DUNE: Uniform Navigational Environment  2019.02.1
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
 
double alignment_diff
 
double heading_buffer_value
 
bool abort
 
bool rpm_estimation
 
bool speed_relation_Limit
 
double speed_relation_limit_value
 
float distance_depth_sensor
 

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_diff

Heading alignment sensor diff threshold.

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().

float Navigation::AUV::Navigation::Arguments::distance_depth_sensor

Distance of Depth sensor to the veicle pitch rotation axis.

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

std::string Navigation::AUV::Navigation::Arguments::elabel_imu
std::vector<double> Navigation::AUV::Navigation::Arguments::gps_noise
double Navigation::AUV::Navigation::Arguments::heading_buffer_value

Diff threshold - buffer of values for threshold validation.

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

float Navigation::AUV::Navigation::Arguments::lbl_noise
unsigned Navigation::AUV::Navigation::Arguments::navg_speed
float Navigation::AUV::Navigation::Arguments::pos_noise
bool Navigation::AUV::Navigation::Arguments::rpm_estimation

Activate RPM to m/s estimation.

Referenced by 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().

bool Navigation::AUV::Navigation::Arguments::speed_relation_Limit

Activate RPM to m/s % limit on estimation.

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

double Navigation::AUV::Navigation::Arguments::speed_relation_limit_value

Value RPM to m/s limit on estimation.

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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