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

IMU entity label.

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

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

GPS measurement noise covariance values.

Referenced by Navigation::AUV::Navigation::Task::onUpdateParameters(), Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::updateKalmanParametersGps().

float Navigation::AUV::Navigation::Arguments::lbl_noise

LBL measurement noise when tactical grade IMU enabled.

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

unsigned Navigation::AUV::Navigation::Arguments::navg_speed

Number of samples to average forward speed.

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

float Navigation::AUV::Navigation::Arguments::pos_noise

Position process noise when tactical grade IMU is enabled.

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

float Navigation::AUV::Navigation::Arguments::rpm_ini

Revolutions to speed factor.

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

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().

Collaboration diagram for Navigation::AUV::Navigation::Arguments: