DUNE: Uniform Navigational Environment
2016.09.0
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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 |
bool Monitors::Servos::Arguments::curr_fault_detect |
Monitor electric current faults.
Referenced by Monitors::Servos::Task::consume(), Monitors::Servos::Task::onResourceAcquisition(), Monitors::Servos::Task::onResourceInitialization(), Monitors::Servos::Task::onUpdateParameters(), and Monitors::Servos::Task::Task().
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 |
Failure error timeout.
Referenced by Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().
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 |
Maximum rotation rate of the servos.
Referenced by Monitors::Servos::Task::onUpdateParameters(), Monitors::Servos::Task::Task(), and Monitors::Servos::Task::testPositionFaults().
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().
bool Monitors::Servos::Arguments::pos_fault_detect |
Monitor position faults.
Referenced by Monitors::Servos::Task::consume(), Monitors::Servos::Task::onMain(), Monitors::Servos::Task::onResourceInitialization(), Monitors::Servos::Task::onUpdateParameters(), and Monitors::Servos::Task::Task().
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().