DUNE: Uniform Navigational Environment  2016.09.0
Control::AUV::Attitude::RollCompensation Struct Reference

Public Attributes

bool use_offset
 
float offset_angle
 
bool use_speed
 
std::vector< float > speed_bounds
 
float speed_gain
 

Member Data Documentation

float Control::AUV::Attitude::RollCompensation::offset_angle
std::vector<float> Control::AUV::Attitude::RollCompensation::speed_bounds

Lower and upper speed bounds when doing roll speed compensation.

Referenced by Control::AUV::Attitude::Task::rollControl(), and Control::AUV::Attitude::Task::Task().

float Control::AUV::Attitude::RollCompensation::speed_gain

Roll's minimum proportional gain in speed compensation.

Referenced by Control::AUV::Attitude::Task::rollControl(), and Control::AUV::Attitude::Task::Task().

bool Control::AUV::Attitude::RollCompensation::use_offset

Perform roll compensation by using offset in reference.

Referenced by Control::AUV::Attitude::Task::rollControl(), and Control::AUV::Attitude::Task::Task().

bool Control::AUV::Attitude::RollCompensation::use_speed

Perform roll speed compensation by changing proportional gain.

Referenced by Control::AUV::Attitude::Task::rollControl(), and Control::AUV::Attitude::Task::Task().

Collaboration diagram for Control::AUV::Attitude::RollCompensation:
Collaboration graph