DUNE: Uniform Navigational Environment  2.6.0-rc1
DUNE::Control::BottomTracker::Arguments Struct Reference

Public Attributes

Tasks::Tasktask
 
unsigned fsamples
 
float safe_pitch
 
float min_alt
 
float min_range
 
float alt_tol
 
float depth_tol
 
float depth_limit
 
float slope_hyst
 
bool check_trend
 
unsigned eid
 
float control_period
 
bool depth_avoid
 
float adm_alt
 

Member Data Documentation

float DUNE::Control::BottomTracker::Arguments::adm_alt

Admissible altitude when doing depth control.

float DUNE::Control::BottomTracker::Arguments::alt_tol

Altitude tolerance when in depth control.

bool DUNE::Control::BottomTracker::Arguments::check_trend

Check slope trend in unsafe state.

float DUNE::Control::BottomTracker::Arguments::control_period

Control period of execution for the bottom tracker.

Referenced by DUNE::Control::BottomTracker::onEstimatedState().

bool DUNE::Control::BottomTracker::Arguments::depth_avoid

Enable or disable obstacle avoidance during depth control.

float DUNE::Control::BottomTracker::Arguments::depth_limit

Depth limit for tracking bottom.

float DUNE::Control::BottomTracker::Arguments::depth_tol

Depth below which altitude is ignored.

unsigned DUNE::Control::BottomTracker::Arguments::eid

Entity id for bottom tracker.

Referenced by DUNE::Control::BottomTracker::BottomTracker().

unsigned DUNE::Control::BottomTracker::Arguments::fsamples

Number of samples for forward range moving average.

Referenced by DUNE::Control::BottomTracker::BottomTracker().

float DUNE::Control::BottomTracker::Arguments::min_alt

Minimum admissible altitude for bottom tracking.

float DUNE::Control::BottomTracker::Arguments::min_range

Minimum admissible forward range for bottom tracking.

Referenced by DUNE::Control::BottomTracker::BottomTracker().

float DUNE::Control::BottomTracker::Arguments::safe_pitch

Safe pitch angle to perform bottom tracking.

Referenced by DUNE::Control::BottomTracker::BottomTracker().

float DUNE::Control::BottomTracker::Arguments::slope_hyst

Slope angle hysteresis value for safeness detection.

Referenced by DUNE::Control::BottomTracker::BottomTracker().

Tasks::Task* DUNE::Control::BottomTracker::Arguments::task

Pointer to task.

Referenced by DUNE::Control::BottomTracker::onDesiredZ().

Collaboration diagram for DUNE::Control::BottomTracker::Arguments:
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