DUNE: Uniform Navigational Environment  2.6.0-rc4
Supervisors::AUV::Assist::Arguments Struct Reference

Public Attributes

float dislodge_rpm
 
float depth_threshold
 
float min_ascent_rate
 
unsigned ascent_wsize
 
float trigger_time
 
std::string plan_id
 

Member Data Documentation

unsigned Supervisors::AUV::Assist::Arguments::ascent_wsize

Window size for the moving average of the ascent rate.

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

float Supervisors::AUV::Assist::Arguments::depth_threshold
float Supervisors::AUV::Assist::Arguments::dislodge_rpm

RPM value for dislodging the vehicle.

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

float Supervisors::AUV::Assist::Arguments::min_ascent_rate

Threshold for the depth rate of change.

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

float Supervisors::AUV::Assist::Arguments::trigger_time

Minimum time with a low ascent rate before triggering assist.

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

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