DUNE: Uniform Navigational Environment  2016.09.0
Monitors::Servos::Arguments Struct Reference

Public Attributes

bool pos_fault_detect
 
float pos_error_threshold
 
float rate_factor
 
double pos_error_delay
 
unsigned pos_error_samples
 
double max_rotation_rate
 
bool curr_fault_detect
 
float curr_lower
 
float curr_upper
 
int max_lfaults
 
int max_ufaults
 
double fault_cooldown
 
std::string elabel_ampg [c_servo_count]
 
double error_time
 
unsigned error_count
 

Member Data Documentation

float Monitors::Servos::Arguments::curr_lower

Current lower threshold to consider abnormal behavior.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

float Monitors::Servos::Arguments::curr_upper

Current upper threshold to consider abnormal behavior.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

std::string Monitors::Servos::Arguments::elabel_ampg[c_servo_count]

Servo current entity labels.

Referenced by Monitors::Servos::Task::onEntityResolution(), and Monitors::Servos::Task::Task().

unsigned Monitors::Servos::Arguments::error_count

Failure error counter.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::updateState().

double Monitors::Servos::Arguments::error_time
double Monitors::Servos::Arguments::fault_cooldown

Period of time after which the fault vectors will be reset to zero.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

int Monitors::Servos::Arguments::max_lfaults

Number of faults above the lower threshold to consider a fault detection.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

double Monitors::Servos::Arguments::max_rotation_rate
int Monitors::Servos::Arguments::max_ufaults

Number of faults above the upper threshold to consider a fault detection.

Referenced by Monitors::Servos::Task::onResourceAcquisition(), and Monitors::Servos::Task::Task().

double Monitors::Servos::Arguments::pos_error_delay

Delay for the detection triggering using DelayedTrigger class.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

unsigned Monitors::Servos::Arguments::pos_error_samples

Number of samples for the moving average in the DelayedTrigger object.

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

float Monitors::Servos::Arguments::pos_error_threshold

Threshold for fault detection in the position error (command vs position)

Referenced by Monitors::Servos::Task::onUpdateParameters(), Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

float Monitors::Servos::Arguments::rate_factor

Factor in detection for comparing accumulated difference (command vs position)

Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().

Collaboration diagram for Monitors::Servos::Arguments:
Collaboration graph