DUNE::Control::BottomTracker::Arguments Struct Reference

Public Attributes
Tasks::Task *	task
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
float	control_period
bool	depth_avoid
float	adm_alt
Entities::BasicEntity *	entity

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.

Entities::BasicEntity* DUNE::Control::BottomTracker::Arguments::entity

Entity for bottom tracker.

Referenced by DUNE::Control::BottomTracker::onDesiredZ(), and DUNE::Control::BottomTracker::onEstimatedState().

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.

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