_updated; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); @@ -98,11 +96,15 @@ Mission::on_inactive() } } -bool -Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Mission::on_activation() { - bool updated = false; + set_mission_items(); +} +void +Mission::on_active() +{ /* check if anything has changed */ bool onboard_updated; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); @@ -117,20 +119,19 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) } /* reset mission items if needed */ - if (onboard_updated || offboard_updated || _first_run) { - set_mission_items(pos_sp_triplet); - updated = true; - _first_run = false; + if (onboard_updated || offboard_updated) { + set_mission_items(); + + _navigator->set_position_setpoint_triplet_updated(); } /* lets check if we reached the current mission item */ if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) { advance_mission(); - set_mission_items(pos_sp_triplet); - updated = true; - } + set_mission_items(); - return updated; + _navigator->set_position_setpoint_triplet_updated(); + } } void @@ -220,8 +221,10 @@ Mission::advance_mission() } void -Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) +Mission::set_mission_items() { + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + set_previous_pos_setpoint(pos_sp_triplet); /* try setting onboard mission item */ @@ -232,7 +235,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: onboard mission running"); } _mission_type = MISSION_TYPE_ONBOARD; - _navigator->set_can_loiter_at_sp(false); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); /* try setting offboard mission item */ } else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) { @@ -242,7 +245,8 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: offboard mission running"); } _mission_type = MISSION_TYPE_OFFBOARD; - _navigator->set_can_loiter_at_sp(false); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); + } else { if (_mission_type != MISSION_TYPE_NONE) { mavlink_log_info(_navigator->get_mavlink_fd(), @@ -252,9 +256,15 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet) "#audio: no mission available"); } _mission_type = MISSION_TYPE_NONE; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); - set_loiter_item(pos_sp_triplet); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached); + + set_loiter_item(&_mission_item); + + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + reset_mission_item_reached(); report_mission_finished(); } @@ -273,7 +283,6 @@ Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current &new_mission_item)) { /* convert the current mission item and set it valid */ mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); - current_pos_sp->valid = true; reset_mission_item_reached(); @@ -300,7 +309,6 @@ Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *curren if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) { /* convert the current mission item and set it valid */ mission_item_to_position_setpoint(&new_mission_item, current_pos_sp); - current_pos_sp->valid = true; reset_mission_item_reached(); @@ -324,7 +332,6 @@ Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp) if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) { /* convert next mission item to position setpoint */ mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - next_pos_sp->valid = true; return; } } @@ -352,7 +359,6 @@ Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp) if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) { /* convert next mission item to position setpoint */ mission_item_to_position_setpoint(&new_mission_item, next_pos_sp); - next_pos_sp->valid = true; return; } } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index 6e4761946..ac293990f 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -65,25 +65,15 @@ class Navigator; class Mission : public MissionBlock { public: - /** - * Constructor - */ Mission(Navigator *navigator, const char *name); - /** - * Destructor - */ virtual ~Mission(); - /** - * This function is called while the mode is inactive - */ virtual void on_inactive(); - /** - * This function is called while the mode is active - */ - virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(); + + virtual void on_active(); private: /** @@ -104,7 +94,7 @@ private: /** * Set new mission items */ - void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet); + void set_mission_items(); /** * Try to set the current position setpoint from an onboard mission item diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 9b8d3d9c7..bf3c934a6 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -45,6 +45,7 @@ #include <systemlib/err.h> #include <geo/geo.h> +#include <mavlink/mavlink_log.h> #include <uORB/uORB.h> @@ -57,8 +58,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) : _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0), - _mission_item({0}), - _mission_item_valid(false) + _mission_item({0}) { } @@ -69,6 +69,10 @@ MissionBlock::~MissionBlock() bool MissionBlock::is_mission_item_reached() { + if (_mission_item.nav_cmd == NAV_CMD_IDLE) { + return false; + } + if (_mission_item.nav_cmd == NAV_CMD_LAND) { return _navigator->get_vstatus()->condition_landed; } @@ -82,7 +86,6 @@ MissionBlock::is_mission_item_reached() hrt_abstime now = hrt_absolute_time(); if (!_waypoint_position_reached) { - float dist = -1.0f; float dist_xy = -1.0f; float dist_z = -1.0f; @@ -207,36 +210,39 @@ MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_ } } -bool -MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet) +void +MissionBlock::set_loiter_item(struct mission_item_s *item) { - /* don't change setpoint if 'can_loiter_at_sp' flag set */ - if (!(_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) { - /* use current position */ - pos_sp_triplet->current.lat = _navigator->get_global_position()->lat; - pos_sp_triplet->current.lon = _navigator->get_global_position()->lon; - pos_sp_triplet->current.alt = _navigator->get_global_position()->alt; - pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */ - - _navigator->set_can_loiter_at_sp(true); - } + if (_navigator->get_vstatus()->condition_landed) { + /* landed, don't takeoff, but switch to IDLE mode */ + item->nav_cmd = NAV_CMD_IDLE; - if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER - || pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius() - || pos_sp_triplet->current.loiter_direction != 1 - || pos_sp_triplet->previous.valid - || !pos_sp_triplet->current.valid - || pos_sp_triplet->next.valid) { - /* position setpoint triplet should be updated */ - pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER; - pos_sp_triplet->current.loiter_radius = _navigator->get_loiter_radius(); - pos_sp_triplet->current.loiter_direction = 1; - - pos_sp_triplet->previous.valid = false; - pos_sp_triplet->current.valid = true; - pos_sp_triplet->next.valid = false; - return true; - } + } else { + item->nav_cmd = NAV_CMD_LOITER_UNLIMITED; + + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - return false; + if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) { + /* use current position setpoint */ + item->lat = pos_sp_triplet->current.lat; + item->lon = pos_sp_triplet->current.lon; + item->altitude = pos_sp_triplet->current.alt; + + } else { + /* use current position */ + item->lat = _navigator->get_global_position()->lat; + item->lon = _navigator->get_global_position()->lon; + item->altitude = _navigator->get_global_position()->alt; + } + + item->altitude_is_relative = false; + item->yaw = NAN; + item->loiter_radius = _navigator->get_loiter_radius(); + item->loiter_direction = 1; + item->acceptance_radius = _navigator->get_acceptance_radius(); + item->time_inside = 0.0f; + item->pitch_min = 0.0f; + item->autocontinue = false; + item->origin = ORIGIN_ONBOARD; + } } diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index f99002752..22f42cc31 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -64,6 +64,7 @@ public: */ virtual ~MissionBlock(); +protected: /** * Check if mission item has been reached * @return true if successfully reached @@ -88,19 +89,14 @@ public: void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet); /** - * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position - * - * @param the position setpoint triplet to set - * @return true if setpoint has changed + * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position */ - bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet); + void set_loiter_item(struct mission_item_s *item); + mission_item_s _mission_item; bool _waypoint_position_reached; bool _waypoint_yaw_reached; hrt_abstime _time_first_inside_orbit; - - mission_item_s _mission_item; - bool _mission_item_valid; }; #endif diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 184ecd365..5dcd8859e 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -103,6 +103,7 @@ public: * Setters */ void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; } + void set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; } /** * Getters @@ -110,6 +111,7 @@ public: struct vehicle_status_s* get_vstatus() { return &_vstatus; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } struct home_position_s* get_home_position() { return &_home_pos; } + struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } Geofence& get_geofence() { return _geofence; } @@ -162,7 +164,7 @@ private: NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */ - bool _update_triplet; /**< flags if position SP triplet needs to be published */ + bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 546602741..bb48db829 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -121,7 +121,7 @@ Navigator::Navigator() : _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), - _update_triplet(false), + _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD") { @@ -371,24 +371,21 @@ Navigator::task_main() /* iterate through navigation modes and set active/inactive for each */ for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { - if (_navigation_mode == _navigation_mode_array[i]) { - _update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet); - } else { - _navigation_mode_array[i]->on_inactive(); - } + _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } /* if nothing is running, set position setpoint triplet invalid */ if (_navigation_mode == nullptr) { + // TODO publish empty sp only once _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; - _update_triplet = true; + _pos_sp_triplet_updated = true; } - if (_update_triplet) { + if (_pos_sp_triplet_updated) { publish_position_setpoint_triplet(); - _update_triplet = false; + _pos_sp_triplet_updated = false; } perf_end(_loop_perf); diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 25e767c2b..f43215665 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -33,12 +33,14 @@ /** * @file navigator_mode.cpp * - * Helper class for different modes in navigator + * Base class for different modes in navigator * * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include "navigator_mode.h" +#include "navigator.h" NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : SuperBlock(NULL, name), @@ -56,15 +58,38 @@ NavigatorMode::~NavigatorMode() } void +NavigatorMode::run(bool active) { + if (active) { + if (_first_run) { + /* first run */ + _first_run = false; + on_activation(); + + } else { + /* periodic updates when active */ + on_active(); + } + + } else { + /* periodic updates when inactive */ + _first_run = true; + on_inactive(); + } +} + +void NavigatorMode::on_inactive() { - _first_run = true; } -bool -NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +NavigatorMode::on_activation() +{ + /* invalidate position setpoint by default */ + _navigator->get_position_setpoint_triplet()->current.valid = false; +} + +void +NavigatorMode::on_active() { - pos_sp_triplet->current.valid = false; - _first_run = false; - return false; } diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h index cbb53d91b..a7ba79bba 100644 --- a/src/modules/navigator/navigator_mode.h +++ b/src/modules/navigator/navigator_mode.h @@ -33,9 +33,10 @@ /** * @file navigator_mode.h * - * Helper class for different modes in navigator + * Base class for different modes in navigator * * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef NAVIGATOR_MODE_H @@ -65,21 +66,27 @@ public: */ virtual ~NavigatorMode(); + void run(bool active); + /** * This function is called while the mode is inactive */ virtual void on_inactive(); /** + * This function is called one time when mode become active, poos_sp_triplet must be initialized here + */ + virtual void on_activation(); + + /** * This function is called while the mode is active - * - * @param position setpoint triplet to set - * @return true if position setpoint triplet has been changed */ - virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_active(); protected: Navigator *_navigator; + +private: bool _first_run; }; diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 043f773a4..7cf6bb1a8 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -75,53 +75,49 @@ RTL::~RTL() void RTL::on_inactive() { - _first_run = true; - /* reset RTL state only if setpoint moved */ if (!_navigator->get_can_loiter_at_sp()) { _rtl_state = RTL_STATE_NONE; } } -bool -RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) { - bool updated = false; - - if (_first_run) { - _first_run = false; - - /* decide where to enter the RTL procedure when we switch into it */ - if (_rtl_state == RTL_STATE_NONE) { - /* for safety reasons don't go into RTL if landed */ - if (_navigator->get_vstatus()->condition_landed) { - _rtl_state = RTL_STATE_LANDED; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); - - /* if lower than return altitude, climb up first */ - } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt - + _param_return_alt.get()) { - _rtl_state = RTL_STATE_CLIMB; - - /* otherwise go straight to return */ - } else { - /* set altitude setpoint to current altitude */ - _rtl_state = RTL_STATE_RETURN; - _mission_item.altitude_is_relative = false; - _mission_item.altitude = _navigator->get_global_position()->alt; - } + /* decide where to enter the RTL procedure when we switch into it */ + if (_rtl_state == RTL_STATE_NONE) { + /* for safety reasons don't go into RTL if landed */ + if (_navigator->get_vstatus()->condition_landed) { + _rtl_state = RTL_STATE_LANDED; + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); + + /* if lower than return altitude, climb up first */ + } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + + _param_return_alt.get()) { + _rtl_state = RTL_STATE_CLIMB; + + /* otherwise go straight to return */ + } else { + /* set altitude setpoint to current altitude */ + _rtl_state = RTL_STATE_RETURN; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _navigator->get_global_position()->alt; } + } - set_rtl_item(pos_sp_triplet); - updated = true; + set_rtl_item(pos_sp_triplet); +} - } else if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) { +bool +RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) { advance_rtl(); set_rtl_item(pos_sp_triplet); - updated = true; + return true; } - return updated; + return false; } void diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index b4b729e89..9c8b3fdfc 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -57,29 +57,15 @@ class Navigator; class RTL : public MissionBlock { public: - /** - * Constructor - */ RTL(Navigator *navigator, const char *name); - /** - * Destructor - */ ~RTL(); - /** - * This function is called while the mode is inactive - */ - void on_inactive(); + virtual void on_inactive(); - /** - * This function is called while the mode is active - * - * @param position setpoint triplet that needs to be set - * @return true if updated - */ - bool on_active(position_setpoint_triplet_s *pos_sp_triplet); + virtual void on_activation(position_setpoint_triplet_s *pos_sp_triplet); + virtual bool on_active(position_setpoint_triplet_s *pos_sp_triplet); private: /** |