Supervisors::AUV::Assist::AscentRate Class Reference

Public Member Functions
	AscentRate (unsigned window_size, float period)
	~AscentRate (void)
float	update (float vz)
float	mean (void) const

Constructor & Destructor Documentation

Supervisors::AUV::Assist::AscentRate::AscentRate ( unsigned  window_size, float  period  )

inline

Constructor.

Parameters

[in]	window_size	number of samples in the moving average
[in]	period	interval of time between samples

Supervisors::AUV::Assist::AscentRate::~AscentRate ( void  )

inline

Member Function Documentation

float Supervisors::AUV::Assist::AscentRate::mean ( void  ) const

inline

Output the mean ascent rate.

Returns

most recently computed value for the ascent rate

Referenced by Supervisors::AUV::Assist::Task::ascentCondition(), and update().

float Supervisors::AUV::Assist::AscentRate::update ( float  vz )

inline

Update the ascent rate computation.

Parameters

[in]

vz

speed in the z axis from EstimatedState message

Returns

newly computed value for the ascent rate

References mean().

Referenced by Supervisors::AUV::Assist::Task::consume().

Collaboration diagram for Supervisors::AUV::Assist::AscentRate: