DUNE: Uniform Navigational Environment  2.6.0-rc4
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_sizenumber of samples in the moving average
[in]periodinterval 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]vzspeed 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:
Collaboration graph