DUNE: Uniform Navigational Environment  2019.02.0
Control::AUV::Diving::Arguments Struct Reference

Detailed Description

Task arguments.

Public Attributes

float depth_threshold
 
float speed_tol
 
double time_solo
 
double time_step
 
double speed_step
 
unsigned max_increase
 

Member Data Documentation

unsigned Control::AUV::Diving::Arguments::max_increase

Maximum speed increase in percentage.

Referenced by Control::AUV::Diving::Task::increaseSpeed(), and Control::AUV::Diving::Task::Task().

double Control::AUV::Diving::Arguments::speed_step

Speed step when helping to submerge.

Referenced by Control::AUV::Diving::Task::increaseSpeed(), and Control::AUV::Diving::Task::Task().

float Control::AUV::Diving::Arguments::speed_tol

Speed tolerance to consider possibility of submergence.

Referenced by Control::AUV::Diving::Task::onIdle(), and Control::AUV::Diving::Task::Task().

double Control::AUV::Diving::Arguments::time_solo

Time after which diving controller kicks in to help submerge.

Referenced by Control::AUV::Diving::Task::onResourceAcquisition(), and Control::AUV::Diving::Task::Task().

double Control::AUV::Diving::Arguments::time_step

Time step between each increase in speed by diving controller.

Referenced by Control::AUV::Diving::Task::onResourceAcquisition(), and Control::AUV::Diving::Task::Task().

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