DUNE: Uniform Navigational Environment  2016.09.0
Navigation::AUV::Navigation::Arguments Struct Reference

Detailed Description

Task arguments.

Public Attributes

float pos_noise
 
float lbl_noise
 
std::vector< double > gps_noise
 
double usbl_noise
 
std::string elabel_imu
 
unsigned navg_speed
 
float rpm_ini
 
float rpm_max
 
double alignment_index
 
bool euler_delta
 
bool abort
 

Member Data Documentation

bool Navigation::AUV::Navigation::Arguments::abort

Abort if navigation exceeds maximum uncertainty.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

double Navigation::AUV::Navigation::Arguments::alignment_index

Heading bias uncertainty alignment threshold.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

std::string Navigation::AUV::Navigation::Arguments::elabel_imu
bool Navigation::AUV::Navigation::Arguments::euler_delta

Increment Euler Angles Delta (true) or integrate yaw rate (false).

Referenced by Navigation::AUV::Navigation::Task::consume(), and Navigation::AUV::Navigation::Task::Task().

std::vector<double> Navigation::AUV::Navigation::Arguments::gps_noise
float Navigation::AUV::Navigation::Arguments::lbl_noise
unsigned Navigation::AUV::Navigation::Arguments::navg_speed
float Navigation::AUV::Navigation::Arguments::pos_noise
float Navigation::AUV::Navigation::Arguments::rpm_ini
float Navigation::AUV::Navigation::Arguments::rpm_max

Maximum revolutions to speed variation.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

double Navigation::AUV::Navigation::Arguments::usbl_noise

USBL measurement noise covariance value.

Referenced by Navigation::AUV::Navigation::Task::runKalmanUSBL(), and Navigation::AUV::Navigation::Task::Task().

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