Navigation::AUV::SGNavigation::Arguments Struct Reference

Detailed Description

Task arguments.

Public Attributes
float	position_noise_with_imu
float	lbl_noise_with_imu
std::vector< double >	gps_noise
std::string	elabel_imu
unsigned	avg_speed_samples
float	initial_rpm_to_speed
double	alignment_index
bool	increment_euler_delta
bool	abort

Member Data Documentation

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

Abort if navigation exceeds maximum uncertainty.

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

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

Heading bias uncertainty alignment threshold.

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

unsigned Navigation::AUV::SGNavigation::Arguments::avg_speed_samples

Number of samples to average forward speed.

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

std::string Navigation::AUV::SGNavigation::Arguments::elabel_imu

IMU entity label.

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

std::vector<double> Navigation::AUV::SGNavigation::Arguments::gps_noise

GPS measurement noise covariance values.

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

bool Navigation::AUV::SGNavigation::Arguments::increment_euler_delta

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

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

float Navigation::AUV::SGNavigation::Arguments::initial_rpm_to_speed

Initial RPM to Speed multiplicative factor.

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

float Navigation::AUV::SGNavigation::Arguments::lbl_noise_with_imu

EKF LBL noise covariance value with tactical grade IMU enabled.

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

float Navigation::AUV::SGNavigation::Arguments::position_noise_with_imu

EKF process noise covariance value with tactical grade IMU enabled.

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

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